Dynamic modeling and simulation of a flexible robotic manipulator

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

MONTE-CARLO SIMULATION OF POLYAMPHOLYTE CHAINS

Polyampholyte copolymers containing both positive and negative monomers regularly dispersed along the chain were studied. The Monte Carlo method was used to simulate chains with charged monomers interacting by screened Coulomb potential. The neutral polyampholyte chains collapse due to the attractive electrostatic interactions. The nonneutral chains are in extended conformations due to the repulsive polyelectrolyte effects that dominate the attractive polyampholyte interactions. The results are in good agreement with experiment.

Application of pi Circuits for Simulation of Corona Effect in Transmission Lines

In this article, it is represented by state variables phase a transmission line which parameters are considered frequency independently and frequency dependent. Based on previous analyses, it is used the reasonable number of p circuits and the number of blocks composed by parallel resistor and inductor for reduction of numerical oscillations. It is analyzed the influence of the increase of the RL parallel blocks in the obtained results. The RL parallel blocks are used for inclusion of the frequency influence in the transmission line longitudinal parameter. It is a simple model that is been used by undergraduate students for simulation of traveling wave phenomena in transmission lines. Considering the model without frequency influence, it is included a representation of the corona effect. Some simulations are carried considering the corona effect and they are compared to the results without this phenomenon.

Numerical simulation of viscous three-dimensional flow over aerospace vehicles using Euler/boundary-layer zonal approach

This paper presents a viscous three-dimensional simulations coupling Euler and boundary layer codes for calculating flows over arbitrary surfaces. The governing equations are written in a general non orthogonal coordinate system. The Levy-Lees transformation generalized to three-dimensional flows is utilized. The inviscid properties are obtained from the Euler equations using the Beam and Warming implicit approximate factorization scheme. The resulting equations are discretized and approximated by a two-point fmitedifference numerical scheme. The code developed is validated and applied to the simulation of the flowfield over aerospace vehicle configurations. The results present good correlation with the available data.

Simulation of active control using fuzzy logic applied to a pulse combustor

This work analyzes an active fuzzy logic control system in a Rijke type pulse combustor. During the system development, a study of the existing types of control for pulse combustion was carried out and a simulation model was implemented to be used with the package Matlab and Simulink. Blocks which were not available in the simulator library were developed. A fuzzy controller was developed and its membership functions and inference rules were established. The obtained simulation showed that fuzzy logic is viable in the control of combustion instabilities. The obtained results indicated that the control system responded to pulses in an efficient and desirable way. It was verified that the system needed approximately 0.2 s to increase the tube internal pressure from 30 to 90 mbar, with an assumed total delay of 2 ms. The effects of delay variation were studied. Convergence was always obtained and general performance was not affected by the delay. The controller sends a pressure signal in phase with the Rijke tube internal pressure signal, through the speakers, when an increase the oscillations pressure amplitude is desired. On the other hand, when a decrease of the tube internal pressure amplitude is desired, the controller sends a signal 180° out of phase.

Two dimensional computer simulation of plasma immersion ion implantation

The biggest advantage of plasma immersion ion implantation (PIII) is the capability of treating objects with irregular geometry without complex manipulation of the target holder. The effectiveness of this approach relies on the uniformity of the incident ion dose. Unfortunately, perfect dose uniformity is usually difficult to achieve when treating samples of complex shape. The problems arise from the non-uniform plasma density and expansion of plasma sheath. A particle-in-cell computer simulation is used to study the time-dependent evolution of the plasma sheath surrounding two-dimensional objects during process of plasma immersion ion implantation. Before starting the implantation phase, steady-state nitrogen plasma is established inside the simulation volume by using ionization of gas precursor with primary electrons. The plasma self-consistently evolves to a non-uniform density distribution, which is used as initial density distribution for the implantation phase. As a result, we can obtain a more realistic description of the plasma sheath expansion and dynamics. Ion current density on the target, average impact energy, and trajectories of the implanted ions were calculated for three geometrical shapes. Large deviations from the uniform dose distribution have been observed for targets with irregular shapes. In addition, effect of secondary electron emission has been included in our simulation and no qualitative modifications to the sheath dynamics have been noticed. However, the energetic secondary electrons change drastically the plasma net balance and also pose significant X-ray hazard. Finally, an axial magnetic field has been added to the calculations and the possibility for magnetic insulation of secondary electrons has been proven.

Simulation of needle-type corona electrodes by the finite element method

This paper describes a software tool, called LEVSOFT, suitable for the electric field simulations of corona electrodes by the Finite Element Method (FEM). Special attention was paid to the user friendly construction of geometries with corners and sharp points, and to the fast generation of highly refined triangular meshes and field maps. The execution of self-adaptive meshes was also implemented. These customized features make the code attractive for the simulation of needle-type corona electrodes. Some case examples involving needle type electrodes are presented.

Application of Design of experiments on the simulation of a process in an automotive industry

The objective of this article is to apply the Design of experiments technique along with the Discrete Events Simulation technique in an automotive process. The benefits of the design of experiments in simulation include the possibility to improve the performance in the simulation process, avoiding trial and error to seek solutions. The methodology of the conjoint use of Design of Experiments and Computer Simulation is presented to assess the effects of the variables and its interactions involved in the process. In this paper, the efficacy of the use of process mapping and design of experiments on the phases of conception and analysis are confirmed. © 2007 IEEE.

Simulation of computational grids scheduling politics

Computational grids allow users to share resources of distributed machines, even if those machines belong to different corporations. The scheduling of applications must be performed aiming at performance goals, and focusing on choose which processes can have access to specif resources, and which resources. In this article we discuss aspects of scheduling of application in grid computing environment. We also present a tool for scheduling simulation along with test scenarios and results.

Fractional order and dynamic simulation of a system involving an elastic wide plate

Numerous researchers have studied about nonlinear dynamics in several areas of science and engineering. However, in most cases, these concepts have been explored mainly from the standpoint of analytical and computational methods involving integer order calculus (IOC). In this paper we have examined the dynamic behavior of an elastic wide plate induced by two electromagnets of a point of view of the fractional order calculus (FOC). The primary focus of this study is on to help gain a better understanding of nonlinear dynamic in fractional order systems. © 2011 American Institute of Physics.

Simulation of dynamic pinion course using Runge-Kutta's method and impact modeling

Once defined the relationship between the Starter Motor components and their functions, it is possible to develop a mathematical model capable to predict the Starter behavior during operation. One important aspect is the engagement system behavior. The development of a mathematical tool capable of predicting it is a valuable step in order to reduce the design time, cost and engineering efforts. A mathematical model, represented by differential equations, can be developed using physics laws, evaluating force balance and energy flow through the systems degrees of freedom. Another important physical aspect to be considered in this modeling is the impact conditions (particularly on the pinion and ring-gear contact). This work is a report of those equations application on available mathematical software and the resolution of those equations by Runge-Kutta's numerical integration method, in order to build an accessible engineering tool. Copyright © 2011 SAE International.

Simulation of the flow through automatic valves of hermetic compressors by the immersed boundary method approach

The main goal of the present work is to verify the applicability of the Immersed Boundary Method together with the Virtual Physical Model to solve the flow through automatic valves of hermetic compressors. The valve was simplified to a two-dimensional radial diffuser, with diameter ratio of D/d = 1.5, and simulated for a one cycle of opening and closing process with a imposed velocity of 3.0 cm/s for the reed, dimensionless gap between disks in the range of 0.07 < s/d < 0.10, and inlet Reynolds number equal to 1500. The good results obtained showed that the methodology has great potential as project tool for this type of valve systems. © The Authors, 2011.

Nonlinear dynamic model and simulation of morphing wing profile actuated by shape memory alloys

Morphing aircraft have the ability to actively adapt and change their shape to achieve different missions efficiently. The development of morphing structures is deeply related with the ability to model precisely different designs in order to evaluate its characteristics. This paper addresses the dynamic modeling of a sectioned wing profile (morphing airfoil) connected by rotational joints (hinges). In this proposal, a pair of shape memory alloy (SMA) wires are connected to subsequent sections providing torque by reducing its length (changing airfoil camber). The dynamic model of the structure is presented for one pair of sections considering the system with one degree of freedom. The motion equations are solved using numerical techniques due the nonlinearities of the model. The numerical results are compared with experimental data and a discussion of how good this approach captures the physical phenomena associated with this problem. © The Society for Experimental Mechanics, Inc. 2012.

Three-dimensional transient complex free surface flows: Numerical simulation of XPP fluid

In this paper we present a finite difference MAC-type approach for solving three-dimensional viscoelastic incompressible free surface flows governed by the eXtended Pom-Pom (XPP) model, considering a wide range of parameters. The numerical formulation presented in this work is an extension to three-dimensions of our implicit technique [Journal of Non-Newtonian Fluid Mechanics 166 (2011) 165-179] for solving two-dimensional viscoelastic free surface flows. To enhance the stability of the numerical method, we employ a combination of the projection method with an implicit technique for treating the pressure on the free surfaces. The differential constitutive equation of the fluid is solved using a second-order Runge-Kutta scheme. The numerical technique is validated by performing a mesh refinement study on a pipe flow, and the numerical results presented include the simulation of two complex viscoelastic free surface flows: extrudate-swell problem and jet buckling phenomenon. © 2013 Elsevier B.V.