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Go to Editorial ManagerDynamic modeling of a robot manipulator is a central problem in an accurate robot control. In this paper; the dynamic equations of motion were derived by using Eular-Lagrange method for a six degree of freedom articulated robot manipulator based on the geometrical jacobian construction for each link and actuator. In addition, friction effects beside the end effector forces that act the environment are considered. A Matlab Simulink plant is developed to embrace the theoretical work and simulate the dynamic response for a designed nonlinear controller Proportional Derivative plus Gravity (PD+G), also a modified controller is applied to reject the disturbances and the internal friction effect where the settling errors were 3.57E-6, 2.09E-7, -3.63E-6, 8.84E-6, -5.39E-8 and -4.39E-5 (deg) for joints one to six respectively. The presented approach can be applicable to solve the dynamic problem of other n-link robot manipulators and achieve a suitable solution for tracking trajectories.
Throughout the flight, aircraft wings continuously struggle against various forces: the forward thrust from the engine, the drag pulling them backward, and sudden turbulence from storms. In contrast, these forces are essential for maintaining aircraft stability. With time, the cyclic stresses can result in the formation and propagation of minuscule cracks in the wings. Cracks growing on the aircraft wing surface manufactured from alloy AL7075-T6, have been investigated when subjected to non-preoperational multi-axial cyclic loading. The results have been evaluated using two methods, numerical simulations and theoretical calculation to evaluate dynamic crack propagation crack growth per cycle (da/dN) at angles of attack 5° and 10°. The results showed that the dynamic crack propagation increases with an increase in the crack length. It was found that the values of the dynamic crack propagation rate at the angle of attack 5⁰ are smaller than the values at the angle of attack 10⁰.
Flexible and rigid pavements are commonly built for airport pavements to support the moving loads of aircraft during the pavement design life. Airport pavements represent a cornerstone of the aviation world. Their condition profoundly impacts safety, operational efficiency, airport capacity, and financial well-being. These meticulously engineered surfaces must withstand the immense stresses generated by aircraft during takeoff, landing, and taxiing. At the planning stage, the pavement structure, materials, aircraft loads, environmental conditions, and pavement damage models should be evaluated. Comparing with road pavement design, airport pavement structural design is unique in terms of the traffic loads supported by pavements with high load magnitude, significant tire pressure, and dynamic traffic conditions. Over time, deterioration stemming from environmental exposure, aircraft loading, and other factors becomes inevitable. This study aims to explore the various factors influencing airport pavement performance, review the existing methodologies for pavement design and maintenance, and propose enhancements to current practices to ensure long-term durability and safety of airport pavements. This study aims to explore the various factors influencing airport pavement performance, review the existing methodologies for pavement design and maintenance, and propose enhancements to current practices to ensure long-term durability and safety of airport pavements.
In this work, the vibrations in the rotor-bearing system are studied experimentally and theoretically using ANSYS Workbench 2020 R1 software to compute the natural frequencies and mode shapes. In the experimental part, the LABVIEW software was used to examine the signal of the frequency domain values obtained from the accelerometer sensors, based on Fast Fourier Transform (FFT) technology and dynamic response spectrum. in the theoretical part, the natural frequencies are determined based on the finite element method for analyzing the system and knowing its behavior and vibration response level. The results showed that the level of vibration becomes higher at high rotational speeds, and it becomes large when the distances between the bearings are large, according to the bearing position and type used in the system. in this work can be concluded, the system is usually affected by the dynamic response around it and is difficult to separate from it, and the vibrations in the system can be controlled by adding an external damping source, which gives the system more stable. A system operating at high speeds can give a large vibration and an unbalanced response.
In this paper, a dynamic analysis has been carried out on zoned earthdam subjected to earthquake excitation in which pore water pressure, effective stresses and displacements are calculated. The finite element method is used and the computer program Geo-Studio is adopted in the analysis through its sub-programs SEEP/W and QUAKE/W. A case study is considered to be Khassa Chai dam which is located on Khassa Chai river north of Iraq and consists of zoned embankment with a total length of 3.34 km. The selected earthquake for the analysis is El-Centro earthquake with a period of 10 sec and different amplitudes of acceleration. The time of the analysis is taken as 600 sec. with a time step (?t = 0.05 sec.) to investigate the behavior of the soil for a period of time after the earthquake has stopped, a free vibration period is included in the analysis. It was concluded that the value of pore water pressure generated at the base of the core is greater than that in the upper parts of dam. The horizontal and vertical effective stresses continue to decrease during the period of analysis 600 sec. which indicates that the soil continues to weaken during this period, the horizontal displacement increases with depth of the point from the crest and the largest horizontal displacement will be at the base of the dam at time 60 sec and There is attenuation of the acceleration to some degree depending on the amplitude of the input horizontal acceleration. The maximum horizontal displacement decreases by about 37%, 45% and 49% when using a horizontal drain 2 m thick at the downstream under a peak acceleration of 0.05g, 0.1g and 0.2g, respectively.
Openings in reinforced concrete (RC) slabs are usually created as a result of variations in construction function, architectural or mechanical necessities. Heavy equipment loads resulting from mechanical system of any building are often carried by RC slabs. Even the static analysis and design of RC slabs with opening is not clearly stated in the available international Codes, dynamic analytical solution for such structure is complex._x000D_ In this paper, numerical analysis based on finite element approach is utilized to implement the modal analysis of RC slabs. Opening size and position was parametrically studied. Slab natural frequency or periods in addition to, the mode shape were registered. The results showed that the opening size and position involved in RC slab had a significant change in the value of natural frequency and period for the high level modes. The material nonlinearity affect on free vibration analysis of RC opening slab with different levels of stiffness modifiers was taken into account. The dynamic characteristics of RC opening slab as a function of stiffness modifier degree was numerically measured for six mode shapes. The paper found that a reduction in stiffness modifier value greatly reduce the .natural frequency of RC opening slab.
In this research, we investigate the nonlinear vibration of functionally graded carbon nanotubes (FG-CNTs) for simply supported sandwich cylindrical panels. The sandwich consisting of three layers formed of (FG-CNTs) and isotropic material as (CNT, ALMINUME, CNT). Mechanical properties of the sandwich media are acquired according to a re?ned rule of blend approach. The governing equations were derived using a first-order deformation theory (FOSDT). Four kinds of carbon nanotubes of sandwich cylindrical panels were analyzed. The volume fraction of CNTs is varied. The properties of nonlinear responses and free vibration are studied. The numerical approach employs the fourth-order Runge-Kutta and Galerkine procedure. Which conducted for the dynamic analysis of the panels to present the natural frequencies and non-linear dynamic response expression. The results show that; the natural frequencies and the nonlinear vibration amplitude decrease with the volume fraction and thickness ratio increase. The nonlinear vibration amplitude response increases when increasing the excitation force. The initial imperfection and the elastic foundation have a minor impact on the nonlinear vibration response of the panel. The Pasternak Foundation has a larger impact than the Winkler foundation. The structure formed of FG-CNT present an excellent choice for high-performance of engineering applications.
Driven piles have often been used in many civil structures to provide structural loading support. However, the unavoidable vibrations induced by pile driving processes may cause varying degrees of damage to adjacent structures. This research presents experimental studies to investigate the transmitted vibrations induced by impact of pile driving on vicinity piles. In the experimental work, a small scale model was tested in a sand box (steel container 1 × 1.5 × 0.8 m) with pile driving hammer device to install the impact pile in sand soil by dropping weights (1, 2, 3, 4 and 5 kg) for different heights of falling (4, 8, 12, 16 and 20 cm). The peak particle velocity was measured at a head of the vicinity piles by vibration meter device. In this study, several piles on different distances away from the vibration source were studied. The experimental results indicate that the peak particle velocity for vibrations emitted with impact pile driving is increased with increasing the energy and the penetration depth of pile driving for all vicinity piles and it can be decreased without change in the driving energy by decreasing the weight of hammer and increasing the height of falling hammer. Vibration intensities are attenuated with increasing surface distance from the pile driving and the peak particle velocity decreased uniformly with surface distance from the pile driving for piles. Also, through laboratory model representation and evaluation of the results obtained in the laboratory, the empirical relations which were determined based on the scaled-distance concept, are appropriate and give results very close and can be relied upon to represent the transmission of vibration resulting from the impact of pile driving to nearby piles.
The aim of this study was to support surgeons to decide where to place the screws in order to achieve an optimal fracture healing and to prevent implant failure after a femoral shaft fracture So this paper focus on the analysis of bone-plate construct by using Finite element Analysis (FEA), comminuted femur fractured bone fixed with Dynamic Compression Plate (DCP) 16 holes by 4.5 Cortex screws, to investigate the effects of screws configuration on the mechanical behavior of different seven model as Interfragmentary strain which is the most important factor for femur fracture healing. The results state the relationships between the Von-Mises stress, Total deformation and Interfragmentary strain with respect to the screws configuration. The study shows the regions of maximum stress from stress distribution and also founded that we can decrease the Interfragmentary strain by increasing the number of screws.
Due to significant increasing in seismic activity in world during the last decades especially in Middle East region; engineers have been giving increasing attention to the design of buildings for earthquake resistance. In this study 3-D seismic behavior of piles is investigated using the finite element program PLAXIS 3D 2013. _x000D_ Piles are one of the most commonly used foundations in seismic areas where the soil is inadequate to carry the load on its own. In these seismic areas, piles often pass through (penetrate) shallow loose and/or soft soil deposits and rests on competent end bearing soils. Thus a model of soil - pile system is simulated in the finite element program._x000D_ The dynamic parameters of soil are used as input dynamic data of PLAXIS 3D program, in addition to the static properties of soil collected from soil investigation works._x000D_ The research showed the susceptibility of PLAXIS 3D program in analyzing piles with different soil conditions under earthquake action. The results also showed the importance of studying seismic behavior of soil-pile system using 3-D analysis rather than 2-D analysis because the problem is truly 3-D and should be analyzed as such.
This research deals with the extent to which corrosion affects the behavior of buckling for 6061-T4 aluminum alloy under increasing compressive dynamic loads. Two types of columns, long, and intermediate were used.1% of the length column is the allowable lateral deflection. This is called the critical buckling of the columns. For the purpose of calculating the critical deflection, a digital dial gauge was used and set at a distance of 0.7 of column length from the fixed end condition for the column. The experimental analysis revealed that the corrosion time negatively affects the mechanical properties of materials such as the corroded specimens of 60 days (The least time to observe the corrosion of aluminum in the soil) which have approximately 2.7 % reduction in ultimate strength compared with the non-corroded specimen. Increasing the corrosion time reduces the critical load such as the maximum reduction will be 4.24% in critical buckling load for 60 days’ corrosion time. The results obtained were experimentally compared with the theoretical formulas of the Perry-Robertson and Euler-Johnson formula with the results of the ANSYS. It was found that the Perry-Robertson formula has a good agreement with the experimental results with a safety factor of 1.2, while the Euler-Johnson formula agreed with the experimental results taking a safety factor of 1.5. The ANSYS results showed a good agreement between the measured and calculated values by taking 1.1 factor of safety.
With the occurrence of pathological disorders in some people or aging, metabolic energy consumption begins significantly due to the weakness of the peripheral muscles and the increase in body fat with time, which aggravates the issues for this type of people, causing the rest hours extremely lengthy and consequently may produce heart or arterial diseases and elevate the mortality rate. Regarding the significance of the matter, this study examines a number of previous researches that featured several approaches to energy calculation and strategies for lowering energy consumption through the use of various external assistance devices, such as exosuits or exoskeletons, to assist people in carrying out their everyday tasks. And additionally discussed musculoskeletal simulation employs a variety of programs, especially OpenSim, which enables users to build models of musculoskeletal structures and produce dynamic movement simulations. According to the research findings, exoskeletons and other assistive technology can successfully lower the cost of metabolic energy to varying extents, depending on the device's weight, placement within the body, and whether it is active, semi-active, or inactive. In the future, the work to design and simulate a semi-active torsional ankle-foot exoskeleton with a specialized mechanism aimed to minimize metabolic energy.
In this work a general dynamic response of two-story building due to earthquake is investigated .A spatial case of two degree mass-spring–damper random vibration model is employed .The base excitation acceleration is represented according to the well- known_x000D_ regression model by Kanai –Tajimi in term of the power specturm density (PSD). The transfer function between the ground an the roofs are evaluated assuming transverse modes of vibration._x000D_ A case study of typical two symitrical story building manufactored from reinforced concret and steel is investigated.The vibration parameters such as effective mass and stiffiness and damping are calculated according to the ACI 318-11 code.The natural frequncies , mode shape and transfer functions are calculated and plotted.The PSD acceleration at the roofs are evaluated from which the mean and standared diviation of the random accelration are found .The drift at the walls is calculated and compared with the allowable limits recommended by IBC 2015 .It is found that the probability of the bulding to be safe is between (13.74 -7.35)% for the first story and (8.7 - 1.67) % for the second.
The axial capacity and pile transference of loads under static loading have both been well reported, but further research is needed to understand the dynamic lateral responses. The pile load imposed during an earthquake may increase, but the soil’s ability to support it may fall as a side effect of the vibration leading to more settlement. The key objective of this work is to identify what led to the substantial lateral destruction of the piles during the seismic event due to the kinematic effects. These failures were related to discontinuities in the subsoil as a result of sudden changes in soil strength due to shaking. The kinematic stresses exerted in a single pipe pile constructed in two sand layers under two different situations (dry and saturated states) are investigated in this study using numerical modeling. The bending moments were higher in the saturated sand soil than in the dry one which may be attributed to liquefaction. Generally, the acceleration increased through the loose layer (from bottom to top), and then significantly settled within the dense layer. It could be shown that using this modeling, one can estimate how a pile foundation will behave under "kinematic" loading driven by earthquakes. Therefore, the design and installation of drilled aluminum or steel piles in sand soil could make use of these present observations.
Transfer function characteristics of a DC machine are used in this paper to estimate speed and torque in four quadrant operation modes. Estimation speed and torque control based on a DC machine transfer function is implemented by measuring the DC chopper instantaneous average output voltage and current. MATLAB\SIMULINK is used to implement the DC drive circuit in the forward and reverse motoring and regenerative modes, respectively. The DC drive system is simulated at different speed and load torque values in steady state and dynamic operating conditions. Simulation results demonstrate success of the sensorless and PI controller systems, which gives satisfactory agreements between the estimated, actual and reference speed and torque values.
The oil industry has a direct impact on the economic feasibility of other sectors and is considered to be the most important energy source used to turn the wheels of other industries. Therefore, it was necessary to pay attention and continuously develop this industry, to find the best modern techniques for designing, pre-commissioning and controlling process, to improve efficiency, preserve energy and achieve the highest production of costly components with the highest purity of the product. This study aims to provide a literary analysis of the stages of development and progress of the dynamics and control of the petroleum industry, in particular the distillation column, because it is multivariable with high interaction between control cycles, nonlinear behaviour and large gains. Control processes have undergone many developments and modernizations to achieve the best results. Various control methods have been used, ranging from simple proportional-integral-derivative controller (PID) to advanced control strategies such as model predictive control (MPC), multivariate model predictive control (MMPC), fuzzy logic control (FLC), quadratic dynamic matrix control (QDMC), artificial neural network control (ANN) and other advanced control techniques. The authors concluded from the review that the advanced control strategies superior than the conventional methods.
This study aims to review flow-induced vibration one of the repercussions of vibrations is caused by fluid movement. In general, the investigation of the structure of the systems affects the efficiency of the components that construct those systems. This review examined the influence of generated vibrations and internal pressure on fluid transport pipes using theoretical calculations, practical tests, and numerical analysis to identify and test the dynamic behavior of static fluid transport pipes. The experimental study considered the natural frequencies caused by the fluid pressure effect under various stability situations. The flow of all liquids, such as oil, water, gas, air, and vapors, through the pipes, was tested, and the mathematical models were correctly adjusted. All empirical, theoretical, numerical, and analytical research agrees that several approaches exist to develop, modify, and improve these metrics. However, one factor affecting rheological measurements is vibration, which was addressed as needed in the middle of the 20th century due to major discoveries that damage could be rooted in vibration. Established on the determinations, they provided mathematical models paired with pressure and velocity measurements of moving fluids and the influence of produced or uninduced vibration. This study demonstrates that additional empirical investigations, particularly more detailed analytical methodologies, are urgently required to produce better findings.
In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.
This study aims to enhance the compression strength in one type of Pb-Sn-Sb alloys which wellknown by (Babbitt-ASTM B23 Alloy 13). The ?processing doing via equal channel angular extrusion technique. Three casting were implemented to ?manufacture the alloy; Chill Casting (CC), New Rheocasting (NRC) and Gravity Die Casting (GDC). The ?microscope examination shows that the microstructures contain two phases, ?-Pb and cubic shaped ?intermetallic compound (?-SbSn) in a matrix of ternary phases. CC was fine equiaxed as well as NRC, while ?in GDC was a dendrite ?-Pb phase with remaining ?-SbSn phase as a cubic shape. Higher mechanical properties in compression were recorded for Gravity die casting (12.7 %) while the NRC registered the highest value in yield strength (11.7 %). On the other hand, the casting techniques had a slight difference in Young's modulus. The other resulted data like hardness showed that NRC is the first reading (12.55 %) and then gravity casting recorded as second score comparing with other (11.79 %), The results ?showed aslo that increasing forming temperature during angular extrusion has an adverse effect on compression ?strength. The study ?concluded that microstructural change caused by ECAP softens the material due to the break-up the original ? precipitate and accelerate from the dynamic recrystallization.
The research includes studying the mechanical properties of BNTN/PAM nanocomposites under static and dynamic conditions. The BNTN/PAM nanocomposites were prepared with different weight fractions (0, 20%, 40%, 50% and 60%) by utilizing ball milling technique. Tensile strength, Charpy impact and Shore A hardness were performed to verify any improvements in these mechanical properties of nanocomposites. The results showed significant improvements in tensile, Charpy impact, Shore A hardness properties of nanocomposites at 50% weight fraction by approximately 335%, 1422%, 63% respectively. These results started decreasing after addition of 60% of nanoclays content to PAM composites. This mechanism indicates that the percentage of weight content of BNTN could affect the mechanical properties of nanocomposites.
The robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Therefore, the adaptive control problem for robot manipulators based on velocity estimation is investigated. According to the practical robot actuator power limitation, the bounded torque input is also considered in this study. The control algorithm is applied for 2-link manipulator to evaluate controller effectiveness. The design parameters that guaranteed the control performance of closed loop system are chosen by using optimization output constrained method. The proposed controller performances are provided by numerical simulations.
The behaviour of slabs under impact loading differs significantly from that observed under short-term or long-term static loading conditions. Such dynamic loading scenarios typically arise from vehicular collisions, explosive events, or other forms of sudden impact. This paper aims to synthesise and critically evaluate the extant literature concerning the response of slabs subjected to impact loading. The investigation encompasses an analysis of the salient factors influencing slab behaviour, elucidation of failure mechanisms, examination of methodologies for simulating impact loading, and a critical appraisal of pertinent design code recommendations. Through this comprehensive review, it has been ascertained that reinforcement configuration plays a pivotal role in augmenting the resistance of slabs to impact loading. Furthermore, the predominant mode of failure observed in such scenarios is punching shear. This finding underscores the necessity for meticulous consideration of shear capacity in the design of impact-resistant slab structures.
In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic output feedback controller for trajectory tracking of the nonlinear human swing leg system. The human swing leg system represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg is represented by two pendulum links and the hip joint will connect the upper body to the thigh and the knee joint will connect the thigh to the shank. The external torques (servo motors) are applied at the hip and knee joints to move the muscles of thigh and shank. The results show that the HSMC can robustly stabilize the system and achieve a desirable time response specification better than if only H-infinity or SMC is used. This controller achieves the following specifications: sec, for hip joint and sec, for knee joint.
Maximum Power Point Tracking (MPPT) techniques are essential for maximizing energy extraction from photovoltaic (PV) systems under diverse environmental conditions. This paper reviews three widely used MPPT methods Perturb and Observe (P&O), Fuzzy Logic Control (FLC), and Artificial Neural Networks (ANN) highlighting their effectiveness in addressing challenges such as temperature fluctuations, varying irradiance, and shading. The P&O method is noted for its simplicity and low computational requirements, but it suffers from oscillations around the maximum power point under rapidly changing conditions. FLC offers enhanced adaptability and robustness by mimicking human decision-making, performing well in dynamic environments with moderate complexity. ANN-based methods demonstrate superior tracking efficiency and fast convergence, particularly under complex and highly variable conditions, due to their ability to learn and generalize from data. These findings underscore the importance of continued development of MPPT techniques, especially intelligent and hybrid approaches, to meet the growing demand for sustainable energy. Thus, solar energy remains a highly viable solution for modern energy needs.
The assessment of prosthetic aortic valves through echocardiography, a pivotal noninvasive tool, encounters challenges, with discordant findings compared to invasive measurements, particularly in transvalvular gradients. To address these complexities, this comprehensive review article explores diverse methodologies and modalities for assessing prosthetic aortic valve performance. As these life-saving devices advance in complexity, the demand for precise and innovative assessment techniques intensifies. This journey through established and emerging modalities aims to inform clinical practice, foster experimental innovation, and enhance patient care in the realm of aortic valve prosthetic assessment. Ultimately, a profound understanding of the hemodynamic milieu engendered by aortic prosthetic valves serves as the cornerstone for optimizing valve design and clinical utility. The primary objective of this comprehensive review is to elucidate, with utmost precision, the multifaceted methodologies employed in the investigation and evaluation of mechanical prosthetic aortic valve.
Hydraulic structures, including cascade aerators, may be acknowledged as important components in improving aeration efficiency because of the intense turbulent mixing combined with large air bubble entrapment at these structures. The main objective of the present study is to achieve maximum aeration efficiency and enhance the concentration of dissolved oxygen in the water since this is an important factor in improving water quality. The present study aims to determine the most proper geometric and dynamic parameters of a typical square-shaped stepped cascade with a total height of 120 cm, and sex steps. A tread of each step is 10 cm and a rise of each step is 20 cm, where aeration efficiency is maximized. The results of the study revealed that the maximum value of water aeration efficiency, meaning an increase in dissolved oxygen in the water using a stepped cascade aerator happened when flow rates of 15 L/min, 25 L/min, and 35 L/min with aeration efficiencies of 22%, 37%, and 42% respectively. Finally, the optimization of flow rates in aeration systems can lead to improved water quality parameters. The most important feature of the present study is the innovation of a natural method of water treatment that relies on the principle of mixing, coagulation, and flocculation by hydraulic methods, which works to reduce the costs of operation.
The phenomenon of climate change resulting from the increase of global warming has become one of the main problems facing the world. Where researchers and specialists have worked for many years to find a solution that reduces this phenomenon and limits its risks. It is likely that clean energy is an alternative to fossil fuel sources, which are the main source of global warming. One of the clean energy sources is ocean wave energy, which is a huge and untapped energy source, despite the possibility of extracting large energy from waves. This paper focuses on the study of deep-sea turbines and their results. A study was conducted on the capture chamber. Where this paper presents an experimental model of a water tank with certain dimensions in the university laboratories to describe the dynamic behavior of the capture chamber. The Froude number scale was used to model the dimensions and depth of the water as well as the wave properties. Through experimental work and its results show, and it was found that the power generated by the motion of the wave strength is related to the height and frequency of the wave.