1000 resultados para Bi-fuels vehicles
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1910/07/15 (A6,N13)-1910/07/31.
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1914/04/15 (A10,N8)-1914/05/01.
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1910/11/15 (A6,N21)-1910/11/30.
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1910/07/01 (A6,N12)-1910/07/14.
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1912/08/01 (A8,N15)-1912/08/15.
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1912/02/01 (A8,N3)-1912/02/15.
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1911/07/15 (A7,N14)-1911/08/01.
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1913/04/01 (A9,N7)-1913/04/15.
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1913/05/01 (A9,N9)-1913/05/15.
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1912/03/31 (A8,N7)-1912/04/15.
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1913/09/15 (A9,N18)-1913/10/01.
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1913/08/01 (A9,N15)-1913/08/15.
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This dissertation describes an approach for developing a real-time simulation for working mobile vehicles based on multibody modeling. The use of multibody modeling allows comprehensive description of the constrained motion of the mechanical systems involved and permits real-time solving of the equations of motion. By carefully selecting the multibody formulation method to be used, it is possible to increase the accuracy of the multibody model while at the same time solving equations of motion in real-time. In this study, a multibody procedure based on semi-recursive and augmented Lagrangian methods for real-time dynamic simulation application is studied in detail. In the semirecursive approach, a velocity transformation matrix is introduced to describe the dependent coordinates into relative (joint) coordinates, which reduces the size of the generalized coordinates. The augmented Lagrangian method is based on usage of global coordinates and, in that method, constraints are accounted using an iterative process. A multibody system can be modelled as either rigid or flexible bodies. When using flexible bodies, the system can be described using a floating frame of reference formulation. In this method, the deformation mode needed can be obtained from the finite element model. As the finite element model typically involves large number of degrees of freedom, reduced number of deformation modes can be obtained by employing model order reduction method such as Guyan reduction, Craig-Bampton method and Krylov subspace as shown in this study The constrained motion of the working mobile vehicles is actuated by the force from the hydraulic actuator. In this study, the hydraulic system is modeled using lumped fluid theory, in which the hydraulic circuit is divided into volumes. In this approach, the pressure wave propagation in the hoses and pipes is neglected. The contact modeling is divided into two stages: contact detection and contact response. Contact detection determines when and where the contact occurs, and contact response provides the force acting at the collision point. The friction between tire and ground is modelled using the LuGre friction model, which describes the frictional force between two surfaces. Typically, the equations of motion are solved in the full matrices format, where the sparsity of the matrices is not considered. Increasing the number of bodies and constraint equations leads to the system matrices becoming large and sparse in structure. To increase the computational efficiency, a technique for solution of sparse matrices is proposed in this dissertation and its implementation demonstrated. To assess the computing efficiency, augmented Lagrangian and semi-recursive methods are implemented employing a sparse matrix technique. From the numerical example, the results show that the proposed approach is applicable and produced appropriate results within the real-time period.
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This thesis researches the current state of small teleoperated devices, the need for them and developing one. Small teleoperated devices give the possibility to perform tasks that are impossible or dangerous for humans. This work concentrates on small devices and cheap components and discloses one way of developing a teleoperated vehicle, but not necessarily the optimal way. Development and the current state of teleoperation were studied by a literature review, in which the data was searched from literature as well as from the Internet. The need for teleoperated devices was mapped through a survey, where 11 professionals from variating fields were interviewed how they could utilize a teleoperated devices and with what kind of features. Also, a prototype was built as a proof of concept of small teleoperated devices. The prototype is controlled by a single-board microcomputer that also streams video to the controlling device. The video can be viewed on a display or with a head mounted display.
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Coal slurry was of vital interest during the last century due to its potential as an alternative fuel where liquid fuels were necessary. Recently, environmental impacts of the traditional fuels, similarities of bio-coal to that of coal, and huge bio-coal supply has attracted the attention to prepare bio-coal slurries as a new fuel. Rudolf Diesel who invented the diesel engine on 1895 was of the opinion that diesel engines are capable to use different kinds of fuels due to the special design. He tried some kind of vegetable oil to operate on his IC engine. Recently, due to high energy density and more environmentally friendly fuel, researchers believe that bio-coal slurries could act as a new alternative fuel in large diesel engines. Loads of research on different kinds of bio-coal slurry were done by the other researchers worldwide and a lot of progress to boost slurry’s quality were achieved recently. The present study aims to achieve the ideal condition of different factors affecting on the quality of bio-coal slurry. One charcoal sample and two kinds of torrefied wood were used to investigate and compare the reaction of various factors. The results show a great gap between the quality of slurries made of different samples and more researches are necessary to fully understand the impact of the different parameter and improving the quality.
