Parâmetros de dispersão de ar em células mecânicas de flotação em usinas brasileiras

O objetivo desse trabalho é apresentar e discutir a determinação dos parâmetros de dispersão de ar em células mecânicas de flotação, em circuitos industriais brasileiros. Foram investigados os circuitos rougher e scavenger das usinas RPM, Taquari-Vassouras, Copebras e Fosfértil-Catalão (atual Vale Fertilizantes). Nas usinas RPM e Taquari-Vassouras, foram determinados a velocidade superficial do ar (Jg), o hold-up do ar (εg), o diâmetro médio de bolhas (d32) e o fluxo de área superficial de bolhas (Sb). Para as outras usinas, foram determinados somente o Jg e εg. Os resultados mostraram que, com exceção da RPM, todos os circuitos investigados apresentaram baixos valores para os parâmetros de dispersão do ar. Taquari-Vassouras apresentou os mais baixos valores médios para Jg e εg, respectivamente, 0,05 cm/s e 5%. Os maiores valores de Jg foram determinados no circuito rougher da Copebras, 1,17 cm/s, ao passo que a RPM apresentou os maiores valores para o hold-up e tamanho de bolha, respectivamente, 31% e 2,61mm. Os valores obtidos, para Sb, situaram-se abaixo daqueles reportados na literatura.

Disposable polyester-toner electrophoresis microchips for DNA analysis

Microchip electrophoresis has become a powerful tool for DNA separation, offering all of the advantages typically associated with miniaturized techniques: high speed, high resolution, ease of automation, and great versatility for both routine and research applications. Various substrate materials have been used to produce microchips for DNA separations, including conventional (glass, silicon, and quartz) and alternative (polymers) platforms. In this study, we perform DNA separation in a simple and low-cost polyester-toner (PeT)-based electrophoresis microchip. PeT devices were fabricated by a direct-printing process using a 600 dpi-resolution laser printer. DNA separations were performed on PeT chip with channels filled with polymer solutions (0.5% m/v hydroxyethylcellulose or hydroxypropylcellulose) at electric fields ranging from 100 to 300Vcm(-1). Separation of DNA fragments between 100 and 1000 bp, with good correlation of the size of DNA fragments and mobility, was achieved in this system. Although the mobility increased with increasing electric field, separations showed the same profile regardless of the electric field. The system provided good separation efficiency (215 000 plates per m for the 500 bp fragment) and the separation was completed in 4 min for 1000 bp fragment ladder. The cost of a given chip is approximately $0.15 and it takes less than 10 minutes to prepare a single device.

Influence of HSM cutting parameters on the surface integrity characteristics of hardened AISI H13 steel

The purpose of this study is to evaluate the influence of the cutting parameters of high-speed machining milling on the characteristics of the surface integrity of hardened AISI H13 steel. High-speed machining has been used intensively in the mold and dies industry. The cutting parameters used as input variables were cutting speed (v c), depth of cut (a p), working engagement (a e) and feed per tooth (f z ), while the output variables were three-dimensional (3D) workpiece roughness parameters, surface and cross section microhardness, residual stress and white layer thickness. The subsurface layers were examined by scanning electron and optical microscopy. Cross section hardness was measured with an instrumented microhardness tester. Residual stress was measured by the X-ray diffraction method. From a statistical standpoint (the main effects of the input parameters were evaluated by analysis of variance), working engagement (a e) was the cutting parameter that exerted the strongest effect on most of the 3D roughness parameters. Feed per tooth (f z ) was the most important cutting parameter in cavity formation. Cutting speed (v c) and depth of cut (a p) did not significantly affect the 3D roughness parameters. Cutting speed showed the strongest influence on residual stress, while depth of cut exerted the strongest effect on the formation of white layer and on the increase in surface hardness.

Microsatellite dna reveals low ganetic differentiation among chub mackerel ("Scomber colias) sampled in Atlantic and Mediterranea

trabajo realizado por Medina Alcaraz, C., Castro, J.J., Sosa, P. A.

Design and control techniques of optical networks

The world of communication has changed quickly in the last decade resulting in the the rapid increase in the pace of peoples’ lives. This is due to the explosion of mobile communication and the internet which has now reached all levels of society. With such pressure for access to communication there is increased demand for bandwidth. Photonic technology is the right solution for high speed networks that have to supply wide bandwidth to new communication service providers. In particular this Ph.D. dissertation deals with DWDM optical packet-switched networks. The issue introduces a huge quantity of problems from physical layer up to transport layer. Here this subject is tackled from the network level perspective. The long term solution represented by optical packet switching has been fully explored in this years together with the Network Research Group at the department of Electronics, Computer Science and System of the University of Bologna. Some national as well as international projects supported this research like the Network of Excellence (NoE) e-Photon/ONe, funded by the European Commission in the Sixth Framework Programme and INTREPIDO project (End-to-end Traffic Engineering and Protection for IP over DWDM Optical Networks) funded by the Italian Ministry of Education, University and Scientific Research. Optical packet switching for DWDM networks is studied at single node level as well as at network level. In particular the techniques discussed are thought to be implemented for a long-haul transport network that connects local and metropolitan networks around the world. The main issues faced are contention resolution in a asynchronous variable packet length environment, adaptive routing, wavelength conversion and node architecture. Characteristics that a network must assure as quality of service and resilience are also explored at both node and network level. Results are mainly evaluated via simulation and through analysis.

Verifica del livello di servizio di componenti della viabilità a Borgo Panigale. Intersezione Via Cavalieri Ducati - Via De Gasperi

Le intersezioni stradali, sono le aree individuate da tre o più tronchi stradali (archi) che convergono in uno stesso punto, nonchè dai dispositivi e dagli apprestamenti atti a consentire ed agevolare le manovre per il passaggio da un tronco all'altro. Rappresentano punti critici della rete viaria per effetto delle mutue interferenze tra le diverse correnti di traffico durante il loro attraversamento. Si acuiscono pertanto, nella loro "area di influenza", i problemi legati alla sicurezza e quelli relativi alla regolarità  ed efficienza della circolazione. Dalla numerosità  dei fattori da cui dipende la configurazione di un incrocio (numero e tipo di strade, entità  dei flussi, situazioni locali, ecc.) deriva una ancor più vasta gamma di tipologie e di schemi. La rotatoria, come particolare configurazione di intersezione a raso, è lo schema che viene considerato nel presente lavoro di tesi, sia nei suoi caratteri essenziali e generali, sia nel particolare di una intersezione che, nel Comune di Bologna, è stata realizzata in luogo dell'intersezione semaforizzata precedente.

Modulation Techniques for Multi-Phase Converters and Control Strategies for Multi-Phase Electric Drives

The ever-increasing spread of automation in industry puts the electrical engineer in a central role as a promoter of technological development in a sector such as the use of electricity, which is the basis of all the machinery and productive processes. Moreover the spread of drives for motor control and static converters with structures ever more complex, places the electrical engineer to face new challenges whose solution has as critical elements in the implementation of digital control techniques with the requirements of inexpensiveness and efficiency of the final product. The successfully application of solutions using non-conventional static converters awake an increasing interest in science and industry due to the promising opportunities. However, in the same time, new problems emerge whose solution is still under study and debate in the scientific community During the Ph.D. course several themes have been developed that, while obtaining the recent and growing interest of scientific community, have much space for the development of research activity and for industrial applications. The first area of research is related to the control of three phase induction motors with high dynamic performance and the sensorless control in the high speed range. The management of the operation of induction machine without position or speed sensors awakes interest in the industrial world due to the increased reliability and robustness of this solution combined with a lower cost of production and purchase of this technology compared to the others available in the market. During this dissertation control techniques will be proposed which are able to exploit the total dc link voltage and at the same time capable to exploit the maximum torque capability in whole speed range with good dynamic performance. The proposed solution preserves the simplicity of tuning of the regulators. Furthermore, in order to validate the effectiveness of presented solution, it is assessed in terms of performance and complexity and compared to two other algorithm presented in literature. The feasibility of the proposed algorithm is also tested on induction motor drive fed by a matrix converter. Another important research area is connected to the development of technology for vehicular applications. In this field the dynamic performances and the low power consumption is one of most important goals for an effective algorithm. Towards this direction, a control scheme for induction motor that integrates within a coherent solution some of the features that are commonly required to an electric vehicle drive is presented. The main features of the proposed control scheme are the capability to exploit the maximum torque in the whole speed range, a weak dependence on the motor parameters, a good robustness against the variations of the dc-link voltage and, whenever possible, the maximum efficiency. The second part of this dissertation is dedicated to the multi-phase systems. This technology, in fact, is characterized by a number of issues worthy of investigation that make it competitive with other technologies already on the market. Multiphase systems, allow to redistribute power at a higher number of phases, thus making possible the construction of electronic converters which otherwise would be very difficult to achieve due to the limits of present power electronics. Multiphase drives have an intrinsic reliability given by the possibility that a fault of a phase, caused by the possible failure of a component of the converter, can be solved without inefficiency of the machine or application of a pulsating torque. The control of the magnetic field spatial harmonics in the air-gap with order higher than one allows to reduce torque noise and to obtain high torque density motor and multi-motor applications. In one of the next chapters a control scheme able to increase the motor torque by adding a third harmonic component to the air-gap magnetic field will be presented. Above the base speed the control system reduces the motor flux in such a way to ensure the maximum torque capability. The presented analysis considers the drive constrains and shows how these limits modify the motor performance. The multi-motor applications are described by a well-defined number of multiphase machines, having series connected stator windings, with an opportune permutation of the phases these machines can be independently controlled with a single multi-phase inverter. In this dissertation this solution will be presented and an electric drive consisting of two five-phase PM tubular actuators fed by a single five-phase inverter will be presented. Finally the modulation strategies for a multi-phase inverter will be illustrated. The problem of the space vector modulation of multiphase inverters with an odd number of phases is solved in different way. An algorithmic approach and a look-up table solution will be proposed. The inverter output voltage capability will be investigated, showing that the proposed modulation strategy is able to fully exploit the dc input voltage either in sinusoidal or non-sinusoidal operating conditions. All this aspects are considered in the next chapters. In particular, Chapter 1 summarizes the mathematical model of induction motor. The Chapter 2 is a brief state of art on three-phase inverter. Chapter 3 proposes a stator flux vector control for a three- phase induction machine and compares this solution with two other algorithms presented in literature. Furthermore, in the same chapter, a complete electric drive based on matrix converter is presented. In Chapter 4 a control strategy suitable for electric vehicles is illustrated. Chapter 5 describes the mathematical model of multi-phase induction machines whereas chapter 6 analyzes the multi-phase inverter and its modulation strategies. Chapter 7 discusses the minimization of the power losses in IGBT multi-phase inverters with carrier-based pulse width modulation. In Chapter 8 an extended stator flux vector control for a seven-phase induction motor is presented. Chapter 9 concerns the high torque density applications and in Chapter 10 different fault tolerant control strategies are analyzed. Finally, the last chapter presents a positioning multi-motor drive consisting of two PM tubular five-phase actuators fed by a single five-phase inverter.

Fiber-Optic Technologies for Wireline and Wireless In-building Networks

This doctoral dissertation aims to establish fiber-optic technologies overcoming the limiting issues of data communications in indoor environments. Specific applications are broadband mobile distribution in different in-building scenarios and high-speed digital transmission over short-range wired optical systems. Two key enabling technologies are considered: Radio over Fiber (RoF) techniques over standard silica fibers for distributed antenna systems (DAS) and plastic optical fibers (POFs) for short-range communications. Hence, the objectives and achievements of this thesis are related to the application of RoF and POF technologies in different in-building scenarios. On one hand, a theoretical and experimental analysis combined with demonstration activities has been performed on cost-effective RoF systems. An extensive modeling on modal noise impact both on linear and non-linear characteristics of RoF link over silica multimode fiber has been performed to achieve link design rules for an optimum choice of the transmitter, receiver and launching technique. A successful transmission of Long Term Evolution (LTE) mobile signals on the resulting optimized RoF system over silica multimode fiber employing a Fabry-Perot LD, central launch technique and a photodiode with a built-in ball lens was demonstrated up to 525m with performances well compliant with standard requirements. On the other hand, digital signal processing techniques to overcome the bandwidth limitation of POF have been investigated. An uncoded net bit-rate of 5.15Gbit/s was obtained on a 50m long POF link employing an eye-safe transmitter, a silicon photodiode, and DMT modulation with bit and power loading algorithm. With the insertion of 3x2N quadrature amplitude modulation constellation formats, an uncoded net-bit-rate of 5.4Gbit/s was obtained on a 50 m long POF link employing an eye-safe transmitter and a silicon avalanche photodiode. Moreover, simultaneous transmission of baseband 2Gbit/s with DMT and 200Mbit/s with an ultra-wideband radio signal has been validated over a 50m long POF link.

Controllo Vettoriale generalizzato per Macchine Elettriche Trifase

Nell’ambito della presente tesi verrà descritto un approccio generalizzato per il controllo delle macchine elettriche trifasi; la prima parte è incentrata nello sviluppo di una metodologia di modellizzazione generale, ossia in grado di descrivere, da un punto di vista matematico, il comportamento di una generica macchina elettrica, che possa quindi includere in sé stessa tutte le caratteristiche salienti che possano caratterizzare ogni specifica tipologia di macchina elettrica. Il passo successivo è quello di realizzare un algoritmo di controllo per macchine elettriche che si poggi sulla teoria generalizzata e che utilizzi per il proprio funzionamento quelle grandezze offerte dal modello unico delle macchine elettriche. La tipologia di controllo che è stata utilizzata è quella che comunemente viene definita come controllo ad orientamento di campo (FOC), per la quale sono stati individuati degli accorgimenti atti a migliorarne le prestazioni dinamiche e di controllo della coppia erogata. Per concludere verrà presentata una serie di prove sperimentali con lo scopo di mettere in risalto alcuni aspetti cruciali nel controllo delle macchine elettriche mediante un algoritmo ad orientamento di campo e soprattutto di verificare l’attendibilità dell’approccio generalizzato alle macchine elettriche trifasi. I risultati sperimentali confermano quindi l’applicabilità del metodo a diverse tipologie di macchine (asincrone e sincrone) e sono stati verificate nelle condizioni operative più critiche: bassa velocità, alta velocità bassi carichi, dinamica lenta e dinamica veloce.

Photoinduced electronic transitions and leakage correlation to defects/dislocations in GaN heterostructures

III-nitride materials are very promising for high speed electronics/optical applications but still suffer in performance due to problems during high quality epitaxial growth, evolution of dislocation and defects, less understanding of fundamental physics of materials/processing of devices etc. This thesis mainly focus on GaN based heterostructures to understand the metal-semiconductor interface properties, 2DE(H)G influence on electrical and optical properties, and deep level states in GaN and InAlN, InGaN materials. The detailed electrical characterizations have been employed on Schottky diodes at GaN and InAl(Ga)N/GaN heterostructures in order to understand the metal-semiconductor interface related properties in these materials. I have observed the occurrence of Schottky barrier inhomogenity, role of dislocations in terms of leakage and creating electrically active defect states within energy gap of materials. Deep level transient spectroscopy method is employed on GaN, InAlN and InGaN materials and several defect levels have been observed related to majority and minority carriers. In fact, some defects have been found common in characteristics in ternary layers and GaN layer which indicates that those defect levels are from similar origin, most probably due to Ga/N vacancy in GaN/heterostructures. The role of structural defects, roughness has been extensively understood in terms of enhancing the reverse leakage current, suppressing the mobility in InAlN/AlN/GaN based high electron mobility transistor (HEMT) structures which are identified as key issues for GaN technology. Optical spectroscopy methods have been employed to understand materials quality, sub band and defect related transitions and compared with electrical characterizations. The observation of 2DEG sub band related absorption/emission in optical spectra have been identified and proposed for first time in nitride based polar heterostructures, which is well supported with simulation results. In addition, metal-semiconductor-metal (MSM)-InAl(Ga)N/GaN based photodetector structures have been fabricated and proposed for achieving high efficient optoelectronics devices in future.

Entwicklung, Aufbau und Messungen eines schnellen Eiskeimzählers

Im Rahmen dieser Arbeit wurde ein neuer Eiskeimzähler FINCH (Fast Ice Nucleus CHamber) entwickelt und erste Messungen von verschiedenen Testaerosolen im Labor und atmosphärischem Aerosol durchgeführt. Die Aerosolpartikel bzw. Ice Nuclei IN werden bei Temperaturen unter dem Gefrierpunkt und Übersättigungen in Bezug auf Eis zum Anwachsen zu Eiskristallen gebracht, um sie mittels optischer Detektion zu erfassen. In FINCH ist dies durch das Prinzip der Mischung realisiert, wodurch eine kontinuierliche Messung der IN-Anzahlkonzentration gewährleistet ist. Hierbei kann mit sehr hohen Sammelflussraten von bis zu 10 l/min gemessen werden. Ebenso ist ein schnelles Abfahren von verschiedenen Sättigungsverhältnissen in Bezug auf Eis in einem weiten Bereich von 0.9 - 1.7 bei konstanten Temperaturen bis zu −23 °C möglich. Die Detektion der Eiskristalle und damit der Bestimmung der IN-Anzahlkonzentration erfolgt über einen neu entwickelten optischen Sensor basierend auf der unterschiedlichen Depolarisation des zurückgestreuten Lichtes von Eiskristallen und unterkühlten Tropfen. In Labermessungen wurden Aktivierungstemperatur und -sättigungsverhältnis von Silberjodid AgI und Kaolinit vermessen. Die Resultate zeigten gute Übereinstimmungen mit Ergebnissen aus der Literatur sowie Parallelmessungen mit FRIDGE (FRankfurt Ice Deposition freezinG Experiment). FRIDGE ist eine statische Diffusionskammer zur Aktivierung und Auszählung von Eiskeimen, die auf einem Filter gesammelt wurden. Bei atmosphärischen Messungen auf dem Jungfraujoch(Schweiz) lagen die IN-Anzahlkonzentrationen mit bis zu 4 l−1 im Rahmen der aus der Literatur bekannten Werte. Messungen der Eiskristallresiduen von Mischwolken zeigten hingegen, dass nur jedes tausendste als Eiskeim im Depositionsmode aktiv ist. Hier scheinen andere Gefrierprozesse und sekundäre Eiskristallbildung von sehr großer Bedeutung für die Anzahlkonzentration der Eiskristallresiduen zu sein. Eine weitere Messung von atmosphärischem Aerosol in Frankfurt zeigte IN-Anzahlkonzentrationen bis zu 30 l−1 bei Aktivierungstemperaturen um −14 °C. Die parallele Probenahme auf Siliziumplättchen für die Messungen der IN-Anzahlkonzentration in FRIDGE ergaben Werte im gleichen Anzahlkonzentrationsbereich.

Analysis of charge-transport properties in GST materials for next generation phase-change memory devices

The quest for universal memory is driving the rapid development of memories with superior all-round capabilities in non-volatility, high speed, high endurance and low power. The memory subsystem accounts for a significant cost and power budget of a computer system. Current DRAM-based main memory systems are starting to hit the power and cost limit. To resolve this issue the industry is improving existing technologies such as Flash and exploring new ones. Among those new technologies is the Phase Change Memory (PCM), which overcomes some of the shortcomings of the Flash such as durability and scalability. This alternative non-volatile memory technology, which uses resistance contrast in phase-change materials, offers more density relative to DRAM, and can help to increase main memory capacity of future systems while remaining within the cost and power constraints. Chalcogenide materials can suitably be exploited for manufacturing phase-change memory devices. Charge transport in amorphous chalcogenide-GST used for memory devices is modeled using two contributions: hopping of trapped electrons and motion of band electrons in extended states. Crystalline GST exhibits an almost Ohmic I(V) curve. In contrast amorphous GST shows a high resistance at low biases while, above a threshold voltage, a transition takes place from a highly resistive to a conductive state, characterized by a negative differential-resistance behavior. A clear and complete understanding of the threshold behavior of the amorphous phase is fundamental for exploiting such materials in the fabrication of innovative nonvolatile memories. The type of feedback that produces the snapback phenomenon is described as a filamentation in energy that is controlled by electron–electron interactions between trapped electrons and band electrons. The model thus derived is implemented within a state-of-the-art simulator. An analytical version of the model is also derived and is useful for discussing the snapback behavior and the scaling properties of the device.

Optimierung der Inhalationstherapie bei Kindern und Mukoviszidose-Patienten

Die pulmonale Applikation von Arzneimitteln hat in den vergangenen Jahren zu- rnnehmend an Bedeutung gewonnen und wird vor allem in der lokalen Therapie bei Asthma, COPD und Mukoviszidose genutzt. Als neues innovatives Inhalationsgerät befindet sich der Respimat® seit 2004 auf dem Arzneimittelmarkt und ist bisher nur für Erwachsene zugelassen. Daher wurden im Rahmen dieser Arbeit die Anwendbarkeit und die Modifikation des Respimats® bei Kindern untersucht. Zusammenfassend zeigen die Ergebnisse, dass Kinder ab einem Alter von fünf Jahren fähig sind suffizient mit dem Respimat® zu inhalieren und gute Werte für die estimierte Intrathorakaldosis zu erreichen. Besonders Kinder von 9-12 Jahren und Patienten mit DPI- oder Autohaler®-Inhalationserfahrung erreichten aufgrund eines hohen Atemflusses eine niedrigere estimierte Intrathorakaldosis als es das Potenzial des Respimats® erlaubt hätte. Durch den Einbau eines höheren internen Widerstands in den Orginalrespimat® wurde der Atemfluss signifikant verlangsamt und die Intrathorakaldosis erhöht. Des Weiteren wurden in der vorliegenden Arbeit die physikalisch-chemische Kompatibilität und die aerodynamischen Eigenschaften von Mischinhalationslösung/-suspensionen untersucht. In der Praxis mischen Muko-viszidose-Patienten oftmals mehrere Fertigarzneimittel und inhalieren diese simultan. Dadurch wird der Zeitaufwand der täglichen Inhalation reduziert und die Compliance sowie die Lebensqualität verbessert. Die 4er Kombination aus Colistimethat mit konservierungsmittelfreier Salbutamolsulfat, Ipratropiumbromidinhalationslösungen und Fluticason-17-propionatinhalationssuspension erwies sich als physikalisch-chemisch kompatibel. Die entwickelte mikrobiologische Wertbestimmungsmethode erwies sich als robust, präzise, gut reproduzierbar und erfüllte alle Anforderungen des statistischen Modells. Weiterhin wurden die aerodynamischen Eigenschaften einer praxisrelevanten 3er Mischinhalationssuspension aus Salbutamolsulfat, Ipratropiumbromid und Fluticason-17-propionat im Vergleich zu deren konsekutiven Vernebelung mittels Kaskadenimpaktion betrachtet. Die Charakteristik des erzeugten Aerosols änderte sich für simultan vernebeltes Salbutamolsulfat und Ipratropiumbromid nicht, wohingegen Fluticason-17-propionat bei simultaner Vernebelung eine Reduktion des MMADs, der delivered dose und der recovery aufwies. Dennoch ist die inhalative Glukokortikoiddosis ausreichend hoch um eine effektive antiinflammatorische Wirkung zu gewährleisten. Daher kann die simultane Inhalation der 3er Kombination empfohlen werden und somit die Compliance und die Lebensqualität von Mukoviszidosepatienten erhöht werden.rn

Model reduction techniques in flexible multibody dynamics with application to engine cranktrain simulation

The development of a multibody model of a motorbike engine cranktrain is presented in this work, with an emphasis on flexible component model reduction. A modelling methodology based upon the adoption of non-ideal joints at interface locations, and the inclusion of component flexibility, is developed: both are necessary tasks if one wants to capture dynamic effects which arise in lightweight, high-speed applications. With regard to the first topic, both a ball bearing model and a journal bearing model are implemented, in order to properly capture the dynamic effects of the main connections in the system: angular contact ball bearings are modelled according to a five-DOF nonlinear scheme in order to grasp the crankshaft main bearings behaviour, while an impedance-based hydrodynamic bearing model is implemented providing an enhanced operation prediction at the conrod big end locations. Concerning the second matter, flexible models of the crankshaft and the connecting rod are produced. The well-established Craig-Bampton reduction technique is adopted as a general framework to obtain reduced model representations which are suitable for the subsequent multibody analyses. A particular component mode selection procedure is implemented, based on the concept of Effective Interface Mass, allowing an assessment of the accuracy of the reduced models prior to the nonlinear simulation phase. In addition, a procedure to alleviate the effects of modal truncation, based on the Modal Truncation Augmentation approach, is developed. In order to assess the performances of the proposed modal reduction schemes, numerical tests are performed onto the crankshaft and the conrod models in both frequency and modal domains. A multibody model of the cranktrain is eventually assembled and simulated using a commercial software. Numerical results are presented, demonstrating the effectiveness of the implemented flexible model reduction techniques. The advantages over the conventional frequency-based truncation approach are discussed.

Dynamic analysis of the motorcycle chattering behaviour by means of symbolic multibody modelling

Aim of this research is the development and validation of a comprehensive multibody motorcycle model featuring rigid-ring tires, taking into account both slope and roughness of road surfaces. A novel parametrization for the general kinematics of the motorcycle is proposed, using a mixed reference-point and relative-coordinates approach. The resulting description, developed in terms of dependent coordinates, makes it possible to efficiently include rigid-ring kinematics as well as road elevation and slope. The equations of motion for the multibody system are derived symbolically and the constraint equations arising from the dependent-coordinate formulation are handled using a projection technique. Therefore the resulting system of equations can be integrated in time domain using a standard ODE algorithm. The model is validated with respect to maneuvers experimentally measured on the race track, showing consistent results and excellent computational efficiency. More in detail, it is also capable of reproducing the chatter vibration of racing motorcycles. The chatter phenomenon, appearing during high speed cornering maneuvers, consists of a self-excited vertical oscillation of both the front and rear unsprung masses in the range of frequency between 17 and 22 Hz. A critical maneuver is numerically simulated, and a self-excited vibration appears, consistent with the experimentally measured chatter vibration. Finally, the driving mechanism for the self-excitation is highlighted and a physical interpretation is proposed.