Applied sciences

Archive of Mechanical Engineering

Content

Archive of Mechanical Engineering | 2019 | vol. 66 | No 2

Download PDF Download RIS Download Bibtex

Abstract

Similarity assessment between 3D models is an important problem in many fields including medicine, biology and industry. As there is no direct method to compare 3D geometries, different model representations (shape signatures) are developed to enable shape description, indexing and clustering. Even though some of those descriptors proved to achieve high classification precision, their application is often limited. In this work, a different approach to similarity assessment of 3D CAD models was presented. Instead of focusing on one specific shape signature, 45 easy-to-extract shape signatures were considered simultaneously. The vector of those features constituted an input for 3 machine learning algorithms: the random forest classifier, the support vector classifier and the fully connected neural network. The usefulness of the proposed approach was evaluated with a dataset consisting of over 1600 CAD models belonging to 9 separate classes. Different values of hyperparameters, as well as neural network configurations, were considered. Retrieval accuracy exceeding 99% was achieved on the test dataset.

Go to article

Bibliography

[1] T. Funkhouser, P. Min, M. Kazhdan, J. Chen, A. Halderman, D. Dobkin, and D. Jacobs. A search engine for 3D models. ACM Transactions on Graphics (TOG), 22(1):83–105, 2003. doi: 10.1145/588272.588279.
[2] Y. Yang, H. Lin, and Y. Zhang. Content-based 3-D model retrieval: A survey. IEEE Transactions on Systems. Man and Cybernetics Part C: Applications and Reviews, 37(6), 1081–1098, 2007. doi: 10.1109/TSMCC.2007.905756.
[3] N. Iyer, S. Jayanti, K. Lou, Y. Kalyanaraman, and K. Ramani. Three-dimensional shape searching: State-of-the-art review and future trends. Computer-Aided Design, 37(5):509–530, 2005. doi: 10.1016/j.cad.2004.07.002.
[4] Z. Zhang, Z. Jiang, and X. Wang. Biased support vector machine active learning for 3D model retrieval. In: 2010 International Conference on Mechanic Automation and Control Engineering, pages 89–92, Wuhan, China, 26–28 June, 2010. doi: 10.1109/MACE.2010.5535431.
[5] H. Cheng, C. Chu, E.Wang, and Y. Kim. 3D part similarity comparison based on levels of detail in negative feature decomposition using artificial neural network. Computer-Aided Design & Applications, 4(5):619–628, 2007. doi: 10.1080/16864360.2007.10738496.
[6] B. Bustos, D.A. Keim, D. Saupe, T. Schreck, and D.V. Vranic. Feature-based similarity search in 3D object databases. ACM Computing Surveys, 37(4):345–387, 2005. doi: 10.1145/1118890.1118893.
[7] J.R. Koza, F.H. Bennett, D. Andre, and M.A. Keane. Automated design of both the topology and sizing of analog electrical circuits using genetic programming. In: J.S. Gero, F. Sudweeks, editors, Artificial Intelligence in Design ’96, pages 151–170, Springer, Dordrecht, 1996. doi: 10.1007/978-94-009-0279-4.
[8] V.B. Sunil and S.S. Pande. Automatic recognition of machining features using artificial neural networks. The International Journal of Advanced Manufacturing Technology, 41(9–10):932–947, 2009. doi: 10.1007/s00170-008-1536-z.
[9] A.C. Müller and S. Guido. Introduction to Machine Learning with Python: A Guide For Data Scientists. O’Reilly Media Inc., 2016.
[10] Z. Qin, J. Jia, and J. Qin. Content based 3D model retrieval: A survey. In: 2008 International Workshop on Content-Based Multimedia Indexing, pages 249–256, London, UK, 18–20 June, 2008. doi: 10.1109/CBMI.2008.4564954.
[11] H.J.Rea, J.R. Corney, D.E.R. Clark, J. Pritchard, M.L. Breaks, and R.A. MacLeod. Part-sourcing in a global market. Concurrent Engineering, 10(4):325–333, 2002. doi: 10.1177/a032004.
[12] J. Corney, H. Rea, D. Clark, J. Pritchard, M. Breaks and R. MacLeod. Coarse filters for shape matching. IEEE Computer Graphics and Applications, 22(3):65–74, 2002. doi: 10.1109/MCG.2002.999789.
[13] P. Cicconi, R. Raffaeli, and M. Germani. An approach to support model based definition by PMI annotations. Computer-Aided Design and Applications, 14(4):526–534, 2016. doi: 10.1080/16864360.2016.1257194.
[14] G. Cybenko, A. Bhasin, and K.D. Cohen. Pattern recognition of 3D CAD objects: towards an electronic yellow pages of mechanical parts. International Journal of Smart Engineering Systems Design, 1(1):1–13, 1997.
[15] Z. Li, X. Zhou, and W. Liu. A geometric reasoning approach to hierarchical representation for B-rep model retrieval. Computer-Aided Design, 62:190–202, 2015. doi: 10.1016/j.cad.2014.05.008.
[16] M. Kazhdan, T. Funkhouser, and S. Rusinkiewicz. Rotation invariant spherical harmonic representation of 3D shape descriptors. In: Proceedings of Eurographics Symposium on Geometry Processing, pages 156–164, 2003.
[17] M. El-Mehalawi and R.A. Miller. A database system of mechanical components based on geometric and topological similarity. Part I: representation. Computer-Aided Design, 35(1):83–94, 2003. doi: 10.1016/S0010-4485(01)00177-4.
[18] M. El-Mehalawi and R.A. Miller. A database system of mechanical components based on geometric and topological similarity. Part II: indexing, retrieval, matching, and similarity assessment. Computer-Aided Design, 35(1):95–105, 2003. doi: 10.1016/S0010-4485(01)00178-6.
[19] C.F. You and Y.L. Tsai. 3D solid model retrieval for engineering reuse based on local feature correspondence. The International Journal of Advanced Manufacturing Technology, 46(5–8):649–661, 2010. doi: 10.1007/s00170-009-2113-9.
[20] H. Kaparthi and N.C. Suresh. A neural network system for shape-based classification and coding of rotational parts. International Journal of Production Research, 29(9):1771–1784, 1991. doi: 10.1080/00207549108948048.
[21] J. Shih, C. Lee, and J.T. Wang. A new 3D model retrieval approach based on the elevation descriptor. Pattern Recognition, 40(1):283–295, 2007. doi: 10.1016/j.patcog.2006.04.034.
[22] Y. Gao, M. Wang, Z.J. Zha, Q. Tian, Q. Dai, and N. Zhang. Less is more: efficient 3-D object retrieval with query view selection. IEEE Transactions on Multimedia, 13(5):1007–1018, 2011. doi: 10.1109/TMM.2011.2160619.
[23] Z. Zhu, C. Rao, S. Bai, and L.J. Latecki. Training convolutional neural network from multidomain contour images for 3D shape retrieval. Pattern Recognition Letters, 119:41–48, 2019. doi: 10.1016/j.patrec.2017.08.028.
[24] Scikit-learn, documentation.
[25] S. Knerr, L. Personnaz, and G. Dreyfus. Single-layer learning revisited: a stepwise procedure for building and training a neural network. In: F.F. Soulie and Jeanny Herault, editors, Neurocomputing: Algorithms, Architectures and Applications, pages 41–50, Springer-Verlag, 1990.
[26] Y. Bengio. Learning Deep Architectures for AI. Foundations and Trends®in Machine Learning, 2(1):1–127, 2009. doi: 10.1561/2200000006.
[27] J. Patterson and A. Gibson. Deep Learning. A Practitioner’s Approach. O’Reilly Media Inc., 2017.
[28] M.A. Nielsen. Neural Networks and Deep Learning. Determination Press, 2015.
[29] D.P. Kingma and J.Ba. Adam: a method for stochastic optimization. In: Proceedings of 3rd International Conference for Learning Representations, San Diego, 7–9 May, 2015.
Go to article

Authors and Affiliations

Dawid Machalica
1
Marek Matyjewski
2

  1. Warsaw Institute of Aviation, Warsaw, Poland.
  2. Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Warsaw, Poland.
Download PDF Download RIS Download Bibtex

Abstract

Automation of earth moving machineries is a widely studied problem. This paper focusses on one of the main challenges in automation of the earth moving industry, estimation of loading torque acting on the machinery. Loading torque acting on the excavation machinery is a very significant aspect in terms of both machine and operator safety. In this study, a disturbance observer-assisted control system for the estimation of loading torque acting on a robotic backhoe during excavation process is presented. The proposed observer does not use any acceleration measurements, rather, is proposed as a function of joint velocity. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme in tracking the reaction torques for a given dig cycle. Co-simulation experiments demonstrate robust performance and accurate tracking of the proposed control in both disturbance torque and position tracking. Further, the performance and sensitivity of the proposed control are also analyzed through the help of performance error quantifiers, the root-mean-square (RMS) values of the position and disturbance tracking errors.

Go to article

Bibliography

[1] R.C. Winck, M. Elton, and W.J. Book. A practical interface for coordinated position control of an excavator arm. Automation in Construction, 51:46–58, 2015. doi: 10.1016/j.autcon.2014.12.012.
[2] D. Wang, L. Zheng, H. Yu, W. Zhou, and L. Shao. Robotic excavator motion control using a nonlinear proportional-integral controller and cross-coupled pre-compensation. Automation in Construction, 64:1-6, 2016. doi: 10.1016/j.autcon.2015.12.024.
[3] H. Feng, C. Yin, W. Weng, W. Ma, J. Zhou, W. Jia, and Z. Zhang. Robotic excavator trajectory control using an improvedGAbased PID controller. Mechanical Systems and Signal Processing, 105:153–168, 2018. doi: 10.1016/j.ymssp.2017.12.014.
[4] P. Saeedi, P.D. Lawrence, D.G. Lowe, P. Jacobsen, D. Kusalovic, K. Ardron, and P.H. Sorensen. An autonomous excavator with vision-based track-slippage control. IEEE Transactions on Control Systems Technology, 13(1):67–84, 2005. doi: 10.1109/TCST.2004.838551.
[5] D. Kim, J. Kim, K. Lee, C. Park, J. Song, and D. Kang. Excavator tele-operation system using a human arm. Automation in Construction, 18(2):173–182, 2009. doi: 10.1016/j.autcon.2008.07.002.
[6] J. Yoon and A. Manurung. Development of an intuitive user interface for a hydraulic backhoe. Automation in Construction, 19(6):779–790, 2010. doi: 10.1016/j.autcon.2010.04.002.
[7] S. Dadhich, U. Bodin, and U. Andersson. Key challenges in automation of earth-moving machines. Automation in Construction, 68:212–222, 2016. doi: 10.1016/j.autcon.2016.05.009.
[8] Y. Liu, M.S. Hasan, and H.-N. Yu. Modelling and remote control of an excavator. International Journal of Automation and Computing, 7(3):349–358, 2010. doi: 10.1007/s11633-010-0514-8.
[9] S. Kim, J. Park, S. Kang, P.Y. Kim, and H.J. Kim.Arobust control approach for hydraulic excavators using μ-synthesis. International Journal of Control, Automation and Systems, 16(4):1615–1628, 2018. doi: 10.1007/s12555-017-0071-9.
[10] Q.H. Nguyen, Q.P. Ha, D.C. Rye, and H.F. Durrant-Whyte. Force/position tracking for electrohydraulic systems of a robotic excavator. In Proceedings of the 39th IEEE Conference on Decision and Control, volume 5, pages 5224–5229, Sydney, Australia, 12-15 Dec. 2000. doi: 10.1109/CDC.2001.914787.
[11] Q. P. Ha, Q.H. Nguyen, D.C. Rye, and H.F. Durrant-Whyte. Impedance control of a hydraulically actuated robotic excavator. Automation in Construction, 9(5-6):421–435, 2000. doi: 10.1016/S0926-5805(00)00056-X.
[12] Q. Ha, M. Santos, Q. Nguyen, D. Rye, and H. Durrant-Whyte. Robotic excavation in construction automation. IEEE Robotics & Automation Magazine, 9(1):20–28, 2002. doi: 10.1109/100.993151.
[13] S.E. Salcudean, S. Tafazoli, P.D. Lawrence, and I. Chau. Impedance control of a teleoperated mini excavator. In 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR’97, pages 19–25, Monterey, USA, 7-9 July 1997. doi: 10.1109/ICAR.1997.620156.
[14] S. Tafazoli, S.E. Salcudean, K. Hashtrudi-Zaad, and P.D. Lawrence. Impedance control of a teleoperated excavator. IEEE Transactions on Control System Technology, 10(3):355–367, 2002. doi: 10.1109/87.998021.
[15] M.D. Elton and W.J. Book. Comparison of human-machine interfaces designed for novices teleoperating multi-DOF hydraulic manipulators. In 2 011 RO-MAN Symposium, pages 395–400, Atlanta, USA, 31 July – 3 Aug. 2011. doi: 10.1109/ROMAN.2011.6005250.
[16] M.E. Kontz. Haptic Control of Hydraulic Machinery Using Proportional Valves. Ph.D Thesis, School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, USA, 2007.
[17] B. Frank, L. Skogh, R. Filla, A. Fröberg, and M. Alaküla. On increasing fuel efficiency by operator assistant systems in a wheel loader. In Proceedings of International Conference on Advanced Vehicle Technologies and Integration, pages 155–161, Changchun, China, 2012. doi: 10.13140/RG.2.1.3129.1362.
[18] H. Cannon and S. Singh. Models for automated earthmoving. In Experimental Robotics VI, pages 163–172, Springer, London 2000. doi: 10.1007/BFb0119395.
[19] M.W. Spong and M. Vidyasagar. Robot Dynamics and Control. John Wiley & Sons, 1989.
[20] M. Bodur, H. Zontul, A. Ersak, A.J. Koivo, H.O. Yurtseven, E. Kocaoglan, and G. Pasamehmetoglu. Dynamic cognitive force control for an automatic land excavation robot. In Proceedings of MELECON ’94. Mediterranean Electrotechnical Conference, pages 703–706, Antalya, Turkey, 12-14 April 1994. doi: 10.1109/MELCON.1994.380908.
[21] A.J. Koivo, M. Thoma, E. Kocaoglan, and J. Andrade-Cetto. Modeling and control of excavator dynamics during digging operation. Journal of Aerospace Engineering, 9(1):10–18, 1996. doi: 10.1061/(ASCE)0893-1321(1996)9:1(10).
[22] S. Li, J. Yang, W.H. Chen, and X. Chen. Disturbance Observer Based Control: Methods and Applications. CRC Press, 2014.
[23] S. Mohan and J. K. Mohanta. Dual integral sliding mode control loop for mechanical error correction in trajectory-tracking of a planar 3-PRP parallel manipulator. Journal of Intelligent & Robotic Systems, 89(3-4):371–385, 2018. doi: 10.1007/s10846-017-0553-2.
[24] S. Mohan. Error analysis and control scheme for the error correction in trajectorytracking of a planar 2PRP-PPR parallel manipulator. Mechatronics, 46:70–83, 2017. doi: 10.1016/j.mechatronics.2017.07.003.
[25] G.J. Maeda, I.R. Manchester, and D.C. Rye. Combined ILC and disturbance observer for the rejection of near-repetitive disturbances, with application to excavation. IEEE Transactions on Control Systems Technology, 23(5):1754–1769, 2015. doi: 10.1109/TCST.2014.2382579.
[26] W.H. Chen, D.J. Ballance, P.J. Gawthrop, and J. O’Reilly. A nonlinear disturbance observer for robotic manipulators. IEEE Transactions on Industrial Electronics, 47(4):932–938, 2000. doi: 10.1109/41.857974.
[27] D. Sosa-Méndez, E. Lugo-González, M. Arias-Montiel, and R.A. García-García, ADAMSMATLAB co-simulation for kinematics, dynamics, and control of the Stewart–Gough platform. International Journal of Advanced Robotic Systems, 14(4), 2017. doi: 10.1177/1729881417719824.
Go to article

Authors and Affiliations

Meera C S
1
Mukul Kumar Gupta
1
Santhakumar Mohan
2

  1. Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies (UPES), Dehradun (UK), India.
  2. Discipline of Mechanical Engineering, Indian Institute of Technology Palakkad, Palakkad (Kerala), India.
Download PDF Download RIS Download Bibtex

Abstract

A brief review of the existing autonomous underwater vehicles, their types, design, movement abilities and missions is presented. It is shown, the shape optimization design and enhancement of their efficiency is the main problem for further development of multipurpose glider technologies. A comparative study of aerodynamic performance of three different shape designs (the airfoil NACA0022 based (I), flattened ellipsoidal (II) and cigar-type (III) bodies of the same volumes) has been carried out. Geometrical modelling, meshing and computational fluid dynamics (CFD) simulations have been carried out with AnSys15.0. The pathlines and wall shear stress distributions have been computed to understand the advantages and disadvantages of each shape. The lift and drag coefficients, aerodynamic quality, power index and pitching moment have been computed. The higher efficiency of the shape I/shape II at higher/lower angles of attack (> 20o and < 20o) has been found. The shape III develops high speeds at the same angles of attack and has higher manoeuvrability at relatively low aerodynamic quality. The comparative analysis of the flow capabilities of studied autonomous undersea vehicles proposes some design improvement for increasing their energy efficiency and flow stability.

Go to article

Bibliography

[1] F. Muttin. Umbilical deployment modeling for tethered UAV detecting oil pollution from a ship. Applied Ocean Research, 33(4):332–343, 2011. doi: 10.1016/j.apor.2011.06.004.
[2] D. Meyer. Glider Technology for ocean observations: a review. Ocean Science Discussions, 1–26, 2016. doi: 10.5194/os-2016-40.
[3] S. Ruiz, B. Garau, M. Martinez-Ledesma, B. Casas, A. Pascual, G. Vizono, J. Bouffard, E. Heslop, A. Alvarez, P. Testor, and J. Tintoré. New technologies for marine research: five years of glider activities at IMEDEA. Scientia Marina, 76:261–270, 2012. doi: 10.3989/scimar.03622.19L.
[4] M.C. Domingo. An overview of the internet of underwater things. Journal of Network and Computer Applications, 35:1879–1890, 2012. doi: 10.1016/j.jnca.2012.07.012.
[5] J. Yuh, G. Marani, and D.R. Blidberg. Applications of marine robotic vehicles. Intelligent Service Robotics, 4:221–231, 2011. doi: 10.1007/s11370-011-0096-5.
[6] E. Gray. The Devil’s Device: Robert Whitehead and the history of the Torpedo. Naval Institute Press, Annapolis, 1991.
[7] N.D. Kraus. Wave glider dynamic modeling, parameter identification and simulation. PhD Thesis, University of Hawaii, 2012.
[8] J.G. Graver. Underwater gliders: dynamics, control and design. PhD Thesis, Princeton University, NJ 08544, 2005.
[9] H. Stommel. The Slocum Mission. Oceanography, 2(1):22–25, 1989. doi: 10.5670/oceanog.1989.26.
[10] J. Sherman, R.E. Davis, W.B. Owens, and J.Valdes. The autonomous underwater glider “Spray”. IEEE Journal of Oceanic Engineering, 26(4):437–446, 2001. doi: 10.1109/48.972076.
[11] C.C. Eriksen, T.J. Osse, R.D. Light, T. Wen, T.W. Lehmann, P.L. Sabin, J.W. Ballard, and A.M. Chiodi. Seaglider: a long range autonomous underwater vehicle for oceanographic research. IEEE Journal on Oceanic Engineering, 26(4):424–436, 2001. doi: 10.1109/48.972073.
[12] M.Y. Javaid, M. Ovinis, T. Nagarajan, and F.B.M. Hashim. Underwater gliders: a review. MATEC Web of Conferences, 13:02020–5, 2014. doi: 10.1051/matecconf/20141302020.
[13] D.C. Webb, P.J. Simonetti, and C.P. Jones. SLOCUM, an underwater glider propelled by environmental energy. IEEE Journal of Oceanic Engineering, 26(4):447–452, 2001. doi: 10.1109/48.972077.
[14] T.B. Curtin, J.G. Bellingham, J. Catipovic, and D.Webb. Autonomous oceanographic sampling networks. Oceanography, 6(3):86–94, 1993. doi: 10.5670/oceanog.1993.03.
[15] K. Kawaguchi, T. Ura, M. Oride, and T. Sakamaki. Development of shuttle type AUV ALBAC and sea trials for oceanographic measurement. Journal of the Society of Naval Architects of Japan, 178:657–665, 1995 (in Japanese). doi: 10.2534/jjasnaoe1968.1995.178_657.
[16] S. Wood. Autonomous underwater gliders. In A.V. Inzartsev, Editor, Underwater Vehicles, chapter 26, pages 505–530, IntechOpen, 2009. doi: 10.5772/6718.
[17] D. Tsering. China deep-sea exploration: intention and concerns. Maritime Affairs: Journal of the National Maritime Foundation of India, 13(1):91–98, 2017. doi: 10.1080/09733159.2017.1326570.
[18] Ø. Hasvold, N.J. Størkersen, S. Forseth, and T. Lian. Power sources for autonomous underwater vehicles. Journal of Power Sources, 162(2):935–942, 2006. doi: 10.1016/j.jpowsour.2005.07.021.
[19] X. Wang, J. Shang, Z. Luo, L. Tang, X. Zhang, and J. Li. Reviews of power systems and environmental energy conversion for unmanned underwater vehicles. Renewable and Sustainable Energy Reviews, 16(4):1958–1970, 2012. doi: 10.1016/j.rser.2011.12.016.
[20] S. Willcox, J. Manley, and S. Wiggins. The wave glider, an energy-harvesting autonomous surface vessel. Sea Technology, 50(11):29–32, 2009.
[21] T.B. Curtin, D.M. Crimmins, J. Curcio, M. Benjamin, and C. Roper. Autonomous underwater vehicles: trends and transformations. Marine Technology Society Journal, 39(3):65–75, 2005. doi: 10.4031/002533205787442521.
[22] S. Wang, C. Xie, Y. Wang, L. Zhang, W. Jie, and S.J. Hu. Harvesting of PEM fuel cell heat energy for a thermal engine in an underwater glider. Journal of Power Sources, 169(2):338–346, 2007. doi: 10.1016/j.jpowsour.2007.03.043.
[23] K. Isa, M.R. Arshad, and S. Ishak. A hybrid-riven underwater glider model, hydrodynamics estimation, and analysis of the motion control. Ocean Engineering, 81:111–129, 2014. doi: 10.1016/j.oceaneng.2014.02.002.
[24] M.S. Stewart and J. Pavlos. A means to networked persistent undersea surveillance. In Submarine Technology Symposium STS, pages 2–38, 2006.
[25] APL. The Applied Physics Laboratory Biennial 2007 Report, College of Ocean and Fishery Sciences, University of Washington, 2007.
[26] T. Praczyk and P. Szymak. Decision system for a team of autonomous underwater vehicles – Preliminary report. Neurocomputing, 74(17):3323–3334, 2011. doi: 10.1016/j.neucom.2011.05.013.
[27] M.Y. Javaid, M. Ovinis, F.B.M. Hashim, A. Maimun, Y.M. Ahmed, and B. Ullah. Effect of wing form on the hydrodynamic characteristics and dynamic stability of an underwater glider. International Journal of Naval Architecture and Ocean Engineering, 9(4):382–389, 2017. doi: 10.1016/j.ijnaoe.2016.09.010.
[28] Y. Singh, S.K. Bhattacharyya, and V.G. Idichandy. CFD approach to modelling, hydrodynamic analysis and motion characteristics of a laboratory underwater glider with experimental results. Journal of Ocean Engineering and Science, 2(2):90–119, 2017. doi: 10.1016/j.joes.2017.03.003.
[29] C. Sun, B. Song, P. Wang, and X. Wang. Shape optimization of blended-wing-body underwater glider by using gliding range as the optimization target. International Journal of Naval Architecture and Ocean Engineering, 9(6):693–704, 2017. doi: 10.1016/j.ijnaoe.2016.12.003.
[30] S. Zhang, J. Yu, A. Zhang, and F. Zhang. Spiraling motion of underwater gliders: Modeling, analysis, and experimental results. Ocean Engineering, 60:1–13, 2013. doi: 10.1016/j.oceaneng.2012.12.023.
[31] D.C. Seo and C.D. Williams. CFD Predictions of drag force for a Slocum ocean glider. Technical Report no. TR-2010-07. NRC Canada, 2010. doi: 0.4224/17210700.
[32] K. Alam, T. Ray, and S.G. Anavatti. Design and construction of an autonomous underwater vehicle. Neurocomputing, 142:16–29, 2014. doi: 10.1016/j.neucom.2013.12.055.
[33] Z. Wang, J. Yu, A. Zhang, Y. Wang, and W. Zhao. Parametric geometric model and hydrodynamic shape optimization of a flying-wing structure underwater glider. China Ocean Engineering, 31(6):709–715, 2017. doi: 10.1007/s13344-017-0081-7.
[34] D. Gassier, J. Rebollo, and R. Dumonteil. Implementing a low-cost long-range unmanned underwater vehicle: the SeaDiver Glider. Technical Report, Calhoun Institutional Archive of the Naval Postgraduate School, Monterey, California, 2007.
[35] D. Leandri, V. Nikishov, J.P. Frachet, T. Mathia, Y. Rudnyev, and E. Philippova. Undersea gliders for long-range applications. In O. Limarchenko, editor, Hydrodynamics of Moving Objects. Proceedings of the International Workshop, pages 142–153, Kiev, 2013.
[36] T. Melin. Parametric Airfoil Catalog. Part II. Göttingen 673 to YS930: An Aerodynamic and Geometric Comparison Between Parametrized and Point Cloud Airfoils. Linköping University Electronic Press, 2013.
[37] R.E. Sheldahl, and P.C. Klimas. Aerodynamic characteristics of seven symmetrical airfoil sections through 180-degree angle of attack for use in aerodynamic analysis of vertical axis wind turbines. Technical Report, Sandia National Laboratories, 1981. doi: 10.2172/6548367.
[38] W. Shyy, Y. Lian, J. Tang, D. Viieru, and H. Liu. Aerodynamics of Low Reynolds Number Flyers. Cambridge University Press, 2007.
[39] R.M. Hubbard. Hydrodynamics technology for an Advanced Expendable Mobile Target (AEMT). Technical Report no. 8013, Applied Physics Laboratory, University of Washington, 1980.
[40] AnSys Fluent User’s Guide. Release 15.0. SAS IP, Inc., 2013.
[41] C. Galiński, A. Dziubiński, and A. Sieradzki. Performance comparison of the optimized inverted joined wing airplane concept and classical configuration airplanes. Archive of Mechanical Engineering, 63(3):455–470, 2016. doi: 10.1515/meceng-2016-0026.
[42] H. Schlichting. Boundary-Layer Theory. 7th edition, McGraw-Hill, 1979.
[43] M. Grossrubatscher. Pilot’s Reference Guide. 10th edition. PilotsReference.com, 2008.
Go to article

Authors and Affiliations

Anatoliy Khalin
1
Nataliya Kizilova
2

  1. V.N. Karazin Kharkov National University, Kharkiv, Ukraine.
  2. Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Warsaw, Poland.
Download PDF Download RIS Download Bibtex

Abstract

The paper presents a simulation model of the hybrid magnetic bearing dedicated to simulations of transient state. The proposed field-circuit model is composed of two components. The first part constitutes a set of ordinary differential equations that describes electrical circuits and mechanics. The second part of the simulation model consists of parameters such as magnetic forces, dynamic inductances and velocity-induced voltages obtained from the 3D finite element analysis. The MATLAB/Simulnik softwarewas used to implement the simulation model with the required control system. The proposed field-circuit model was validated by comparison of time responses with the prototype of the hybrid magnetic bearing.

Go to article

Bibliography

[1] G. Schweitzer and H. Maslen. Magnetic bearings, theory, design, and application to rotating machinery. Springer, 2009.
[2] L. Ji, L. Xu, and Ch. Jin. Research on a low power consumption six-pole heteropolar hybrid magnetic bearing. IEEE Transactions on Magnetics, 49(8):4918–4926, 2013. doi: 10.1109/TMAG.2013.2238678.
[3] A. Piłat. Active magnetic suspension and bearing. In G. Petrone and G. Cammarata, Recent advances in modelling and simulation, chapter 24, pages 453–470. I-Tech Education and Publishing, 2008.
[4] A. Iordanidis, R. Wrobel, D. Holliday, and P. Mellor. A field-circuit model of an electrical gearbox actuator. In Proceedings of Second International Conference on Power Electronics, Machines and Drives (PEMD 2004), pages 21–26, Edinburgh, UK, 31 March–2 April, 2004. doi: 10.1049/cp:20040410.
[5] B. Tomczuk, A. Waindok, and D. Wajnert. Transients in the electromagnetic actuator with the controlled supplier. Journal of Vibroengineering, 14(1):39–44, 2012. https://www.jvejournals.com/article/10546/pdf.
[6] B. Tomczuk and M. Sobol. A field-network model of a linear oscillating motor and its dynamics characteristics. IEEE Transactions on Magnetics, 41(8):2362–2367, 2005. doi: 10.1109/TMAG.2005.852941.
[7] B. Tomczuk and D.Wajnert. Field–circuit model of the radial active magnetic bearing system. Electrical Engineering, 100(4):2319–2328, 2018. doi: 10.1007/s00202-018-0707-7.
[8] J. Zimon, B. Tomczuk, and D. Wajnert. Field-circuit modeling of AMB system for various speeds of the rotor. Journal of Vibroengineering, 14(1):165–170, 2012. https://www.jvejournals.com/article/10565/pdf.
[9] M. Łukaniszyn, M. Jagieła and, R.Wróbel. Electromechanical properties of a disc-type salient pole brushless DC motor with different pole numbers. COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 22(2):285–303, 2003. doi: 10.1108/03321640310459216.
[10] M. Łukaniszyn, R. Wróbel, and M. Jagieła. Field-circuit analysis of construction modifications of a torus-type PMDC motor. COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 22(2):337–355, 2003. doi: 10.1108/03321640310459261.
[11] R. Pollanen, J. Nerg, and O. Pyrhonen. Reluctance network method based dynamic model of radial active magnetic bearings. In Proceedings of the 2005 IEEE International Magnetics Conference (INTERMAG), pages 715–716, Nagoya, Japan, 4–8 April, 2005. doi: 10.1109/INTMAG.2005.1464144.
[12] M. Antila, E. Lantto and A. Arkkio. Determination of forces and linearized parameters of radial active magnetic bearings by finite element technique. IEEE Transactions on Magnetics, 34(3):684–694, 1998. doi: 10.1109/20.668066.
[13] B. Polajzer, G. Stumberger, J. Ritonja, and D. Dolinar. Variations of active magnetic bearings linearized model parameters analyzed by finite element computation. IEEE Transactions on Magnetics, 44(6):1534–1537, 2008. doi: 10.1109/TMAG.2007.916650.
[14] B. Tomczuk and D. Koteras. 3D Field Analysis in 3-phase amorphous modular transformer under increased frequency operation. Archives of Electrical Engineering, 64(1):119–127, 2015. doi: 10.1515/aee-2015-0011.
[15] Z. Badics and Z.J. Cendes. Source field modeling by mesh incidence matrices. IEEE Transactions on Magnetics, 43(4):1241–1244, 2007. doi: 10.1109/TMAG.2006.890967.
[16] D. Wajnert and B. Tomczuk. Simulation for the determination of the hybrid magnetic bearing’s electromagnetic parameters. Przegląd Elektrotechniczny, 93(2):157–160, 2017. http://pe.org.pl/articles/2017/2/34.pdf.
[17] A. Mystkowski. Energy saving robust control of active magnetic bearings in flywheel. Acta Mechanica et Automatica, 6(3):72–76, 2012.
[18] A. Piłat. PD control strategy for 3 coils AMB. In Proceedings of the 10th International Symposium on Magnetic Bearing, pages 34–39, Martigny, Switzerland, August 21–23, 2006.
[19] D. Kozanecka. Digitally controlled magnetic bearing. Łódz University of Technology, 2001 (in Polish).
[20] S. Myburgh, G. von Schoor, and E. O. Ranft. A non-linear simulation model of an active magnetic bearings supported rotor system. In Proceedings of The XIX International Conference on Electrical Machines (ICEM 2010), pages 1–6, Rome, Italy, 6–8 September 2010. doi: 10.1109/ICELMACH.2010.5607982.
[21] Z. Gosiewski and A. Mystkowski. Robust control of active magnetic suspension: Analytical and experimental results. Mechanical Systems and Signal Processing, 22(6):1297–1303, 2008. doi: 10.1016/j.ymssp.2007.08.005.
[22] A. Mystkowski. Robust control of vibration of the magnetically suspended rotor. Ph.D. Thesis, AGH University of Science and Technology, Cracow, Poland, 2007 (in Polish).
[23] A. Piłat. Control of magnetic levitation systems. Ph.D. Thesis, AGH University of Science and Technology, Cracow, Poland, 2002 (in Polish).
[24] Z. Gosiewski. Magnetic bearings for rotating machines. Controlling and research. Biblioteka Naukowa Instytutu Lotnictwa, 1999 (in Polish).
[25] K. Falkowski. The development of the laboratory model of the gyroscope with the magnetically levitating rotor and its research. Ph.D. Thesis, Warsaw University of Technology, Warsaw, Poland, 1999 (in Polish).
[26] G.F. Franklin, J.D. Powell and A. Emami-Naeini. Feedback control of dynamic systems. Prentice Hall, 2002.
[27] S. Szymaniec. “Measurement paths” used to measure relative vibrations in electric machines. Zeszyty Problemowe – Maszyny Elektryczne, 81:55–60, 2009 (in Polish).
Go to article

Authors and Affiliations

Dawid Wajnert
1

  1. Opole University of Technology, Department of Electrical Engineering and Mechatronics, Opole, Poland.
Download PDF Download RIS Download Bibtex

Abstract

An attempt is made in the current research to obtain the fundamental buckling torque and the associated buckled shape of an annular plate. The plate is subjected to a torque on its outer edge. An isotropic homogeneous plate is considered. The governing equations of the plate in polar coordinates are established with the aid of the Mindlin plate theory. Deformations and stresses of the plate prior to buckling are determined using the axisymmetric flatness conditions. Small perturbations are then applied to construct the linearised stability equations which govern the onset of buckling. To solve the highly coupled equations in terms of displacements and rotations, periodic auxiliary functions and the generalised differential quadrature method are applied. The coupled linear algebraic equations are a set of homogeneous equations dealing with the buckling state of the plate subjected to a unique torque. Benchmark results are given in tabular presentations for combinations of free, simply-supported, and clamped types of boundary conditions. It is shown that the critical buckling torque and its associated shape highly depend upon the combination of boundary conditions, radius ratio, and the thickness ratio.

Go to article

Bibliography

[1] W.R. Dean. The elastic stability of an annular plate. Proceedings of the Royal Society of London. Series A, Containing Papers of a Mathematical and Physical Character, 106(737):268–284, 1924. doi: 10.1098/rspa.1924.0068.
[2] J. Tani and T. Nakamura. Dynamic stability of annular plates under pulsating torsion. Journal of Applied Mechanics, 47(3):595–600, 1980. doi: 10.1115/1.3153739.
[3] J. Tani. Dynamic stability of orthotropic annular plates under pulsating torsion. The Journal of the Acoustical Society of America, 69(6):1688–1694, 1981. doi: 10.1121/1.385948.
[4] D. Durban and Y. Stavsky. Elastic buckling of polar-orthotropic annular plates in shear. International Journal of Solids and Structures, 18(1):51–58, 1982. doi: 10.1016/0020-7683(82)90015-4.
[5] T. Irie, G. Yamada, and M. Tsujino. Vibration and stability of a variable thickness annular plate subjected to a torque. Journal of Sound and Vibration, 85(2):277–285, 1982. doi: 10.1016/0022-460X(82)90522-3.
[6] T. Irie, G. Yamada, and M. Tsujino. Buckling loads of annular plates subjected to a torque. Journal of Sound and Vibration, 86(1):145–146, 1983. doi: 10.1016/0022-460X(83)90951-3.
[7] J. Zajączkowski. Stability of transverse vibration of a circular plate subjected to a periodically varying torque. Journal of Sound and Vibration, 89(2):273–286, 1983. doi: 10.1016/0022-460X(83)90394-2.
[8] H. Doki and J. Tani. Buckling of polar orthotropic annular plates under internal radial load and torsion. International Journal of Mechanical Sciences, 27:429–437, 1985. doi: 10.1016/0020-7403(85)90033-5.
[9] M. Hamada and T. Harima. In-plane torsional buckling of an annular plate. Bulletin of JSME, 29(250):1089–1095, 1986. doi: 10.1299/jsme1958.29.1089.
[10] E. Ore and D. Durban. Elastoplastic buckling of annular plates in pure shear. Journal of Applied Mechanics, 56(3):644–651, 1989. doi: 10.1115/1.3176141.
[11] Chang-Jun Cheng and Xiao-an Lui. Buckling and post-buckling of annular plates in shearing, Part I: Buckling. Computer Methods in Applied Mechanics and Engineering, 92(2):157–172, 1991. doi: 10.1016/0045-7825(91)90237-Z.
[12] Chang-Jun Cheng and Xiao-an Lui. Buckling and post-buckling of annular plates in shearing, Part II: Post-buckling. Computer Methods in Applied Mechanics and Engineering, 92(2):173–191, 1991. doi: 10.1016/0045-7825(91)90238-2.
[13] P. Singhatanadgid and V. Ungbhakorn. Scaling laws for buckling of polar orthotropic annular plates subjected to compressive and torsional loading. Thin-Walled Structures, 43(7):1115–1129, 2005. doi: 10.1016/j.tws.2004.11.004.
[14] T.X. Wu. Analytical study on torsional vibration of circular and annular plate. Journal of Mechanical Engineering Science, 220(4):393–401, 2006. doi: 10.1243/09544062JMES167.
[15] R. Maretic, V. Glavardanov, and D. Radomirovic. Asymmetric vibrations and stability of a rotating annular plate loaded by a torque. Meccanica, 42(6):537–546, 2007. doi: 10.1007/s11012-007-9080-8.
[16] S.E. Ghiasian, Y. Kiani, M. Sadighi, and M.R. Eslami. Thermal buckling of shear deformable temperature dependent circular annular FGM plates. International Journal of Mechanical Sciences, 81:137–148, 2014. doi: 10.1016/j.ijmecsci.2014.02.007.
[17] H. Bagheri, Y. Kiani, and M.R. Eslami. Asymmetric thermal buckling of temperature dependent annular FGM plates on a partial elastic foundation. Computers & Mathematics with Applications, 75(5):1566–1581, 2018. doi: 10.1016/j.camwa.2017.11.021.
[18] H. Bagheri, Y. Kiani, and M.R. Eslami. Asymmetric compressive stability of rotating annular plates. European Journal of Computational Mechanics, 2019. doi: 10.1080/17797179.2018.1560989.
[19] J.N. Reddy. Mechanics of Laminated Composite Plates and Shells, Theory and Application. CRC Press, 2nd Edition, 2003.
[20] H. Bagheri, Y. Kiani, and M.R. Eslami. Asymmetric thermal buckling of annular plates on a partial elastic foundation. Journal of Thermal Stresses, 40(8):1015–1029, 2017. doi: 10.1080/01495739.2016.1265474.
[21] H. Bagheri, Y. Kiani, and M.R. Eslami. Asymmetric thermo-inertial buckling of annular plates. Acta Mechanica, 228(4):1493–1509, 2017. doi: 10.1007/s00707-016-1772-5.
[22] D.O. Brush and B.O. Almroth. Buckling of Bars, Plates, and Shells. McGraw-Hill, New York, 1975.
[23] M.R. Eslami. Thermo-Mechanical Buckling of Composite Plates and Shells. Amirkabir University Press, Tehran, 2010.
[24] Y. Kiani Y and M.R. Eslami. An exact solution for thermal buckling of annular FGM plates on an elastic medium. Composites Part B: Engineering, 45(1):101–110, 2013. doi: 10.1016/j.compositesb.2012.09.034.
[25] F. Tornabene, N. Fantuzzi F. Ubertini, and E. Viola. Strong formulation finite element method based on differential quadrature: a survey. Applied Mechanics Reviews, 67(2):020801-020801-55, 2015. doi: 10.1115/1.4028859.
Go to article

Authors and Affiliations

Hamed Bagheri
1
Yaser Kiani
2
Mohammad Reza Eslami
1

  1. Mechanical Engineering Department, Amirkabir University of Technology, Tehran, Iran.
  2. Faculty of Engineering, Shahrekord University, Shahrekord, Iran.
Download PDF Download RIS Download Bibtex

Abstract

In the present work, a procedure for the estimation of internal damping in a cracked rotor system is described. The internal (or rotating) damping is one of the important rotor system parameters and it contributes to the instability of the system above its critical speed. A rotor with a crack during fatigue loading has rubbing action between the two crack faces, which contributes to the internal damping. Hence, internal damping estimation also can be an indicator of the presence of a crack. A cracked rotor system with an offset disc, which incorporates the rotary and translatory of inertia and gyroscopic effect of the disc is considered. The transverse crack is modeled based on the switching crack assumption, which gives multiple harmonics excitation to the rotor system. Moreover, due to the crack asymmetry, the multiple harmonic excitations leads to the forward and backward whirls in the rotor orbit. Based on equations of motions derived in the frequency domain (full spectrum), an estimation procedure is evolved to identify the internal and external damping, the additive crack stiffness and unbalance in the rotor system. Numerically, the identification procedure is tested using noisy responses and bias errors in system parameters.

Go to article

Bibliography

[1] R. Tiwari. Rotor Systems: Analysis and Identification. CRC Press, Boca Raton, FL, USA, 2017.
[2] F. Ehrich. Shaft whirl induced by rotor internal damping. Journal of Applied Mechanics, 31(2):279–282, 1964. doi: 10.1115/1.3629598.
[3] J. Shaw and S. Shaw. Instabilities and bifurcations in a rotating shaft. Journal of Sound and Vibration, 132(2):227–244, 1989. doi: 10.1016/0022-460X(89)90594-4.
[4] W. Kurnik. Stability and bifurcation analysis of a nonlinear transversally loaded rotating shaft. Nonlinear Dynamics, 5(1):39–52, 1994.
[5] L.-W. Chen and D.-M. Ku. Analysis of whirl speeds of rotor-bearing systems with internal damping by C 0 finite elements. Finite Elements in Analysis and Design, 9(2):169–176, 1991. doi: 10.1016/0168-874X(91)90059-8.
[6] D.-M. Ku. Finite element analysis of whirl speeds for rotor-bearing systems with internal damping. Mechanical Systems and Signal Processing, 12(5):599–610, 1998. doi: 10.1006/mssp.1998.0159.
[7] J. Melanson and J. Zu. Free vibration and stability analysis of internally damped rotating shafts with general boundary conditions. Journal of Vibration and Acoustics, 120(3):776–783, 1998. doi: 10.1115/1.2893897.
[8] G. Genta. On a persistent misunderstanding of the role of hysteretic damping in rotordynamics. Journal of Vibration and Acoustics, 126(3):459–461, 2004. doi: 10.1115/1.1759694.
[9] M. Dimentberg. Vibration of a rotating shaft with randomly varying internal damping. Journal of Sound and Vibration, 285(3):759–765, 2005. doi: 10.1016/j.jsv.2004.11.025.
[10] F. Vatta and A. Vigliani. Internal damping in rotating shafts. Mechanism and Machine Theory, 43(11):1376–1384, 2008. doi: 10.1016/j.mechmachtheory.2007.12.009.
[11] J. Fischer and J. Strackeljan. Stability analysis of high speed lab centrifuges considering internal damping in rotor-shaft joints. Technische Mechanik, 26(2):131–147, 2006.
[12] O. Montagnier and C. Hochard. Dynamic instability of supercritical driveshafts mounted on dissipative supports – effects of viscous and hysteretic internal damping. Journal of Sound and Vibration, 305(3):378–400, 2007. doi: 10.1016/j.jsv.2007.03.061.
[13] M. Chouksey, J.K. Dutt, and S.V. Modak. Modal analysis of rotor-shaft system under the influence of rotor-shaft material damping and fluid film forces. Mechanism and Machine Theory, 48:81–93, 2012. doi: 10.1016/j.mechmachtheory.2011.09.001.
[14] P. Goldman and A. Muszynska. Application of full spectrum to rotating machinery diagnostics. Orbit, 20(1):17–21, 1991.
[15] R. Tiwari. Conditioning of regression matrices for simultaneous estimation of the residual unbalance and bearing dynamic parameters. Mechanical Systems and Signal Processing, 19(5):1082–1095, 2005. doi: 10.1016/j.ymssp.2004.09.005.
[16] I. Mayes and W. Davies. Analysis of the response of a multi-rotor-bearing system containing a transverse crack in a rotor. Journal of Vibration, Acoustics, Stress, and Reliability in Design, 106(1):139–145, 1984. doi: 10.1115/1.3269142.
[17] R. Gasch. Dynamic behaviour of the Laval rotor with a transverse crack. Mechanical Systems and Signal Processing, 22(4):790–804, 2008. doi: 10.1016/j.ymssp.2007.11.023.
[18] M. Karthikeyan,R. Tiwari, S. and Talukdar. Development of a technique to locate and quantify a crack in a beam based on modal parameters. Journal of Vibration and Acoustics, 129(3):390–395, 2007. doi: 10.1115/1.2424981.
[19] S.K. Singh and R. Tiwari. Identification of a multi-crack in a shaft system using transverse frequency response functions. Mechanism and Machine Theory, 45(12):1813–1827, 2010. doi: 10.1016/j.mechmachtheory.2010.08.007.
[20] C. Shravankumar and R. Tiwari. Identification of stiffness and periodic excitation forces of a transverse switching crack in a Laval rotor. Fatigue & Fracture of Engineering Materials & Structures, 36(3):254–269, 2013. doi: 10.1111/j.1460-2695.2012.01718.x.
[21] S. Singh and R. Tiwari. Model-based fatigue crack identification in rotors integrated with active magnetic bearings. Journal of Vibration and Control, 23(6):980–1000, 2017. doi: 10.1177/1077546315587146.
[22] S. Singh and R. Tiwari. Model-based switching-crack identification in a Jeffcott rotor with an offset disk integrated with an active magnetic bearing. Journal of Dynamic Systems, Measurement, and Control, 138(3):031006, 2016. doi: 10.1115/1.4032292.
[23] S. Singh and R. Tiwari. Model based identification of crack and bearing dynamic parameters in flexible rotor systems supported with an auxiliary active magnetic bearing. Mechanism and Machine Theory, 122: 292–307, 2018. doi: 10.1016/j.mechmachtheory.2018.01.006.
[24] C. Shravankumar. Crack Identific in Rotors with Full-Spectrum. Ph.D. Thesis, IIT Guwahati, India, 2014.
[25] A.D. Dimarogonas. Vibration of cracked structures: a state of the art review. Engineering Fracture Mechanics, 55(5): 831–857, 1996. doi: 10.1016/0013-7944(94)00175-8.
Go to article

Authors and Affiliations

Dipendra Kumar Roy
1
Rajiv Tiwari
2

  1. Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, 781039, India.
  2. Faculty of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, 781039, India.
Download PDF Download RIS Download Bibtex

Abstract

Contemporary research on mobile robotics aims at designing robots that will be able to traverse an extremely varied environment. One of the most universal modes of locomotion is the serpentine movement. A majority of modern snake-like robots use electric drives. This study presents a snake-like robot made out of McKibben muscles. Using a pneumatic cable with muscles arranged in series, it is possible to create a robot of any length, limited only by the length of the muscle cables. Because the control system and the body of the robot are separate, the robot can be used for rescue missions involving high risk of explosion of flammable substances and for missions taking place on extremely difficult terrain.

Go to article

Bibliography

[1] S. Hirose. Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford University Press, Oxford, 1993.
[2] R.S. Desai, C.J. Rosenberg, and J.L. Jones. Kaa: An autonomous serpentine robot utilizes behavior control. In Proceedings of 1995 International Conference on Intelligent Robots and Systems, IROS ’95, pages 250–255, Pittsburgh, USA, 5-9 August 1995, 1995. doi: 10.1109/IROS.1995.525891.
[3] S. Ma, Y. Ohmameuda, K. Inoue, and B. Li. Control of a 3-dimensional snakelike robot. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2067–2072, Taipei, Taiwan, 14–19 September 2003. doi: 10.1109/ROBOT.2003.1241898.
[4] S. Ma, Y. Ohmameuda, and K. Inoue. Dynamic analysis of 3-dimensional snake robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 767–772, Sendai, Japan, 28 Sept. – 2 Oct. 2004. doi: 10.1109/IROS.2004.1389445.
[5] Z. Zuo, Z. Wang, B. Li, and S. Ma. Serpentine locomotion of a snake-like robot in water environment. In 2008 IEEE International Conference on Robotics and Biomimetics, pages 25–30, Bangkok, Thailand, 21–26 February, 2009. doi: 10.1109/ROBIO.2009.4912974.
[6] A. Shapiro, A. Greenfield, and H. Choset. Frictional compliance model development and experiments for snake robot climbing. In Proceedings of IEEE International Conference on Robotics and Automation, pages 574–579, Rome, Italy, 10-14 April 2007. doi: 10.1109/ROBOT.2007.363048.
[7] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose. Development of amphibious snake-like robot ACM-R5. In: Proceedings of 36th International Symposium on Robotics, Tokyo, Japan, 2005.
[8] C. Wright, A. Johnson, A. Peck, Z. McCord, A. Naaktgeboren, P. Gianfortoni, M. Gonzalez-Rivero, R. Hatton, and H. Choset. Design of a modular snake robot. In Proceedings of the 2007 IEEE/RSJ International Conference of Intelligent Robots and Systems, pages 2609–2614, San Diego, USA, 29 Oct.-2 Nov. 2007. doi: 10.1109/IROS.2007.4399617.
[9] P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T. Gravdahl. A review on modelling, implementation, and control of snake robots. Robotics and Autonomous Systems, 60(1):29–40, 2012. doi: 10.1016/j.robot.2011.08.010.
[10] K.Y. Pettersen. Snake robots. Annual Reviews in Control, 44:19–44, 2017. doi: 10.1016/j.arcontrol.2017.09.006.
[11] J. Gao, X. Gao, W. Zhu, J. Zhu, and B. Wei. Design and research of a new structure rescue snake robot with all body drive system. In Proceedings of 2008 IEEE International Conference Mechatronics and Automation, pages 119–124, Takamatsu, Japan, 5–8 August, 2008. doi: 10.1109/ICMA.2008.4798737.
[12] G. Granosik, J. Borenstein, and M.G. Hansen. Serpentine Robots for Industrial Inspection and Surveillance. In K.-H. Low (ed.), Industrial Robotics: Programming, Simulation and Applications, Chapter 33, pages 633–662. Pro Literatur Verlag, Germany, ARS, Austria, 2006. doi: 10.5772/4921.
[13] P. Liljebäck, Ø. Stavdahl, and K.Y. Pettersen. Modular pneumatic snake robot: 3D modelling, implementation and control. IFAC Proceedings Volumes, 38(1):19–24, 2005. doi: 10.3182/20050703-6-CZ-1902.01274.
[14] K. Koter, L. Fracczak, A. Wojtczak, B. Bryl-Nagorska, A. Mizejewski, and A. Sawicki. Static and dynamic properties investigation of new generation of Transversal Artificial Muscle. In Proceedings of 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), pages 711–716, Miedzyzdroje, Poland, 28–31 August 2017. doi: 10.1109/MMAR.2017.8046915.
Go to article

Authors and Affiliations

Łukasz Frącczak
1
Michał Olejniczak
1
Leszek Podsędkowski
1

  1. Lodz University of Technology, Institute of Machine Tools and Production Engineering, Lodz, Poland.

Instructions for authors

About the Journal
Archive of Mechanical Engineering is an international journal publishing works of wide significance, originality and relevance in most branches of mechanical engineering. The journal is peer-reviewed and is published both in electronic and printed form. Archive of Mechanical Engineering publishes original papers which have not been previously published in other journal, and are not being prepared for publication elsewhere. The publisher will not be held legally responsible should there be any claims for compensation. The journal accepts papers in English.

Archive of Mechanical Engineering is an Open Access journal. The journal does not have article processing charges (APCs) nor article submission charges.

Outline of procedures
  • To ensure that high scientific standards are met, the editorial office of Archive of Mechanical Engineering implements anti-ghost writing and guest authorship policy. Ghostwriting and guest authorship are indication of scientific dishonesty and all cases will be exposed: editorial office will inform adequate institutions (employers, scientific societies, scientific editors associations, etc.).
  • To maintain high quality of published papers, the editorial office of Archive of Mechanical Engineering applies reviewing procedure. Each manuscript undergoes crosscheck plagiarism screening. Each manuscript is reviewed by at least two independent reviewers.
  • Before publication of the paper, authors are obliged to send scanned copies of the signed originals of the declaration concerning ghostwriting, guest authorship and authors contribution and of the Open Access license.
Submission of manuscripts

The manuscripts must be written in one of the following formats:
  • TeX, LaTeX, AMSTeX, AMSLaTeX (recommended),
  • MS Word, either as standard DOCUMENT (.doc, .docx) or RICH TEXT FORMAT (.rtf).
All submissions to the AME should be made electronically via Editorial System – an online submission and peer review system at https://www.editorialsystem.com/ame. First-time users must create an Author’s account to obtain a user ID and password required to enter the system. All manuscripts receive individual identification codes that should be used in any correspondence with regard to the publication process. For the authors already registered in Editorial System it is enough to enter their username and password to log in as an author. The corresponding author should be identified while submitting a paper – personal e-mail address and postal address of the corresponding author are required. Please note that the manuscript should be prepared using our LaTeX or Word template and uploaded as a PDF file.

If you experience difficulties with the manuscript submission website, please contact the Assistant to the Editor of the AME (ame.eo@meil.pw.edu.pl).

All authors of the manuscript are responsible for its content; they must have agreed to its publication and have given the corresponding author the authority to act on their behalf in all matters pertaining to publication. The corresponding author is responsible for informing the co-authors of the manuscript status throughout the submission, review, and production process.

Length and arrangement

Papers (including tables and figures) should not exceed in length 25 pages of size 12.6 cm x 19.5 cm (printing area) with a font size of 11 pt. For manuscript preparation, the Authors should use the templates for Word or LaTeX available at the journal webpage. Please notice that the final layout of the article will be prepared by the journal's technical staff in LaTeX. Articles should be organized into the following sections:
  • List of keywords (separated by commas),
  • Full Name(s) of Author(s), Affiliation(s), Corresponding Author e-mail address,
  • Title,
  • Abstract,
  • Main text,
  • Appendix,
  • Acknowledgments (if applicable),
  • References.
Affiliations should include department, university, city and country. ORCID identifiers of all Authors should be added.
We suggest the title should be as short as possible but still informative.

An abstract should accompany every article. It should be a brief summary of significant results of the paper and give concise information about the content of the core idea of the paper. It should be informative and not only present the general scope of the paper, but also indicate the main results and conclusions. An abstract should not exceed 200 words.

Please follow the general rules for writing the main text of the paper:
  • use simple and declarative sentences, avoid long sentences, in which the meaning may be lost by complicated construction,
  • divide the main text into sections and subsections (if needed the subsections may be divided into paragraphs),
  • be concise, avoid idle words,
  • make your argumentation complete; use commonly understood terms; define all nonstandard symbols and abbreviations when you introduce them;
  • explain all acronyms and abbreviations when they first appear in the text;
  • use all units consistently throughout the article;
  • be self-critical as you review your drafts.
The authors are advised to use the SI system of units.

Artwork/Equations/Tables

You may use line diagrams and photographs to illustrate theses from your text. The figures should be clear, easy to read and of good quality (300 dpi). The figures are preferred in a vector format (bitmap formats are acceptable, but not recommended). The size of the figures should be adequate to their contents. Use 8-9pt font size of the text within the figures.

You should use tables only to improve conciseness or where the information cannot be given satisfactorily in other ways. Tables should be numbered consecutively and referred to within the text by numbers. Each table should have an explanatory caption which should be as concise as possible. The figures and tables should be inserted in the text file, where they are mentioned.

Displayed equations should be numbered consecutively using Arabic numbers in parentheses. They should be centered, leaving a small space above and below to separate it from the surrounding text.

Footnotes/Endnotes/Acknowledgements

We encourage authors to restrict the use of footnotes. Information concerning research grant support should appear in a separate Acknowledgements section at the end of the paper. Acknowledgements of the assistance of colleagues or similar notes of appreciation should also appear in the Acknowledgements section.

References
References should be numbered and listed in the order that they appear in the text. References indicated by numerals in square brackets should complete the paper in the following style:

Books:
[1] R.O. Author. Title of the Book in Italics. Publisher, City, 2018.

Articles in Journals:
[2] D.F. Author, B.D. Second Author, and P.C. Third Author. Title of the article. Full Name of the Journal in Italics, 52(4):89–96, 2017. doi: 1234565/3554. (where means: 52 – volume; 4 – number or issue; 89–96 – pages, and 1234565/3554 – doi number (if exists).)

Theses:
[3] W. Author. Title of the thesis. Ph.D. Thesis, University, City, Country, 2010.

Conference Proceedings:
[4] H. Author. Title of the paper. In Proc. Conference Name in Italics, pages 001–005, Conference Place, 10-15 Jan. 2015. doi: 98765432/7654vd.

English language

Archive of Mechanical Engineering is published in English. Make sure that your manuscript is clearly and grammatically written. The content should be understandable and should not cause any confusion to the readers, including the reviewers. After accepting the manuscript for a publication in the AME, we offer a free language check service, for correcting small language mistakes.

Submission of Revised Articles

When revision of a manuscript is requested, authors are expected to deliver the revised version of the manuscript as soon as possible. The manuscript should be uploaded directly to the Editorial System as an answer to the Editor's decision, and not as a new manuscript. If it is the 1st revision, the authors are expected to return revised manuscript within 60 days; if it is the 2nd revision, the authors are expected to return revised manuscript within 14 days. Additional time for resubmission must be requested in advance. If the above mentioned deadlines are not met, the manuscript may be treated as a new submission.

Outline of the Production Process

Once an article has been accepted for publication, the manuscript is transferred into our production system to be language-edited and formatted. Language/technical editors reserve the privilege of editing manuscripts to conform with the stylistic conventions of the journal. Once the article has been typeset, PDF proofs are generated so that authors can approve all editing and layout.

Proofreading

Proofreading should be carried out once a final draft has been produced. Since the proofreading stage is the last opportunity to correct the article to be published, the authors are requested to make every effort to check for errors in their proofs before the paper is posted online. Authors may be asked to address remarks and queries from the language and/or technical editors. Queries are written only to request necessary information or clarification of an unclear passage. Please note that language/technical editors do not query at every instance where a change has been made. It is the author's responsibility to read the entire text, tables, and figure legends, not just items queried. Major alterations made will always be submitted to the authors for approval. The corresponding author receives e-mail notification when a PDF is available and should return the comments within 3 days of receipt. Comments must be uploaded to Editorial System.

Reviewers


The Editorial Board of the Archive of Mechanical Engineering (AME) sincerely expresses gratitude to the following individuals who devoted their time to review papers submitted to the journal. Particularly, we express our gratitude to those who reviewed papers several times.

List of reviewers of volume 68 (2021)
Ahmad ABDALLA – Huaiyin Institute of Technology, China
Sara ABDELSALAM – University of California, Riverside, United States
Muhammad Ilman Hakimi Chua ABDULLAH – Universiti Teknikal Malaysia Melaka, Malaysia
Hafiz Malik Naqash AFZAL – University of New South Wales, Sydney, Australia
Reza ANSARI – University of Guilan, Rasht, Iran
Jeewan C. ATWAL – Indian Institute of Technology Delhi, New Delhi, India
Hadi BABAEI – Islamic Azad University, Tehran, Iran
Sakthi BALAN – K. Ramakrishnan college of Engineering, Trichy, India
Leszek BARANOWSKI – Military University of Technology, Warsaw, Poland
Elias BRASSITOS – Lebanese American University, Byblos, Lebanon
Tadeusz BURCZYŃSKI – Institute of Fundamental Technological Research, Warsaw, Poland
Nguyen Duy CHINH – Hung Yen University of Technology and Education, Hung Yen, Vietnam
Dorota CHWIEDUK – Warsaw University of Technology, Poland
Adam CISZKIEWICZ – Cracow University of Technology, Poland
Meera CS – University of Petroleum and Energy Studies, Duhradun, India
Piotr CYKLIS – Cracow University of Technology, Poland
Abanti DATTA – Indian Institute of Engineering Science and Technology, Shibpur, India
Piotr DEUSZKIEWICZ – Warsaw University of Technology, Poland
Dinesh DHANDE – AISSMS College of Engineering, Pune, India
Sufen DONG – Dalian University of Technology, China
N. Godwin Raja EBENEZER – Loyola-ICAM College of Engineering and Technology, Chennai, India
Halina EGNER – Cracow University of Technology, Poland
Fehim FINDIK – Sakarya University of Applied Sciences, Turkey
Artur GANCZARSKI – Cracow University of Technology, Poland
Peng GAO – Northeastern University, Shenyang, China
Rafał GOŁĘBSKI – Czestochowa University of Technology, Poland
Andrzej GRZEBIELEC – Warsaw University of Technology, Poland
Ngoc San HA – Curtin University, Perth, Australia
Mehmet HASKUL – University of Sirnak, Turkey
Michal HATALA – Technical University of Košice, Slovak Republic
Dewey HODGES – Georgia Institute of Technology, Atlanta, United States
Hamed HONARI – Johns Hopkins University, Baltimore, United States
Olga IWASINSKA – Warsaw University of Technology, Poland
Emmanuelle JACQUET – University of Franche-Comté, Besançon, France
Maciej JAWORSKI – Warsaw University of Technology, Poland
Xiaoling JIN – Zhejiang University, Hangzhou, China
Halil Burak KAYBAL – Amasya University, Turkey
Vladis KOSSE – Queensland University of Technology, Brisbane, Australia
Krzysztof KUBRYŃSKI – Air Force Institute of Technology, Warsaw, Poland
Waldemar KUCZYŃSKI – Koszalin University of Technology, Poland
Igor KURYTNIK – State Higher School in Oswiecim, Poland
Daniel LESNIC – University of Leeds, United Kingdom
Witold LEWANDOWSKI – Gdańsk University of Technology, Poland
Guolu LI – Hebei University of Technology, Tianjin, China
Jun LI – Xi’an Jiaotong University, China
Baiquan LIN – China University of Mining and Technology, Xuzhou, China
Dawei LIU – Yanshan University, Qinhuangdao, China
Luis Norberto LÓPEZ DE LACALLE – University of the Basque Country, Bilbao, Spain
Ming LUO – Northwestern Polytechnical University, Xi’an, China
Xin MA – Shandong University, Jinan, China
Najmuldeen Yousif MAHMOOD – University of Technology, Baghdad, Iraq
Arun Kumar MAJUMDER – Indian Institute of Technology, Kharagpur, India
Paweł MALCZYK – Warsaw University of Technology, Poland
Miloš MATEJIĆ – University of Kragujevac, Serbia
Norkhairunnisa MAZLAN – Universiti Putra Malaysia, Serdang, Malaysia
Dariusz MAZURKIEWICZ – Lublin University of Technology, Poland
Florin MINGIREANU – Romanian Space Agency, Bucharest, Romania
Vladimir MITYUSHEV – Pedagogical University of Cracow, Poland
Adis MUMINOVIC – University of Sarajevo, Bosnia and Herzegovina
Baraka Olivier MUSHAGE – Université Libre des Pays des Grands Lacs, Goma, Congo (DRC)
Tomasz MUSZYŃSKI – Gdansk University of Technology, Poland
Mohamed NASR – National Research Centre, Giza, Egypt
Driss NEHARI – University of Ain Temouchent, Algeria
Oleksii NOSKO – Bialystok University of Technology, Poland
Grzegorz NOWAK – Silesian University of Technology, Gliwice, Poland
Iwona NOWAK – Silesian University of Technology, Gliwice, Poland
Samy ORABY – Pharos University in Alexandria, Egypt
Marcin PĘKAL – Warsaw University of Technology, Poland
Bo PENG – University of Huddersfield, United Kingdom
Janusz PIECHNA – Warsaw University of Technology, Poland
Maciej PIKULIŃSKI – Warsaw University of Technology, Poland
T.V.V.L.N. RAO – The LNM Institute of Information Technology, Jaipur, India
Andrzej RUSIN – Silesian University of Technology, Gliwice, Poland
Artur RUSOWICZ – Warsaw University of Technology, Poland
Benjamin SCHLEICH – Friedrich-Alexander-Universität Erlangen-Nürnberg, Germany
Jerzy SĘK – Lodz University of Technology, Poland
Reza SERAJIAN – University of California, Merced, USA
Artem SHAKLEIN – Udmurt Federal Research Center, Izhevsk, Russia
G.L. SHI – Guangxi University of Science and Technology, Liuzhou, China
Muhammad Faheem SIDDIQUI – Vrije University, Brussels, Belgium
Jarosław SMOCZEK – AGH University of Science and Technology, Cracow, Poland
Josip STJEPANDIC – PROSTEP AG, Darmstadt, Germany
Pavel A. STRIZHAK – Tomsk Polytechnic University, Russia
Vadym STUPNYTSKYY – Lviv Polytechnic National University, Ukraine
Miklós SZAKÁLL – Johannes Gutenberg-Universität Mainz, Germany
Agnieszka TOMASZEWSKA – Gdansk University of Technology, Poland
Artur TYLISZCZAK – Czestochowa University of Technology, Poland
Aneta USTRZYCKA – Institute of Fundamental Technological Research, Warsaw, Poland
Alper UYSAL – Yildiz Technical University, Turkey
Gabriel WĘCEL – Silesian University of Technology, Gliwice, Poland
Marek WĘGLOWSKI – Welding Institute, Gliwice, Poland
Frank WILL – Technische Universität Dresden, Germany
Michał WODTKE – Gdańsk University of Technology, Poland
Marek WOJTYRA – Warsaw University of Technology, Poland
Włodzimierz WRÓBLEWSKI – Silesian University of Technology, Gliwice, Poland
Hongtao WU – Nanjing University of Aeronautics and Astronautics, China
Jinyang XU – Shanghai Jiao Tong University, China
Zhiwu XU – Harbin Institute of Technology, China
Zbigniew ZAPAŁOWICZ – West Pomeranian University of Technology, Szczecin, Poland
Zdzislaw ZATORSKI – Polish Naval Academy, Gdynia, Poland
Wanming ZHAI – Southwest Jiaotong University, Chengdu, China
Xin ZHANG – Wenzhou University of Technology, China
Su ZHAO – Ningbo Institute of Materials Technology and Engineering, China

This page uses 'cookies'. Learn more