Combustion simulations for a self controlling variable compression ratio connecting rod

Variable compression ratio enables an engine to achieve increased efficiency at part loads, where the majority of driving occurs, without sacrificing full load power requirements or increasing the risk of engine knock. Although over 100 patents and patent applications exist none of these systems has been commercialized yet due to issues related to feasibility, cost and frictional loss. A new approach of a self controlling variable compression ratio connecting rod is presented that does not need a friction intensive external activation and that could even be retrofitted. The potential in fuel consumption and exhaust emission reduction as well as increased power and torque output for this concept has been verified in combustion simulations utilizing the latest research results related to the dynamic heat transfer in the combustion chamber from Professor Kleinschmidt from the University of Siegen, Germany. The self controlling variable compression ratio connecting rod allows the con rod to compress at high load conditions thereby increasing cylinder volume to alleviate combustion pressures and temperatures and therefore limit knock onset. The biggest efficiency gains can be achieved at medium load where the reduction of heat loss during the compression of the connecting rod plays a major role additional to the well known efficiency gains of an increased compression ratio. The combustion simulation results shows fuel consumption can be reduced by between 3% and 5% during part load and wide open throttle operation at various engine speeds. Emissions are also reduced significantly; particularly NOx and CO emissions were reduced by up to 35%.The self controlling variable compression ratio connecting rod allows the con rod to compress at high load conditions thereby increasing cylinder volume to alleviate combustion pressures and temperatures and therefore limit knock onset. The biggest efficiency gains can be achieved at medium load where the reduction of heat loss during the compression of the connecting rod plays a major role additional to the well known efficiency gains of an increased compression ratio.The combustion simulation results shows fuel consumption can be reduced by between 3% and 5% during part load and wide open throttle operation at various engine speeds. Emissions are also reduced significantly; particularly NOx and CO emissions were reduced by up to 35%.

Function-based single and dual point haptic interaction in Cyberworlds

Polygon and point based models dominate virtual reality. These models also affect haptic rendering algorithms, which are often based on collision with polygons. With application to dual point haptic devices for operations like grasping, complex polygon and point based models will make the collision detection procedure slow. This results in the system not able to achieve interactivity for force rendering. To solve this issue, we use mathematical functions to define and implement geometry (curves, surfaces and solid objects), visual appearance (3D colours and geometric textures) and various tangible physical properties (elasticity, friction, viscosity, and force fields). The function definitions are given as analytical formulas (explicit, implicit and parametric), function scripts and procedures. We proposed an algorithm for haptic rendering of virtual scenes including mutually penetrating objects with different sizes and arbitrary location of the observer without a prior knowledge of the scene to be rendered. The algorithm is based on casting multiple haptic rendering rays from the Haptic Interaction Point (HIP), and it builds a stack to keep track on all colliding objects with the HIP. The algorithm uses collision detection based on implicit function representation of the object surfaces. The proposed approach allows us to be flexible when choosing the actual rendering platform, while it can also be easily adopted for dual point haptic collision detection as well as force and torque rendering. The function-defined objects and parts constituting them can be used together with other common definitions of virtual objects such as polygon meshes, point sets, voxel volumes, etc. We implemented an extension of X3D and VRML as well as several standalone application examples to validate the proposed methodology. Experiments show that our concern about fast, accurate rendering as well as compact representation could be fulfilled in various application scenarios and on both single and dual point haptic devices.

Short-interval intracortical inhibition is not affected by varying visual feedback in an isometric task in biceps brachiii muscle

Purpose : To establish if visual feedback and force requirements influence SICI.

Methods : SICI was assessed from 10 healthy adults (5 males and 5 females aged between 21 and 35 years) in three submaximal isometric elbow flexion torque levels [5, 20, and 40% of maximal voluntary contraction (MVC)] and with two tasks differing in terms of visual feedback. Single-pulse and paired-pulse motor-evoked potentials (MEPs), supramaximal M-wave, and background surface electromyogram (sEMG) were recorded from the biceps brachii muscle.

Results : Repeated measures MANOVA was used for statistical analyses. Background sEMG did not differ between tasks (F = 0.4, P = 0.68) nor was task × torque level interaction observed (F = 1.2, P = 0.32), whereas background sEMG increased with increasing torque levels (P = 0.001). SICI did not differ between tasks (F = 0.9, P = 0.43) and no task × torque level interaction was observed (F = 2.3, P = 0.08). However, less SICI was observed at 40% MVC compared to the 5 and 20% MVC torque levels (P = 0.01–0.001).

Conclusion : SICI was not altered by performing the same task with differing visual feedback. However, SICI decreased with increasing submaximal torque providing further evidence that SICI is one mechanism of modulating cortical excitability and plays a role in force gradation.

The sampling and remix dilemma: what is the role of moral rights in the encouragement and regulation of derivative creativity

The borrowing and rearrangement of musical content, especially in the digital context, raises difficult questions for copyright law. There is significant community support for a loosening of the restrictions on the derivative (and particularly creative) use of copyright material. Law reform is called for. This paper discusses the possible introduction of a new exception to copyright infringement but notes that in the drafting of any such exception not only the economic rights but also the moral rights of the originating author need to be taken into account.

A high performance position sensorless surface permanent magnet synchronous motor drive based on flux angle

A position sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive based on flux angle is presented in this paper. The motor equations are written in rotor fixed d-q reference frame. A PID controller is used to process the speed error to generate the reference torque current keeping the magnetizing current fixed. The estimated stator flux using Recurrent Neural Network (RNN) is used to find out the rotor position. The flux angle and the reference current phasor angle are used in vector rotator to generate the reference phase currents. Hysteresis current controller block controls the switching of the 3-phase inverter to apply voltage to the motor stator. Simulation studies on different operating conditions indicate the acceptability of the drive system. The drive system only requires a speed transducer and is free from position sensor requirement. The proposed control scheme is robust under load torque disturbances and motor parameter variations. It is also simple and low cost to implement in a practical environment.

Genetic algorithm based PI controller tuning for induction motor drive with ANN flux estimator

This paper presents a Genetic Algorithm (GA) based fast speed response controller for poly-phase induction motor drive. Here the proportional and integral gains of PI controller are optimized by GA to achieve quick speed response. An adaptive Recurrent Neural Network (RNN) with Real Time Recurrent Learning (RTRL) algorithm is proposed to estimate rotor flux. An online tuning scheme to update the weight of RNN is presented to overcome stator resistance variation problem. This tuning scheme requires torque estimator to calculate the torque error. Space vector modulation (SVM) technique is used to produce the motor input voltage. Simulation tests have been performed to study the dynamic performances of the drive system for both the classical PI and the genetic algorithm based PI controllers.

The resurrection plant Sporobolus stapfianus: An unlikely model for engineering enhanced plant biomass?

The resurrection grass Sporobolus stapfianus Gandoger can rapidly recover from extended periods of time in the desiccated state (water potential equilibrated to 2% relative humidity) (Gaff and Ellis, Bothalia 11:305–308 1974; Gaff and Loveys, Transactions of the Malaysian Society of Plant Physiology 3:286–287 1993). Physiological studies have been conducted in S. stapfianus to investigate the responses utilised by these desiccation-tolerant plants to cope with severe water-deficit. In a number of instances, more recent gene expression analyses in S. stapfianus have shed light on the molecular and cellular mechanisms mediating these responses. S. stapfianus is a versatile research tool for investigating desiccation-tolerance in vegetative grass tissue, with several useful characteristics for differentiating desiccation-tolerance adaptive genes from the many dehydration-responsive genes present in plants. A number of genes orthologous to those isolated from dehydrating S. stapfianus have been successfully used to enhance drought and salt tolerance in model plants as well as important crop species. In addition to the ability to desiccate and rehydrate successfully, the survival of resurrection plants in regions experiencing short sporadic rainfall events may depend substantially on the ability to tightly down-regulate cell division and cell wall loosening activities with decreasing water availability and then grow rapidly after rainfall while water is plentiful. Hence, an analysis of gene transcripts present in the desiccated tissue of resurrection plants may reveal important growth-related genes. Recent findings support the proposition that, as well as being a versatile model for devising strategies for protecting plants from water-loss, resurrection plants may be a very useful tool for pinpointing genes to target for enhancing growth rate and biomass production.

Vector control of a position sensorless SPMSM drive with RNN based stator flux estimator

A position sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive based on single layer Recurrent Neural Network (RNN) is presented in this paper. The motor equations are written in rotor fixed d-q reference frame. A PID controller is used to process the speed error to generate the reference torque current keeping the magnetizing current fixed. The RNN estimator is used to estimate flux components along the stator fixed stationary axes. The flux angle and the reference current phasor angle are used in vector rotator to generate the reference phase currents. Hysteresis current controller block controls the switching of the three phase inverter to apply voltage to the motor stator. Simulation studies on different operating conditions indicate the acceptability of the drive system. The proposed estimator can be used to accurately measure the motor fluxes and rotor angle over a wide speed range. The proposed control scheme is robust under load torque disturbances and motor parameter variations. It is also simple and low cost to implememnt in a practical environment

Nonlinear identification of backlash in robot transmissions

ABSTRACT This paper addresses the issue of automatic identification of backlash in robot transmissions. Traditionally, the backlash is measured manually either by the transmission manufacturer or the robot manufacturer. Before the robot can be delivered to the end-customer, the backlash must be within specified tolerances. For robots with motor measurements only, backlash is an example of an uncontrollable behaviour which directly affects the absolute accuracy of the robot’s tool-centrepoint. Even if we do not attempt to bring backlash under real-time control in this paper, we will describe a method to automatically identify/estimate the backlash in the robot transmissions from torque and position measurements. Hence, only the transmissions that do not meet the backlash requirements in the automatic tests need to be checked and adjusted manually.

Anterior knee symptoms after S-ROM hinge implantation

Purpose: To evaluate the performance of a canal filling hinge device for complex knee arthroplasty. Methods: Thirty-seven (4 primary hinge implantation and 33 revision cases) patients who had undergone arthroplasty with the S-ROM third generation hinge device for a combination of massive bone loss or ligamentous insufficiency were prospectively examined with a minimum of 5-year follow-up. Median age at surgery was 72 years (range: 43 to 87 years). Principal indications included aseptic loosening or massive osteolysis (24 cases), infection (8 cases) and periprosthetic fracture (4 cases). All patients exhibited either grade 2 (N = 12) or grade 3 (N = 25) AORI bone loss or a grade 3 medial ligament deficiency. Results: One patient experienced implant failure (71 months), and one patient suffered late deep infection (36 months). Mean WOMAC score improved from 27 to 62. Four patients required patellar resurfacing for persistent pain. The 5-year survivorship was 86%. Conclusions: While the S-ROM device may offer satisfactory medium term outcome for complex end stage knee disease, we report a high rate of debilitating anterior knee symptoms.

Sliding wear behavior of plasma sprayed Fe3Al–Al2O3 graded coatings

Fe3Al–Al2O3 double-layer coatings (DC), Fe3Al-Fe3Al/50%Al2O3–Al2O3 triple-layer coatings (TC) and Fe3Al-Al2O3 graded coatings (GC) were produced from a series of Fe3Al/Al2O3 composite powders with different compositions on low carbon steel substrate using PLAXAIR plasma spraying equipment. Friction behaviors and wear resistance of the three kinds of coatings have been investigated under different loads. Tests were carried out using an MRH-3 standard machine, in lineal contact sliding under dry condition against hardmetal, at a sliding velocity of about 1.57 ms−1. Wear rates under different loads were measured and the friction coefficients were recorded. SEM analysis was carried out to identify the wear mechanisms. The results show that the GC has higher wear-resistance than DC and TC. The tribological characteristics of graded coating were different along the depth of the coatings, and the surface of coatings with pure Al2O3 does not show the best wear resistance. The wear rate and friction coefficients were also different under different loads. The failure types of plasma-sprayed Fe3Al-Al2O3 graded coatings in lineal contact were: loosening of ceramic particles, crack nucleation and propagation, brittle fracture, plastic deformation, and adhesive wear.

Does dynamic vulcanization induce phase separation?

Immiscible and miscible blends of poly(vinylidene fluoride) (PVDF) and acrylic rubber (ACM) were subjected to dynamic vulcanization to investigate the effect of crosslinking on phase separation. As a result of different processability, mixing torque behavior of miscible and immiscible blends was significantly different from one another. Scanning electron microscopy (SEM) was used to investigate the morphology of the system. After dynamic vulcanization, submicron ACM droplets were observed in the samples near the binodal curve of the system under mixing conditions. Small angle X-ray scattering (SAXS) and differential scanning calorimetry (DSC) analysis were used to investigate the effect of dynamic vulcanization on the lamellar structure of the system. It was shown that for samples near the boundary of phase separation, increasing the crosslink density led to a decrease in the lamellar long period (L) as a sign of increment of crosslink density induced phase decomposition. Effects of shear rate on the final morphology of the system were investigated by changing the mixing temperature and by comparing the results of dynamic vulcanization at one phase and two phase regions.

Developments in machining of stacked materials made of CFRP and titanium/aluminum alloys

The aim of this article is to investigate the drilling of carbon fiber-reinforced plastic (CFRP) composite/metal stack-ups to have a details picture of the developments in this complex area. The forces and torque, chip shape, surface finish and geometry, and tool material and tool wear for drilling composite/metal stack-ups have been analyzed in details in addition to drilling mechanism of CFRP. The relation between input and output parameters was discussed and the trend of input parameters for damage free and tight tolerance holes has been investigated based on the literature. The main findings are (i) heat, built-up edge and chips generated from drilling of metallic layers damages CFRP surface, (ii) order of material layers affects the drilling outcomes significantly, (iii) coatings and step-shape on the cutting tool improves the tool performance, (iv) tool materials should be selected based on the material of metallic layer, (v) chipping, adhesion, abrasion and attrition are main tool wear mechanisms during machining of CFRP/metal stacks and (vi) application of coolant improves the machinability.

Teleoperation of ABB industrial robots

Purpose - The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed. Design/methodology/ approach - The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Findings - A communication rate of up to 250 Hz between the computer and the controller was established using C#.Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm. Research limitations/implications - The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications. Social implications - Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required. Originality/value - Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface. © Copyright - 2014 Emerald Group Publishing Limited. All rights reserved.

Improvements in teleoperation of industrial robots without low-level access

 This paper proposes a method to improve motion smoothness and decrease latency using existing ABB IRC5 robot controllers without access to any low level interface. The proposed control algorithm includes a high-level PID controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit (SDK). The multitasking feature of the IRC5 controller was used in order to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a predefined 3D trajectory were carried out and the benefits of the proposed algorithm was demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six degrees of freedom (DOF) force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Experimental results demonstrating the robot tool centre point (TCP), tracking errors, and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with less than 0.2 mm tracking errors.