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This paper aims to present an unconditionally energy-stable scheme for approximating the convective heat transfer equation.

The scheme stems from the generalized positive auxiliary variable (gPAV) idea and exploits a special treatment for the convection term. The original convection term is replaced by its linear approximation plus a correction term, which is under the control of an auxiliary variable. The scheme entails the computation of two temperature fields within each time step, and the linear algebraic system resulting from the discretization involves a coefficient matrix that is updated periodically. This auxiliary variable is given by a well-defined explicit formula that guarantees the positivity of its computed value.

Compared with the semi-implicit scheme and the gPAV-based scheme without the treatment on the convection term, the current scheme can provide an expanded accuracy range and achieve more accurate simulations at large (or fairly large) time step sizes. Extensive numerical experiments have been presented to demonstrate the accuracy and stability performance of the scheme developed herein.

This study shows the unconditional discrete energy stability property of the current scheme, irrespective of the time step sizes.

Fused Filament Fabrication (FFF) is an extrusion-based manufacturing process using fused thermoplastics. Despite its low cost, the FFF is not extensively used in high-value industrial sectors mainly due to parts' anisotropy (related to the deposition strategy) and residual stresses (caused by successive heating cycles). Thus, this study aims to investigate the process improvement and the optimization of the printed parts.

In this work, a meshless technique – the Radial Point Interpolation Method (RPIM) – is used to numerically simulate the viscoplastic extrusion process – the initial phase of the FFF. Unlike the FEM, in meshless methods, there is no pre-established relationship between the nodes so the nodal mesh will not face mesh distortions and the discretization can easily be modified by adding or removing nodes from the initial nodal mesh. The accuracy of the obtained results highlights the importance of using meshless techniques in this field.

Meshless methods show particular relevance in this topic since the nodes can be distributed to match the layer-by-layer growing condition of the printing process.

Using the flow formulation combined with the heat transfer formulation presented here for the first time within an in-house RPIM code, an algorithm is proposed, implemented and validated for benchmark examples.

Industrial robots are extensively used in the robotic assembly of rigid objects, whereas the assembly of flexible objects using the same robot becomes cumbersome and challenging due to transient disturbance. The transient disturbance causes vibration in the flexible object during robotic manipulation and assembly. This is an important problem as the quick suppression of undesired vibrations reduces the cycle time and increases the efficiency of the assembly process. Thus, this study aims to propose a contactless robot vision-based real-time active vibration suppression approach to handle such a scenario.

A robot-assisted camera calibration method is developed to determine the extrinsic camera parameters with respect to the robot position. Thereafter, an innovative robot vision method is proposed to identify a flexible beam grasped by the robot gripper using a virtual marker and obtain the dimension, tip deflection as well as velocity of the same. To model the dynamic behaviour of the flexible beam, finite element method (FEM) is used. The measured dimensions, tip deflection and velocity of a flexible beam are fed to the FEM model to predict the maximum deflection. The difference between the maximum deflection and static deflection of the beam is used to compute the maximum error. Subsequently, the maximum error is used in the proposed predictive maximum error-based second-stage controller to send the control signal for vibration suppression. The control signal in form of trajectory is communicated to the industrial robot controller that accommodates various types of delays present in the system.

The effectiveness and robustness of the proposed controller have been validated using simulation and experimental implementation on an Asea Brown Boveri make IRB 1410 industrial robot with a standard low frame rate camera sensor. In this experiment, two metallic flexible beams of different dimensions with the same material properties have been considered. The robot vision method measures the dimension within an acceptable error limit i.e. ±3%. The controller can suppress vibration amplitude up to approximately 97% in an average time of 4.2 s and reduces the stability time up to approximately 93% while comparing with control and without control suppression time. The vibration suppression performance is also compared with the results of classical control method and some recent results available in literature.

The important contributions of the current work are the following: an innovative robot-assisted camera calibration method is proposed to determine the extrinsic camera parameters that eliminate the need for any reference such as a checkerboard, robotic assembly, vibration suppression, second-stage controller, camera calibration, flexible beam and robot vision; an approach for robot vision method is developed to identify the object using a virtual marker and measure its dimension grasped by the robot gripper accommodating perspective view; the developed robot vision-based controller works along with FEM model of the flexible beam to predict the tip position and helps in handling different dimensions and material types; an approach has been proposed to handle different types of delays that are part of implementation for effective suppression of vibration; proposed method uses a low frame rate and low-cost camera for the second-stage controller and the controller does not interfere with the internal controller of the industrial robot.

In this study a numerical analysis of the elastohydrodynamic lubrication point contact problem in the unsteady state of reciprocating motion is presented. The effects of frequency, stroke length and load on film thickness and pressure variation during one operating cycle are discussed. The general tribological behavior of elastohydrodynamic lubrication during reciprocating motion is explained.

The system of equations of Reynolds, film thickness considering surface deformation and load balance equations are solved using the Newton-Raphson technique with the Gauss-Seidel iteration method. Numerical solutions were performed with a sinusoidal contact surface velocity to simulate reciprocating elastohydrodynamics. The methodology is validated using historical experimental measurements/observations and numerical predictions from other researchers.

The numerical results showed that the change in oil film during a stroke is controlled by both wedge and squeeze effects. When the surface velocity is zero at the stroke end, the squeeze effect is most noticeable. As the frequency increases, the general trend of central and minimum film thickness increases. With the same entraining speed but different stroke lengths, the properties of the oil film differ from one another, with an increase in stroke length leading to a reduction in film thickness. Finally, the numerical results showed that the overall film thickness decreases with increasing load.

General tribological behaviors of elastohydrodynamic lubricating point contact, represented by pressure and film thickness variations over time and profiles, are analyzed under reciprocating motion during one working cycle to show the effects of frequency, stroke length and applied load.

Due to dynamic model is the basis of realizing various robot control functions, and it determines the robot control performance to a large extent, this paper aims to improve the accuracy of dynamic model for n-Degree of Freedom (DOF) serial robot.

This paper exploits a combination of the link dynamical system and the friction model to create robot dynamic behaviors. A practical approach to identify the nonlinear joint friction parameters including the slip properties in sliding phase and the stick characteristics in presliding phase is presented. Afterward, an adaptive variable-step moving average method is proposed to effectively reduce the noise impact on the collected data. Furthermore, a radial basis function neural network-based friction estimator for varying loads is trained to compensate the nonlinear effects of load on friction during robot joint moving.

Experiment validations are carried out on all the joints of a 6-DOF industrial robot. The experimental results of joint torque estimation demonstrate that the proposed strategy significantly improves the accuracy of the robot dynamic model, and the prediction effect of the proposed method is better than that of existing methods.

The proposed method extends the robot dynamic model with friction compensation, which includes the nonlinear effects of joint stick motion, joint sliding motion and load attached to the end-effector.

This study aims to propose an aerodynamic force decomposition which, for the first time, allows for thrust/drag bookkeeping in two-dimensional viscous and unsteady flows. Lamb vector-based far-field methods are used at the scope, and the paper starts with extending recent steady compressible formulas to the unsteady regime.

Exact vortical force formulas are derived considering inertial or non-inertial frames, viscous or inviscid flows, fixed or moving bodies. Numerical applications to a NACA0012 airfoil oscillating in pure plunging motion are illustrated, considering subsonic and transonic flow regimes. The total force accuracy and sensitivity to the control volume size is first analysed, then the axial force is decomposed and results are compared to the inviscid force (thrust) and to the steady force (drag).

Two total axial force decompositions in thrust and drag contributions are proposed, providing satisfactory results. An additional force decomposition is also formulated, which is independent of the arbitrary pole appearing in vortical formulas. Numerical inaccuracies encountered in inertial reference frames are eliminated, and the extended formulation also allows obtaining an accurate force prediction in presence of shock waves.

No thrust/drag bookkeeping methodology was actually available for oscillating airfoils in viscous and compressible flows.

The computing power of the legged robot is not enough to perform high-frequency updates for the full-body model predictive control (MPC) of the robot, which is a common problem encountered in the gait research of the legged robot. The purpose of this paper is to propose a high-frequency MPC control method for the bounding gait of a parallel quadruped robot.

According to the bounding gait characteristics of the robot, the quadruped robot model is simplified to an equivalent plane bipedal model. Under the biped robot model, the forces between the robot’s feet and the ground are calculated by MPC. Then, the authors apply a proportional differential controller to distribute these forces to the four feet of the quadruped robot. The robot video can be seen at www.bilibili.com/video/BV1je4y1S7Rn.

To verify the feasibility of the controller, a prototype was made, and the controller was deployed on the actual prototype and then fully analyzed through experiments. Experiments show that the update frequency of MPC could be stabilized at 500 Hz while the robot was running in the bounding gait stably and efficiently.

This paper proposes a high-frequency MPC controller under the simplified model, which has a higher working efficiency and more stable control performance.

The purpose of this paper is to apply the novel instantaneous power flow balance (IPFB)-based identification strategy to a specific practical situation like nonlinear lap joints having single and double bolts. The paper also investigates the identification performance of the proposed power flow method over conventional acceleration-matching (AM) methods and other methods in the literature for nonlinear identification.

A parametric model of the joint assembly formulated using generic beam element is used for numerically simulating the experimental response under sinusoidal excitations. The proposed method uses the concept of substructure IPFB criteria, whereby the algebraic sum of power flow components within a substructure is equal to zero, for the formulation of an objective function. The joint parameter identification problem was treated as an inverse formulation by minimizing the objective function using the Particle Swarm Optimization (PSO) algorithm, with the unknown parameters as the optimization variables.

The errors associated with identified numerical results through the instantaneous power flow approach have been compared with the conventional AM method using the same model and are found to be more accurate. The outcome of the proposed method is also compared with other nonlinear time-domain structural identification (SI) methods from the literature to show the acceptability of the results.

In this paper, the concept of IPFB-based identification method was extended to a more specific practical application of nonlinear joints which is not reported in the literature. Identification studies were carried out for both single-bolted and double-bolted lap joints with noise-free and noise-contamination cases. In the current study, only the zone of interest (substructure) needs to be modelled, thus reducing computational complexity, and only interface sensors are required in this method. If the force application point is outside the substructure, there is no need to measure the forcing response also.

Because of the key role of joint torque in industrial robots (IRs) motion performance control and energy consumption calculation and efficiency optimization, the purpose of this paper is to propose a deep learning torque prediction method based on long short-term memory (LSTM) recurrent neural networks optimized by particle swarm optimization (PSO), which can accurately predict the the joint torque.

The proposed model optimized the LSTM with PSO algorithm to accurately predict the IRs joint torque. The authors design an excitation trajectory for ABB 1600–10/145 experimental robot and collect its relative dynamic data. The LSTM model was trained with the experimental data, and PSO was used to find optimal number of LSTM nodes and learning rate, then a torque prediction model is established based on PSO-LSTM deep learning method. The novel model is used to predict the robot’s six joint torque and the root mean error squares of the predicted data together with least squares (LS) method were comparably studied.

The predicted joint torque value by PSO-LSTM deep learning approach is highly overlapped with those from real experiment robot, and the error is quite small. The average square error between the predicted joint torque data and experiment data is 2.31 N.m smaller than that with the LS method. The accuracy of the novel PSO-LSTM learning method for joint torque prediction of IR is proved.

PSO and LSTM model are deeply integrated for the first time to predict the joint torque of IR and the prediction accuracy is verified.

This paper aims to study the impact of transient velocity changes on sealing performance during reciprocating sealing processes.

Establish a model of transient mixed lubrication, solve the transient Reynolds equation, consider the effect of temperature rise at the seal interfaces, and determine the behavior of the seal interfaces, such as film thickness and fluid pressure. Evaluation with friction and leakage rate, calculate the variation of sealing performance with reciprocating velocity under different working conditions, and verify it through bench experiments.

Within a reciprocating stroke, the frictional force decreases with increasing velocity, and the frictional force of the outstroke is greater than that of the instroke; at the time of the stroke transition, the fluid pressure is smallest and the rough peak contact pressure is greatest. At present, the dynamic pressure effect of fluids is the largest, and the friction force also increases, which increases the risk of material wear and failure. Friction and leakage increase with increasing pressure and root mean square roughness. As temperature increases, friction increases and leakage decreases. In studying the performance variations of seal components through a reciprocating sealing experiment, it was found that the friction force decreases with increasing velocity, which is consistent with the calculated results and more similar to the calculated results considering the temperature rise.

This study provides a reference for the study of transient sealing performance.