Search results

The patient-side manipulator (PSM) achieves high torque capability by combining harmonic servo system with high reduction ratio and low torque motor. However, high reduction ratio can increase inertia and decrease compliance of the manipulator. To enhance the backdrivability of the minimally invasive surgical robot, this paper aims to propose a resistance torque compensation algorithm.

A resistance torque compensation algorithm based on dynamics and Luenberger observer is proposed. The dynamics are established, considering joint flexibility and an improved Stribeck friction model. The dynamic parameters are experimentally identified by using the least squares method. With the advantages of clear structure, simple implementation and fast solution speed, the Luenberger observer is selected to estimate the unmeasured dynamic information of PSM and realize the resistance torque compensation.

For low-speed surgical robots, the centrifugal force term in the dynamic model can be simplified to reduce computational complexity. Joint flexibility and an improved Stribeck friction model can be considered to improve the accuracy of the dynamic model. Experiment results show that parameter identification and estimated results of the Luenberger observer are accurate. The backdrivability of the PSM is enhanced in ease and smoothness.

This algorithm provides potential application prospects for surgical robots to maintain high torque while remaining compliant. Meanwhile, the enhanced backdrivability of the manipulator helps to improve the safety of the preoperative manual adjustment.

Hydro-viscous drive (HVD) clutches are widely used in equipment requiring soft start, such as fans and pumps, to transmit torque and adjust speed by changing the gap distance between friction pairs. This paper aims to propose a novel two-parameter evaluation method for HVD during the mixed lubrication stage. The objective is to develop an effective model that establishes the relationship between these parameters and the actual surface topography.

In the presented methods, the fractal features of the real manufacturing surface are calculated based on the power spectrum function by the ultra-depth three-dimensional microscope. After that, the hybrid friction model of the friction plate is established based on mixed elasto-hydrodynamic lubrication theory, boundary friction model and fractal theory. Then the torque and load bearing characteristics of the clutch are obtained, and the influences of the surface fractal features are investigated and discussed. Finally, the Weierstrass–Mandelbrot function is adopted for the surface topography characterization and evaluation.

The results indicate that the proposed method exhibits good accuracy, while the speed difference between the friction pair exceeds 2,500 rpm. It is concluded that this paper proposed a way to evaluate the torque and loading capacity of HVD considering the real manufacturing surface topography and is helpful for surface optimization.

The originality and value of this study lie in its development of a novel torque and load bearing capacity evaluation method for HVD in mixed lubrication stage, considering manufacturing surface topography and describing the real manufacturing surface.

The rapid growth of emerging market firms (EMFs) has been a topic of interest for the past two decades, especially in China. However, few studies have discussed how and why EMFs can impel the upgrading of their capabilities to quickly win competitive advantages in the global market. In this context, the purpose of this paper is to unravel the implausible upgrading phenomenon from the perspective of technological proximity.

This paper adopts a single case study, specifically that of a leading Chinese e-bike firm, with a special focus on the dynamic nature of the capability upgrading process and underlying mechanisms.

The results show that taking advantage of technological proximity is an important way for EMFs to climb the ladder of capability upgrading. The stage-based process reveals how capability upgrading is achieved through elaborate actions related to technological proximity. Furthermore, this study finds three learning mechanisms behind the technological proximity, which enable firms to successfully upgrade to higher levels of capabilities. In particular, the trigger role played by contextual conditions in guiding firms' capability upgrading is highlighted and characterized.

This study enriches traditional capability upgrading literature from a technological proximity perspective, especially the traditional static upgrading research related to EMFs. The authors also contribute to the conceptualization of technological proximity. However, the research setting is China's e-bike industry; therefore, the study's generalizability to other emerging markets and industries may be limited.

The results show that it is important to recognize the value of the transfer and sharing of technology between proximal industries for local governments. Also, appropriate policies should be developed to break down the technology barriers between these industries. Moreover, rather than catching up with the superior technologies of multinational corporations in advanced countries, focusing on products with high technological proximity in local or regional areas may be more helpful for EMFs' upgrading.

This paper investigates the capability upgrading process and mechanisms in EMFs, particularly with respect to the role played by technological proximity.

This paper aims to propose a new framework on prioritizing and deployment of design for additive manufacturing (DfAM) strategies to an industrial component using Fuzzy TOPSIS multiple criteria decision-making (MCDM) techniques. The proposed framework is then applied to an automotive component, and the results are discussed and compared with existing design.

Eight DfAM design alternatives associated with eight design criteria have been identified for framing new DfAM strategies. The prioritization order of the design alternatives is identified by Fuzzy TOPSIS MCDM technique through its closeness coefficient. Based on Fuzzy TOPSIS MCDM output, each of the design alternatives is applied sequentially to an automobile component as a case study. Redesign is carried out at each stage of DfAM implementation without affecting the functionality.

On successful implementation of proposed framework to an automotive component, the mass is reduced by 43.84%, from 0.429 kg to 0.241 kg. The redesign is validated by finite element analysis, where von Mises stress is less than the yield stress of the material.

The proposed DfAM framework and strategies will be useful to designers, R&D engineers, industrial practitioners, experts and consultants for implementing DfAM strategies on any industrial component without impacting its functionality.

To the best of the authors’ knowledge, the idea of prioritization and implementation of DfAM strategies to an automotive component is the original contribution.

Urban digital transformation has become a key strategy in global countries. This study aims to provide a comprehensive and dynamic exploration of the intrinsic traits associated with urban digital transformation, in order to yield detailed insights that can contribute to the formulation of well-informed decisions and strategies in the field of urban development initiatives.

Through analysis of parallels between urban digital transformation and gyroscope motion in physics, the study developed the urban digital transformation gyroscope model (UDTGM), which comprises of seven core elements. With the balanced panel dataset from 268 cities at and above the prefecture level in China, we validate the dynamic mechanism of this model.

The findings of this study underscore that the collaboration among infrastructure development, knowledge-driven forces and economic operations markedly bolsters the urban digital transformation gyroscope’s efficacy.

This research introduces a groundbreaking framework for comprehending urban digital transformation, potentially facilitating its balanced and systemic practical implementation.

This study pioneers the UDTGM theoretically and verifies the dynamic mechanism of this model with real data.

Polymer laser powder bed fusion (PBF-LB/P) is an additive manufacturing technology that is sustainable due to the possibility of recycling the powder multiple times and allowing the fabrication of gears without the aid of support structures and subsequent assembly. However, there are constraints in the process that negatively affect its adoption compared to other additive technologies such as material extrusion to produce gears. This study aims to demonstrate that it is possible to overcome the problems due to the physics of the process to produce accurate mechanism.

Technological aspects such as orientation, wheel-shaft thicknesses and degree of powder recycling were examined. Furthermore, the evolving tooth profile was considered as a design parameter to provide a manufacturability map of gear-based mechanisms.

Results show that there are some differences in the functioning of the gear depending on the type of powder used, 100% virgin or 50% virgin and 50% recycled for five cycles. The application of a groove on a gear produced with 100% virgin powder allows the mechanism to be easily unlocked regardless of the orientation and wheel-shaft thicknesses. The application of a specific evolutionary profile independent of the diameter of the reference circle on vertically oriented gears guarantees rotation continuity while preserving the functionality of the assembled mechanism.

In the literature, there are various studies on material aging and reuse in the PBF-LB/P process, mainly focused on the powder deterioration mechanism, powder fluidity, microstructure and mechanical properties of the parts and process parameters. This study, instead, was focused on the functioning of gears, which represent one of the applications in which this technology can have great success, by analyzing the two main effects that can compromise it: recycled powder and vertical orientation during construction.

Despite the many advantages this type of equipment offers, there are still some major drawbacks. Linear cutting machine (LCM) cannot accurately simulate the true rock-cutting process as 1. it does not account for the circular path along which tunnel boring machine (TBM) disk cutters cut the tunnel face, 2. it does not accurately model the position of a disk cutter on the cutterhead, 3. it cannot perfectly replicate the rotational speed of a TBM. To enhance the knowledge of these issues and in order to mimic the real rock-cutting process, a new lab testing equipment was developed by Hyundai Engineering and Construction.

A new testing machine called rotary cutting machine (RCM) is designed to simulate the excavation process of hard-rock TBMs and includes features such as TBM cutterhead, RPM simulation, constant normal force mode and constant penetration rate mode. Two sets of tests were conducted on Hwandeung granite using different disk cutter sizes to analyze the cutting forces in various excavation modes. The results are analyzed using statistical analysis and dimensional analysis. A new model is generated using dimensional analysis, and its results are compared against the results of actual cases.

The effectiveness of the new RCM test was demonstrated in its ability to apply various modes of excavation. Initial analysis of chip size revealed that the thickness of the chips is largely dependent on the cutter spacing. Tests with varying RPM showed that an increase in RPM results in an increase in the normal force and rolling force. The cutting coefficient (CC) demonstrated a linear correlation with penetration. The optimal specific energy is achieved at an S/p ratio of around 15. However, a slightly lower S/p ratio can also be used in the design if the cutter specifications permit. A dimensional analysis was utilized to develop a new RCM model based on the results from approximately 1200 tests. The model's applicability was demonstrated through a comparison of TBM penetration data from 26 tunnel projects globally. Results indicated that the predicted penetration rates by the RCM test model were in good agreement with actual rates for the majority of cases. However, further investigation is necessary for softer rock types, which will be conducted in the future using concrete blocks.

The originality of the research lies in the development of Hyundai Engineering and Construction’s advanced full-scale laboratory rotary cutting machine (RCM), which accurately replicates the excavation process of hard-rock tunnel boring machines (TBMs). The study provides valuable insights into cutting forces, chip size, specific energy, RPM and excavation modes, enhancing understanding and decision-making in hard-rock excavation processes. The research also presents a new RCM model validated against TBM penetration data, demonstrating its practical applicability and predictive accuracy.

This study aims to find the characteristics of supercritical airfoil in helicopter rotor blades for hovering phase using numerical analysis and the validation using experimental results.

Using numerical analysis in the forward phase of the helicopter, supercritical airfoil is compared with the conventional airfoil for the aerodynamic performance. The multiple reference frame method is used to produce the results for rotational analysis. A grid independence test was carried out, and validation was obtained using benchmark values from NASA data.

From the analysis results, a supercritical airfoil in hovering flight analysis proved that the NASA SC rotor produces 25% at 5°, 26% at 12° and 32% better thrust at 8° of collective pitch than the HH02 rotor. Helicopter performance parameters are also calculated based on momentum theory. Theoretical calculations prove that the NASA SC rotor is better than the HH02 rotor. The results of helicopter performance prove that the NASA SC rotor provides better aerodynamic efficiency than the HH02 rotor.

The novelty of the paper is it proved the aerodynamic performance of supercritical airfoil is performing better than the HH02 airfoil. The results are validated with the experimental values and theoretical calculations from the momentum theory.

The electromechanical brake system is leading the latest development trend in railway braking technology. The tolerance stack-up generated during the assembly and production process catalyzes the slight geometric dimensioning and tolerancing between the motor stator and rotor inside the electromechanical cylinder. The tolerance leads to imprecise brake control, so it is necessary to diagnose the fault of the motor in the fully assembled electromechanical brake system. This paper aims to present improved variational mode decomposition (VMD) algorithm, which endeavors to elucidate and push the boundaries of mechanical synchronicity problems within the realm of the electromechanical brake system.

The VMD algorithm plays a pivotal role in the preliminary phase, employing mode decomposition techniques to decompose the motor speed signals. Afterward, the error energy algorithm precision is utilized to extract abnormal features, leveraging the practical intrinsic mode functions, eliminating extraneous noise and enhancing the signal’s fidelity. This refined signal then becomes the basis for fault analysis. In the analytical step, the cepstrum is employed to calculate the formant and envelope of the reconstructed signal. By scrutinizing the formant and envelope, the fault point within the electromechanical brake system is precisely identified, contributing to a sophisticated and accurate fault diagnosis.

This paper innovatively uses the VMD algorithm for the modal decomposition of electromechanical brake (EMB) motor speed signals and combines it with the error energy algorithm to achieve abnormal feature extraction. The signal is reconstructed according to the effective intrinsic mode functions (IMFS) component of removing noise, and the formant and envelope are calculated by cepstrum to locate the fault point. Experiments show that the empirical mode decomposition (EMD) algorithm can effectively decompose the original speed signal. After feature extraction, signal enhancement and fault identification, the motor mechanical fault point can be accurately located. This fault diagnosis method is an effective fault diagnosis algorithm suitable for EMB systems.

By using this improved VMD algorithm, the electromechanical brake system can precisely identify the rotational anomaly of the motor. This method can offer an online diagnosis analysis function during operation and contribute to an automated factory inspection strategy while parts are assembled. Compared with the conventional motor diagnosis method, this improved VMD algorithm can eliminate the need for additional acceleration sensors and save hardware costs. Moreover, the accumulation of online detection functions helps improve the reliability of train electromechanical braking systems.

A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller.

The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments.

The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances.

A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications.

This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.