Search Results (131)

This study investigates the effectiveness of strain-hardening cementitious composites (SHCC) reinforced with glass fiber (GF) mesh in enhancing the torsional behavior of reinforced concrete (RC) beams with circular openings. Eight full-scale RC beams were tested under pure torsion, including two control beams and six strengthened beams with varying configurations of horizontal, vertical, and combined SHCC-GF mesh retrofitting. The experimental program evaluated the influence of single- and double-layer GF mesh reinforcement on torsional capacity, crack propagation, stiffness, and energy absorption. The results demonstrated that the presence of an opening reduced the ultimate torsional capacity by 29%, elastic stiffness by 48%, and energy absorption by 64% compared to the solid control beam. Strengthening with horizontal SHCC strips restored 21–35% of the lost capacity, while vertical strips performed even better, achieving 44–61% improvement. The combined horizontal–vertical configuration with a double-layer GF mesh proved the most effective, increasing ultimate load by 91% compared to the unstrengthened beam with an opening. Finite element models (FEM) are developed using ABAQUS to simulate the performance of the tested beams. Full article

This study addresses the challenge of accurately modeling the dynamic behavior of industrial robots for precision manufacturing applications. Using a comprehensive experimental approach with modal impulse hammer testing and triaxial acceleration measurements, 360 frequency response functions were recorded along orthogonal measurement paths for a KUKA KR10 robot. Two dynamic models with different parameter dimensions (12-parameter and 24-parameter) were developed in Matlab/Simscape, and their parameters were identified using genetic algorithm optimization. The KUKA KR10 features Harmonic Drives at each joint, whose high transmission ratio and zero backlash characteristics significantly influence rotational dynamics and allow for meaningful static structural measurements. Objective functions based on the Frequency Response Assurance Criterion (FRAC) and Root Mean Square Error (RMSE) metrics were employed, utilizing a frequency-dependent weighting function. The performance of the models was evaluated across different robot configurations and frequency ranges. The 24-parameter model demonstrated significantly superior performance, achieving 70% overall average Global FRAC in the limited frequency range (≤200 Hz) compared to 41% for the 12-parameter model when optimized using a representative subset of 9 measurement points. Both models showed substantially better performance in the limited frequency range than in the full spectrum. This research provides a validated methodology for dynamic characterization of industrial robots and demonstrates that higher-dimensional models, incorporating transverse joint compliance, can accurately represent robot dynamics up to approximately 200 Hz. Future work will investigate nonlinear effects such as torsional stiffness hysteresis, particularly relevant for Harmonic Drive systems. Full article

This study focuses on the numerical analysis of the impact of geometric modifications of sheet-gyroid structures on heat transfer in thermal energy storage systems utilizing sodium acetate trihydrate as a phase change material. The aim was to enhance the thermal conductivity of SAT, which is inherently low in the solid phase, by embedding a thermally conductive metallic structure made of aluminum alloy 6061. The simulations compared four gyroid configurations with different degrees of torsional deformation (0°, 90°, 180°, and 360°) alongside a reference model without any structure. Using numerical analysis, the study evaluated the time required to heat the entire volume of SAT above its phase transition temperature (58 °C) as well as the spatial distribution of the temperature field. The results demonstrate that all gyroid configurations significantly reduced the charging time compared with the reference case, with the highest efficiency achieved by the 360° twisted structure. Temperature maps revealed a more uniform thermal distribution within the phase change material and a higher heat flux into the volume. These findings highlight the strong potential of TPMS-based structures for improving the performance of latent heat thermal energy storage systems. Full article

The mechanical connection between a transmission system and an electric motor gives rise to a strong interaction between their respective dynamics. In particular, the coupling between an electric motor and a nonlinear spur gear transmission significantly influences the overall dynamic behavior of the integrated system. This study presents a detailed investigation into the electromechanical coupling effects between a permanent magnet synchronous machine (PMSM) and a nonlinear spur gear transmission. To focus on these effects, three configurations are analyzed: (i) a standalone gear pair model without motor interaction, (ii) a combined gear–motor system without dynamic coupling, and (iii) a fully coupled electromechanical system where the mechanical feedback influences motor control. The dynamic interaction between the motor’s torsional vibrations and the gear transmission is captured using the derivative of the transmission error as a feedback signal, enabling a closed-loop electromechanical model. Numerical simulations highlight the critical role of this coupling in shaping system dynamics, offering insights into the stability and performance of electric drive–gear transmission systems under different operating conditions. It also underscores the limitations of traditional modeling approaches that neglect feedback effects from the mechanical subsystem. The findings contribute to a more accurate and comprehensive understanding of coupled motor–gear dynamics, which is essential for the design and control of advanced electromechanical transmission systems in high-performance applications. Full article

The intricate and dynamic cutting behavior observed in titanium alloy turning leads to non-uniform surface and subsurface properties in the workpiece, impacting torsional strength and fatigue life. A transient pose model, founded on the configuration of a turning tool, is developed to elucidate the evolution of the transition surface during transient turning. Through finite element simulation, the plastic deformation, residual stress, and work hardening rate of the machined surface and subsurface of a titanium alloy are quantitatively examined. The torsional strength and fatigue life calculation method is developed based on initial performance parameters derived from the finite element model. This method enables the correlation identification between surface morphology characteristics, surface and subsurface performance parameters, and fatigue properties. Surface morphology, scanning electron microscopy (SEM), and energy-dispersive X-ray spectroscopy (EDS) are employed to quantitatively analyze the surface features and elemental composition of the titanium alloy turning surface, unveiling their influence on torsional fatigue properties. The findings demonstrate the efficacy of the proposed models and methodologies in identifying the torsional fatigue properties and their distribution patterns of titanium alloy turning surfaces. Full article

The series–parallel hybrid powertrain combines the advantages of both series and parallel configurations, offering optimal power performance and fuel efficiency. However, the presence of multiple excitation sources significantly complicates the torsional vibration behavior during engine startup. To accurately identify and analyze the torsional vibration characteristics induced by shaft resonance in this process, a torsional vibration feature identification algorithm based on disturbance observation and parameter partition learning is proposed. A simplified model of the drivetrain shaft system is first established, and an extended state Kalman filter (ESKF) is designed to accurately estimate the torque of the torsional damper. The inclusion of extended disturbance states enhances the model’s robustness against system uncertainties. Subsequently, continuous wavelet transform (CWT) is employed to identify the resonance characteristics in the torsional vibration process from the torque signal. Combined with the parameter partition learning strategy, resonance frequencies are utilized to infer key system parameters. The results demonstrate that, under a 20% perturbation of structural parameters, the observer model with fixed parameters yields a root mean square error (RMSE) of 10.16 N·m for the torsional damper torque. In contrast, incorporating the parameter self-learning algorithm reduces the RMSE to 2.36 N·m, representing an 85.2% improvement in estimation accuracy. Using the Morlet wavelet with a frequency resolution parameter (VPO) of 15 at a 50 Hz sampling rate, the identified resonance frequency was 14.698 Hz, showing a 1.1% deviation from the actual natural frequency of 14.53 Hz. Full article

Torsional vibration dampers effectively mitigate torsional oscillations and additional stresses in diesel engine crankshaft systems, ensuring operational safety and reliability. Traditional damper selection principles, grounded in dual-pendulum dynamic models, focus on minimizing maximum torsional angles but fail to accurately characterize vibration behaviors in multi-cylinder engines. This study addresses this limitation by investigating dynamic modeling and numerical methods for an eight-cylinder diesel crankshaft system. A torsional vibration model was developed using Cholesky decomposition and the Jacobi sweep method for free vibration analysis, followed by dynamic response calculations through model decoupling and modal superposition. Parameter optimization of the damper was achieved via the NSGA-II multi-objective algorithm combined with a Bayesian-hyperparameter-optimized BP neural network. The results show that high-inertia-ratio dampers effectively suppress vibration and stress, while low-inertia-ratio configurations require approximately 20% elevated tuning ratios beyond theoretical parameters to achieve an additional 5% stress reduction, albeit with amplified torsional oscillations. Additionally, the study critically evaluates the numerical reliability of conventional dual-pendulum-based tuning ratio selection methods. This integrated approach enhances the precision of damper parameter matching for multi-cylinder engine applications. Full article

This study examines output energy and efficiency of a torsional flutter harvester in gusty winds. The proposed apparatus exploits the torsional flutter of a rigid flapping foil, able to rotate about a pivot axis located in the proximity of the windward side. The apparatus operates at the “meso-scale”; i.e., the apparatus’ projected area is equal to a few square meters. It has unique properties in comparison with most harvesting devices and small wind turbines. The reference geometric chord length of the flapping foil is about one meter. Energy conversion is achieved by an adaptable linkage connected to a permanent magnet that produces eddy currents in a multi-loop winding coil. Operational conditions and the post-critical flutter regime are investigated by numerical simulations. Several configurations are examined to determine the output power and to study the effects of stationary turbulent flows on the energy-conversion efficiency. This paper is a continuation of recent studies. The goal is to examine the operational conditions of the apparatus for a potentially wide range of applications and moderate mean wind speeds. Full article

In the field of marine resource development, conventional axial-flow adjustable-blade pumps rely on the monolithic rotation of rigid blades for operational condition regulation, a mechanism constrained by simplistic angular adjustments that inadequately adapt to the dynamic and complex marine operational environment. To address this limitation, this study proposes a novel angle-adjustment scheme utilizing flexible variable-twist blades, where operational condition regulation is achieved through active blade twisting, enabling refined and adaptive angle modulation. Four typical blade profiles were selected for the variable-twist blades at distinct angular positions (−1°, +1°, −2°, and +2°), corresponding to the four conventional angle-adjustment positions of axial-flow adjustable-blade pumps. Numerical simulations were conducted to investigate the hydraulic performance impacts of the proposed flexible variable-twist blades compared to traditional rigid blades under identical angular configurations. The results demonstrate that under high-flow conditions (1.2 Q), the torsion-based angle-adjustment strategy exhibits superior efficiency across all four angular positions: −1° configuration: 11.1% efficiency improvement; +1° configuration: comparable efficiency; −2° configuration: 78% efficiency improvement; and +2° configuration: 3.2% efficiency improvement. Moreover, at equivalent angular settings, the variable-twist blades significantly enhance hydraulic performance and expand the high-efficiency operating range of the pump compared to conventional rigid blades. The implementation of flexible variable-twist blade technology not only advances the performance of axial-flow pumps in marine engineering applications but also provides a new approach for high-efficiency research on axial-flow pumps. Full article

With the growing adoption of Unmanned Aerial Vehicles (UAVs) in industrial and commercial sectors, the limitations of traditional under-actuated multirotors are becoming increasingly evident, particularly in manipulation tasks. Limited control over the thrust vector direction of the propellers, coupled with its interdependence on the vehicle’s roll, pitch, and yaw moments, significantly restricts manipulation capabilities. To address these challenges, this work presents a control framework for multirotor UAVs equipped with thrust-vectoring components, enabling enhanced control over the direction of lateral forces. The framework supports various actuator configurations by integrating fixed vertical propellers with horizontally mounted thrust-vectoring components. It is capable of handling horizontal thruster setups that generate forces in all directions along the x- and y-axes. Alternatively, it accommodates constrained configurations where the vehicle is limited to generating force in a single direction along either the x- or y-axis. The supported UAVs can follow transmitter commands, setpoints, or predefined trajectories, while the flight controller autonomously manages the propellers and thrusters to achieve the desired motion. Moment evaluations were conducted to assess the torsional capabilities of the vehicles by varying the angles of the thrusters during torsional tasks. The results demonstrate comparable torsional magnitudes to previously studied thrust-vectoring UAVs. Simulations with vehicles of varying inertia and dimensions showed that, even with large horizontal thruster offsets, the vehicles followed desired trajectories while maintaining stable horizontal orientation and smaller attitude variations compared to normal flight. Similar performance was observed with positive and negative vertical offsets, demonstrating the framework’s tolerance for thrusters outside the horizontal plane. Full article

Inspired by earthworm peristalsis, a novel modular robot suitable for narrow spaces is proposed, capable of elongation, contraction, deflection and crawling. Unlike motor-driven robots, the earthworm-inspired robot achieves extension and deflection in each module through “on–off” control of the SMA springs, utilizing the cooperation of mechanical skeletons and gears to avoid posture redundancy. The return to the initial posture and the maintenance of the posture are achieved through tension and torsion springs. To study the extension and deflection characteristics, we established a model through kinematic and force analysis to estimate the relationship between the length change and tensile characteristics of the SMA on both sides and the robot’s extension length and deflection angle. Through model verification and experiments, the robot’s extension, deflection and movement characteristics in narrow spaces and varying curvature narrow spaces were comprehensively studied. The results show that the earthworm-inspired robot, as predicted by the model, possesses accurate extension and deflection performance, and can perform inspection tasks in complex and narrow space environments. Additionally, compared to motor-driven robots, the robot designed in this study does not require insulation in low-temperature environments, and the cold conditions can improve its movement efficiency. This new configuration design and the extension and deflection characteristics provide valuable insights for the development of new modular robots and robot drive designs for extremely cold environments. Full article

This paper presents a novel variable stiffness mechanism, namely the SBTDTS (Spinal Biomimetic Two-Dimensional Tensegrity Structure), which is constructed by integrating bioinspiration derived from biological spinal structures with the T-Bar mechanical design within tensegrity structures. A method for determining the torsional stiffness of the SBTDTS around a virtual rotational center is established based on parallel mechanism theory. The relationship between various structural parameters is analyzed through multiple sets of typical parameter combinations. Ultimately, the PSO (Particle Swarm Optimization) algorithm is employed to identify the optimal combination of structural parameters for maximizing the stiffness ratio, $K_{\theta \_time}$, of SBTDTS under different constraint conditions. This optimal configuration is then compared with the RAPRPM (a type of rotational parallel mechanism) under different values of $\mu$, with an analysis of the distinct advantages of both variable stiffness structures. Full article

This study optimizes the structural design of a composite wing shell by minimizing mass and maximizing the first natural frequency. The analysis focuses on the effects of polyvinyl chloride (PVC) foam thickness and the fiber orientation angle of the inner carbon layers, with the outer layers fixed at ±45° for torsional rigidity. A Multi-Objective Genetic Algorithm (MOGA), well suited for complex engineering problems, was employed alongside Design of Experiments to develop a precise response surface model, achieving predictive errors of 0% for mass and 2.99% for frequency. The optimal configuration—90° and 0° fiber orientations for the upper and lower layers and a foam thickness of 1.05 mm—yielded a mass of 412 g and a frequency of 122.95 Hz. These findings demonstrate the efficacy of MOGA in achieving innovative lightweight aerospace designs, striking a balance between material efficiency and structural performance. Full article

In recent seismic events that occurred worldwide and in Peru, it has been observed that irregular structures in plan present greater structural damage compared to regular structures. Investigations carried out after seismic events indicate that irregular plan structures collapse due to erroneous structural conception and poor seismic analysis. Likewise, the Peruvian earthquake-resistant standard does not establish a permissible limit for the degree of irregularity under analysis, instead qualitatively assessing the structural irregularity. The objective of this article was to study the effect of plan irregularities using innovative methodologies on the structural response of tall 10-story reinforced concrete buildings. In this sense, seventeen (17) structural models are proposed that reflect different irregular configurations in plan: 06 structures Type L, 05 structures Type I, 05 structures Type I, and one regular building. These buildings are numerically modeled using ETABS software V.18.0 through modal analysis, Modal Spectral and Linear Time History (MSLTH), and Multi-Mode Pushover (MPA). For the MSLTH, seven (07) pairs of representative Peruvian earthquakes were analyzed. The results of the modal analysis evaluated in the first two vibration modes demonstrated that Type L irregular structures change their behavior from translational to torsional when the structures present an irregularity greater than 57%. Type I and O structures present translational behavior. Furthermore, the results of the Modal Spectral and MSLTH analysis demonstrate that Type L structures present greater displacements and drifts in both directions. The shear force and the overturning moment for Types L, I, and O decrease as the irregularity in plan increases. Finally, the results of the MPA for irregular Type L structures demonstrated that the lateral stiffness of the structures decreases as the irregularity in plan is critical, increasing the possibility of the formation of plastic mechanisms in the structural elements. Full article

For the assessment of seismic effects on RC buildings, the real structural condition has to be modelled as accurately as possible. Medical facilities and hospitals have to resist seismic actions and remain operational after seismic events. For this reason, a detailed seismic vulnerability assessment of a hospital building located in Orihuela, Spain, is presented in this paper using a combination of field monitoring data and numerical analysis. Ambient noise measurements from field monitoring using Raspberry Shake-based sensors are used to capture dynamic characteristics that describe the building behaviour. Data from these sensors were used to update and refine the finite element model of the structure for a detailed analysis of the building’s seismic performance. The different analytical procedures included both elastic and inelastic modelling, as well as static and dynamic assessments, to provide an exhaustive evaluation of the building’s behaviour under seismic loads. In the numerical model, the effect of masonry infill walls is considered, taking into account detailed material properties and structural configurations. Furthermore, the study carefully selects ground motion records representing two limit states—Damage Limitation (DL) and Severe Damage (SD)—to conduct an extensive seismic analysis. In each limit state applied to the structure, there are 14 bidirectional ground motions with components alternately directed along the two principal directions of the building. This analysis evaluated the structural response, focusing on torsional effects, inter-storey drift ratios, and the seismic performance of individual components. The results were compared to other analysis types, considering both overall and localised behaviour, to determine the reliability of different approaches. The findings support the idea that field monitoring data should be combined with advanced modelling techniques to achieve a more accurate evaluation of the building’s seismic vulnerability, considering bidirectional effects. Full article