Advances in Italian Mechanism Science

Name: Advances in Italian Mechanism Science | Proceedings of the 3rd International Conference of IFToMM Italy
Brand: Springer
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Proceedings of the 3rd International Conference of IFToMM Italy

Vincenzo Niola Alessandro Gasparetto(Editor)

Springer (Publisher)

1st Edition

Published on 19. August 2020

XVII, 900 pages

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978-3-030-55807-9 (ISBN)

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Content

Intro
Preface
Contents
I History of Mechanism Science
The Bolognese Silk Mill: One of the Earliest Examples of Factory System
Abstract
1 Introduction
2 The Silk Sector in the Early Modern Bologna and the Diffusion of the Bolognese Silk Mill Technology
3 The "Bolognese" Mill: A Technical Description
4 Conclusions
References
A Brief History of Piano Mechanics
Abstract
1 Introduction
2 Evolution of Piano Mechanics
3 Modern Piano Mechanics
4 20th-Century Keyboards
5 Conclusions
References
Nikolai Kolchin (1894-1975)
Abstract
1 Biographical Notes
2 List of Main Works
3 Review of Main Works
4 Modern Interpretation and Main Contributions
5 Conclusions
References
D'Alembert and the Wave Equation
Abstract
1 Introduction
2 D'Alembert's Solution of the Vibrating String Problem
3 The Controversy Between D'Alembert and Euler
4 Final Remarks and Conclusion
References
Design Experiences for Reconstruction of an Ancient Roman Crane
Abstract
1 Introduction
2 Backgrounds
3 Design Requirements
4 A Reconstruction Design
5 A Prototype
6 Conclusions
Acknowledgments
References
The Italian Textbooks of Mechanics Applied to Machines in the Modern Age
Abstract
1 Introduction
2 Backgrounds
2.1 Prof. Modesto Panetti (1875-1957)
2.2 The Structure of MaM Textbooks
3 "The Masters" Period
4 "The Schools" Period
5 "The Courses" Period
6 Conclusions
References
Using Old Schröder-Reuleaux Models in Modern Kinematics Lectures
Abstract
1 Introduction
2 The Schröder-Reuleaux Collection and Models
3 The Teaching Method
4 Conclusions
References
Recent Teaching Experiences on Mechanism and Machine Theory
Abstract
1 Introduction
2 Teaching MMT Fundamentals
3 Kinematics
4 Dynamics
5 Cases of Study
5.1 Design of a Robotic Finger
5.2 Bond Graph for a Transmission System
6 Conclusions
References
The Odometers of Marcus Vitruvius Pollio and Leonardo Da Vinci
Abstract
1 Introduction
2 Vitruvius' Odometer
3 Leonardo's Odometer
4 Comparison Between the Two Designs
5 Conclusions
References
I Biomechanical Engineering
Investigation of Internal Human Body Dynamic Forces Developed During a Vehicle Ride
Abstract
1 Introduction
2 Mathematical Modelling
3 Random Road Disturbance
4 Bump Road Profile
5 Conclusions
References
Design of an Articulated Neck for Testbed Mannequin
Abstract
1 Introduction
2 Problems and Requirements
3 A Conceptual Design
4 A CAD Design
5 Simulated Performance
6 Conclusions
Acknowledgments
References
Design and Experimental Characterization of an Underactuated Finger Mechanism
Abstract
1 Introduction
2 Kinematic Design and Finger Operation
3 Test Result
4 Conclusion
References
Handwheelchair.q: New Prototype of Manual Wheelchair for Everyday Life
Abstract
1 Introduction
2 Functional Design
2.1 Transmission System
2.2 Return Pulleys
3 Prototype
4 Experimental Methods
5 Results
6 Conclusions
References
A Novel Architecture for a Fully Wearable Assistive Hand Exoskeleton System
1 Introduction
2 The Previous Prototypes
3 The New Architecture
3.1 sEMG Technology
3.2 Ergonomics
3.3 Overall Architecture and Power Supply System
4 Discussion
5 Conclusions and Future Perspectives
References
Rehabilitative Hand Exoskeleton System: A New Modular Mechanical Design for a Remote Actuated Device
Abstract
1 Introduction
2 Design Specifications
2.1 Transmission Type
2.2 Performance Requirements and Physical Characteristics
2.3 Additional Requirements to Meet Commercial Environment
3 Background
3.1 The Reference Hand Exoskeleton
4 Redesign of the Hand Exoskeleton System
4.1 Base Platform
4.2 Interface Module
4.3 Finger Module
4.4 Remote Actuation System
5 Conclusions
References
A Compliant and Robust Robotic Hand Fabricated with 3D Printed Soft Materials
1 Introduction
2 Design of the CORA Hand
2.1 Mechanical Design
2.2 Actuation and Transmission
2.3 FEM Simulation of Strain and Deformation of the Soft Polymer Links
2.4 Implementation of the Prototype and Preliminary Evaluation of Grasping
3 Conclusion
References
Design of a Twisted String Actuated Haptic Thimble for Cutaneous Force Feedback
1 Introduction
2 The Twisted String Actuated Haptic Thimble
2.1 Actuation Scheme
3 Experimental Characterization
4 Discussions and Conclusion
References
A Biomechanical Rider Model for Multibody Applications
1 Introduction
2 Literature Review
3 Multibody Model
3.1 Frames and Bodies
3.2 Constraints
3.3 Implementation
4 Validation
5 Conclusions
References
Upper Limbs Musculoskeletal OpenSim Model: Customization and Assessment
Abstract
1 Introduction
2 OpenSim
2.1 Existing Upper-Limb Models
3 Development of an Upper Limbs Model
4 Upper Limbs Musculoskeletal Model Assessment
4.1 Experimental Measurement
4.2 Simulations
4.3 Comparison and Results
5 Discussion and Conclusion
Acknowledgement
References
I Robotics
A Wearable Device for Ankle Motion Assistance
Abstract
1 Introduction
2 Ankle Biomechanics
3 A Solution for Ankle Motion Assistance
4 Performance Evaluation
5 Conclusions
References
Modeling and Identification of Vibrations in a UAV for Aerial Manipulation
Abstract
1 Introduction
2 Tested UAV
3 Testing Equipment and Methods
4 Experimental Results
5 Dynamic Models
5.1 1-Degree-of-Freedom (1-DOF) Vibrational Model
5.2 2-DOFs Vibrational Model
5.3 3-DOFs Model
6 Conclusions
References
A Novel Robotic System for Painting with Eyes
1 Introduction
2 Eye Tracking
3 The Robotic Painting System
4 Data Acquisition and Path Planning
5 Results
6 Conclusions
References
Flexible Multibody Modeling for Structural Flexibility Analysis of a Robotic Manipulator
1 Introduction
2 Modeling of the Robotic Manipulator
2.1 Multibody Modeling
2.2 Finite Element Modeling
3 Structural Flexibility Analysis by FMB Simulation
4 Discussion
5 Conclusions
References
Mode Predictive Control for Spatial Cable Driven Parallel Robot Based on Variation the Mass of End-Effector
Abstract
1 Introduction
2 Inverse Geometric Modeling
3 Dynamic Response
3.1 Dynamic Model of the End Effector
3.2 The Dynamic Comportment of the Motors
4 Robot Workspace
5 Control Law and Architecture
6 Simulation Results
7 Conclusion
Acknowledgements
References
Robust Control Strategies of Puma 560 Robot Manipulator
Abstract
1 Introduction
2 Robot Manipulator Model
2.1 Dynamic Modeling
2.2 Gometric Modeling
3 Robot Control
3.1 Inner Loop Controller
3.2 Outer Loop Controllers Design
4 Simulation Results
5 Conclusion
Acknowledgements
References
Working Cycle Sequence Optimization for Industrial Robots
1 Introduction
2 Related Work
3 The Travelling Salesman Problem (TSP)
3.1 Problem Constraints
4 Simulation Model and Results
5 Conclusions
References
Iterative Path Planning of a Serial Manipulator in a Cluttered Known Environment
1 Introduction
2 The New Planning Algorithm
2.1 First Path
2.2 Modified Path
2.3 Influence of the Parameter d
2.4 Proposed Method
3 Comparison with Existing Methods
4 Conclusion
References
One-Step Fast Calibration of an Industrial Workcell
1 Introduction
2 Standard Calibration
2.1 First Step: Surface Probing
2.2 Second Step: Image Acquisition
3 A New Calibration Tool and Procedure
3.1 The New Tool
3.2 The New Procedure
4 Experimental Results
5 Conclusion
References
Optimal Path Planning of a Redundant Robot in Food Industry
1 Introduction
2 Optimization Technique
3 Simulations and Results
4 Conclusions
References
Applications of Learning Algorithms to Industrial Robotics
1 Introduction
2 Applications of ANN to Industrial Robotics
2.1 Vision Systems
2.2 Assembly Task Learning
2.3 Learning from Demonstration
3 Conclusions
References
Terrain Sensing for Planetary Rovers
Abstract
1 Introduction
2 Materials and Methods
3 Proprioceptive Features
4 Classifier Training and Testing
5 Conclusion and Future Works
Acknowledgements
References
Real-Time Strategy for Obstacle Avoidance in Redundant Manipulators
1 Introduction
2 Obstacle Avoidance Strategy
3 Trajectory Planning
4 Implementation and Simulations
5 Conclusions
References
An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators
Abstract
1 Introduction
2 The R-CUBE Manipulator
3 The Experimental Test Setup for Stiffness Evaluation
4 The Test Procedure and Results
5 Conclusion
Acknowledgments
References
Investigation of Dynamically Decoupled Anatomies for a Serial Metamorphic Manipulator
1 Introduction
2 Research Study Methodology
2.1 The Metamorphic Structure
2.2 Proposed Analysis Methodology
3 Generalized Inertia Matrix Elements Analysis
3.1 Manipulator Inertia Matrix
3.2 Off-Diagonal Element Analysis
3.3 Diagonal Elements Analysis
3.4 Minimization of Configuration Variance
4 Dynamic Decoupling of the 2 DoF SMM Studied
4.1 Off-Diagonal Element Analysis
4.2 Diagonal Element Analysis
5 Conclusion
References
Gravity Compensation of Robotic Manipulators Using Non-linear Spring Configurations
Abstract
1 Introduction
2 Robot Balancing Using Linear Springs
3 Robot Balancing Using Non-linear Springs
3.1 Non-linear Spring Arrangement
3.2 Application to a Single-Link Robotic Arm
3.3 Application to a Robotic Arm with Elbow Structure
4 Numerical Simulation
5 Conclusions
References
Energy Optimal Design of Jerk-Continuous Trajectories for Industrial Robots
1 Introduction
2 Spline-Based Trajectory Planning
2.1 Energy Consumption Estimation
3 Energy Optimization
4 Conclusion
References
Human Arm Motion Tracking by Kinect Sensor Using Kalman Filter for Collaborative Robotics
Abstract
1 Introduction
2 Methodology
2.1 Human Arm Model
2.2 Kalman Filter
2.3 Shoulder Frame
2.4 Process Architecture and Link Length
3 Experimental Set-up
4 Results
5 Conclusions
References
A Simplified Approach to Size Multi-robot System for Pick and Place Applications
Abstract
1 Introduction
2 Current Empirical Sizing Procedure
3 The Proposed Sizing Tool
4 Test Cases and Results
4.1 Evaluation of the Average Speed
4.2 Sizing Results
5 Conclusions
References
Automation of Glue Deposition on Shoe Uppers by Means of Industrial Robots and Force Control
Abstract
1 Introduction
2 Definition of the End-Effector Trajectories
3 Robotic Tool Setup
3.1 Feed-Back Force Control
4 Glue Deposition Experimental Tests
5 Conclusions
References
Position Analysis of a Class of n-RRR Planar Parallel Robots
1 Introduction
2 Bilateration
3 Inverse and Direct Kinematic Problems
4 Example
5 Conclusions
References
A Mobile Robot for Undercarriage Inspection on Standard Railway Tracks
1 Introduction
2 The Railway Inspection Robot
2.1 The Mobile Platform
2.2 The Robotic Arm
2.3 Robot Control Unit and Operator's Interface
3 Experimental Validation
4 Conclusions
References
Modeling a Sensorized Soft Layer for Adding Compliance to the Environment in Robotic Manipulation
1 Introduction
2 The SoftPad
3 Models
4 Simulations
5 Discussion
References
Nonlinear Characterization of a Compact Series Visco-Elastic Element for Tendon-Driven Actuation
1 Introduction
2 Joint Description
3 Experimental Characterization
3.1 Static and Dynamic Characterization
3.2 Joint Bandwidth
4 Nonlinear Mathematical Hysteresis Model
5 Model Identification
6 Conclusion
References
Kinematic Synthesis of a Tendon-Driven Robotic Arm
Abstract
1 Introduction
2 Endless Tendon-Driven Mechanisms
3 Tendon-Driven Robotic Arm
4 Conclusions
References
Robotic Additive Printing of Cylindrical Auxetic Structures
1 Introduction
2 Previous Robotic AM Systems
3 Materials and Methods
3.1 Experimental Setup
3.2 Used Ink
4 Experimental Tests and Results
5 Conclusion
References
Control Model for Collaborative Manufacturing: An Integrated Opened Framework for Human-Robot Collaboration
1 Introduction
2 Approach
2.1 OCM Level
2.2 RCM Level
2.3 CRCM Level
3 Conclusions
References
A Smart Gluing Process by a Vision Guided Robotic System
Abstract
1 Introduction
2 Gluing Machine Description
3 Glue Path Planning
4 Hardware and Procedures Developing
5 Experimental Investigation
6 Conclusions
Acknowledgment
References
Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography
1 Introduction
2 Optimization of the End-Effector
2.1 UR5 Robot Kinematics
2.2 Manipulability Optimization
2.3 Implementation
3 Results
4 Conclusions
References
Collaborative Robotics for Rehabilitation: A Multibody Model for Kinematic and Dynamic Analysis
Abstract
1 Introduction
2 Human-Robot System
3 Kinematics
4 Dynamic Simulations
5 Conclusions
References
I Mechanism Design
Design Optimization of a Cartesian Assembly Cell
Abstract
1 Introduction: Preliminary Description of the Machine and Specifications
2 Machine Head Redesign
2.1 Actuation of Machine Head
2.2 Multi Tool Hand Effector
3 Structural Improvement
4 Equipotential Link on Servo-Drives and Recalibration
5 Quantification of Productivity Improvement
6 Conclusions and Future Developments
Acknowledgements
References
The Effect of the Optimal Route Selection on the Forward Position Solutions of Parallel Mechanisms
Abstract
1 Introduction
2 The Effect of the Optimal Route Selection on the FPS
2.1 Criteria for Optimal Route Selection
2.2 Procedures of Optimal Route Selection
3 Topology Analysis
3.1 Description of a 3T PM
3.2 Analysis of the POC Set
3.3 Determining the DOF
3.4 Determining the Coupling Degree
4 Position Analysis
4.1 The Coordinate System and Parametrization
4.2 Direct Kinematics
4.3 Verification
5 Conclusions
Acknowledgments
References
Multiphysical Design Optimization of Multibody Systems: Application to a Tyrolean Weir Cleaning Mechanism
1 Introduction
2 Primal Analysis with Multibody Dynamics and Hydraulic Actuator Model
3 Analytical Sensitivity Analysis of Time-Dependent Responses
4 Tyrolean Weir Cleaning Mechanism
5 Design Optimization of Tyrolean Weir Cleaning Mechanism
6 Conclusion
References
Improving Components Feeding: A Rotatory Device
1 Introduction
2 Blade Shaping Algorithm
2.1 Design of the Rotary Distributor
3 Experimental Apparatus
3.1 Image Processing Algorithm
4 Results
5 Conclusion
References
Innovative Project Development: A Successful Case Study
Abstract
1 Introduction
2 Prospects for Implementing Redesign
3 Theoretical Framework
3.1 Concurrent Engineering
4 Proposition, Analysis and Characterization
4.1 Case Study
5 Results and Discussion
6 Conclusions
Acknowledgments
References
Design and Analysis of a Top Locking Snap Hook for Landing Manoeuvres
Abstract
1 Introduction
2 Design of the Proposed Hook
2.1 Design
2.2 Dynamic Model
2.3 Kinematic Model
2.4 Evaluation of Opening Time
3 Conclusion
References
Numerical Simulation of a 2D Harmonic Oscillator as Coupling System for Child Restraint Systems (CRS)
Abstract
1 Introduction
2 Method
3 Results
4 Conclusion
Acknowledgements
References
Design and Operation Improvements for CADEL Cable-Driven Elbow Assisting Device
Abstract
1 Introduction
2 A CADEL Prototype
3 Aspects to Be Improved
4 A Solution for Improvement
5 Simulation Results and Performance Tests
6 Conclusions
References
I Design of Sustainable Systems
Life Cycle Assessment for the ISWEC Wave Energy Device
Abstract
1 Introduction
2 The ISWEC Device
2.1 System Parameters
3 Life Cycle Assessment
4 Conclusions
References
The Agri.q Mobile Robot: Preliminary Experimental Tests
Abstract
1 Introduction
2 Functional and Mechanical Design
3 Prototype Description
4 Preliminary Experimentations
5 Conclusions
Acknowledgments
References
Intermediate Agricultural Machines Energy Efficiency: The Example of Harvesting and Threshing
Abstract
1 Introduction
2 Harvesting and Threshing the Grain
3 Materials and Methods
4 Results and Discussion
5 Conclusions
References
A Path Tracking Algorithm for an Autonomous Wind-Driven Robot
Abstract
1 Introduction
2 Control Strategy
3 Path Planning
4 Guidance
5 Steering Control-PID
6 Sail Control-PID
7 Simulation Results
8 Conclusion
References
One Year Experimental Evaluation of the Electrical Gain by Solar Tracking a 12 KW Photovoltaic System Installed on a Building Rooftop
Abstract
1 Introduction
2 Methodology
2.1 Evaluation of the Available Global Solar Energy
2.2 Evaluation of the PV System Global Efficiency
2.3 Evaluation of the Solar Tracking Gain
3 Experimental Setup
4 Results and Discussions
4.1 The Available Solar Energy
4.2 Evaluation of the PV System Global Efficiency
4.3 Evaluation of the Solar Tracking Gain
5 Conclusions
References
Efficient Power-Split Powertrain for Full Electric Vehicles
Abstract
1 Introduction
2 Planetary Gear-Based Power Train
3 Optimization Strategy
4 Conclusions
Acknowledgements
References
I Gearing and Transmission
Speed, Torque and Mathematical Power Relationship Ratios, Using SolidWorks Parametric Designed Spur Gear
Abstract
1 Introduction
2 Spur Gear Model
2.1 Parametric Modeling
2.2 Parametric Equations
2.3 Driven Equations
2.4 3D Model
3 Speed, Torque and Mathematical Power Relationship Ratios
3.1 Simple Gear Train
3.2 Equations
3.3 Calculations
4 Conclusions
References
Efficiency and Durability of DLC-Coated Gears
Abstract
1 Introduction
2 Test Setup and Procedure
3 Experimental Results
4 Conclusions
References
I Special Session IFToMM Italy - IFToMM Japan
Omnidirectional Mobile Robot and Vehicle, Uninterrupted Transmission System, Intuitive Operating Method, and Riding Robotics
Abstract
1 Introduction
2 Active Omni Wheel and Omnidirectional Vehicle
3 Slidable-Wheeled Omnidirectional Mobile Robot
4 Uninterrupted Transmission System
5 Intuitive Operating Method
6 Riding Robotics
7 Conclusion
References
A UAV System Using an Eye-Tracking Device for Bedridden Patients: Consideration of Control Screens
Abstract
1 Introduction
2 System
2.1 Overview
2.2 Control Screens and Control Method
3 Experiment
3.1 Subjects
3.2 Flight Course
3.3 Measurement of Flicker Values
3.4 Questionnaire
3.5 Experimental Procedure
3.6 Results and Discussion
4 Conclusion
References
Static Analysis and Actuator Selection of (2-RRU)-URR Parallel Mechanism for Thumb Rehabilitation
1 Introduction
2 (2-RRU)-URR Parallel Mechanism
2.1 Constraint Wrench, Actuation Wrench, and Overall Jacobian
3 Static Analysis
4 Numerical Example, Experiment, and Result
5 Actuation Selection for Thumb Rehabilitation
6 Discussion and Conclusion
References
A Novel, Scalable Shape Memory Alloy Actuator Controlled by Fluid Temperature
1 Introduction
2 Scalability of Actuators and SMA
2.1 Scalable Design Strategies
2.2 SMAs for Scalable Actuator Design and Its Challenges
3 Conceptual Design
4 Force-Scalable Zero-Flow SMA Linear Actuator (ZFSMALA) ch69Osorio2019
4.1 Experimental Setup
4.2 Results and Discussion
5 Force and Displacement Scalable Constant-Flow SMA Linear Actuator (CFSMALA)
5.1 Experimental Setup
5.2 Results and Discussion
6 Conclusions and Future Work
References
A Thermally-Driven Bipedal Walker with Rugby Ball Shaped Feet
1 Introduction
2 Cylindrical Feet of the Previous Thermal Walkers
3 Thermal Walker with Round Feet
3.1 Basic Concept
3.2 Prototype Design
4 Walking Experiment
5 Conclusions
References
An Experimental Analysis of Vibrations During Walking in Humans and Robots
Abstract
1 Introduction
2 Vibration Characteristics in Walking
3 An Approach for Analysis of Walking Vibrations
4 Experimental Results
5 Conclusions
Acknowledgements
References
A New Rehabilitation Device for Finger Extension Movement
1 Introduction
2 Proposed Design
3 Simulation
4 Conclusion and Future Work
References
Quasi-Static Analysis of a Tapered Extendable Arm Inspired by an Origami with Modified Folding Diagram
Abstract
1 Introduction
2 Modification of the Folding Diagram
3 Observation of Prototypes' Behavior
4 Quasi-Static Analysis
5 Conclusions
Acknowledgments
References
I Tribology
A Simple Modular Test Rig for Measuring Static and Dynamic Friction
Abstract
1 Introduction
2 Experimental Apparatus
3 Test Procedure and Preliminary Results
4 Concluding Remarks and Future Developments
Acknowledgments
References
A Novel Characterization Method for Hard Coatings: Preliminary Results with TiN
Abstract
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusions
References
Evaluation of the Real Contact Area of Rough Surfaces by Using a Finite Element Model
Abstract
1 Introduction
2 Materials and Method
3 Model
4 Results
5 Conclusions
Acknowledgements
References
Diagnostics of Roller Bearings Faults During Long-Lasting Tests
Abstract
1 Introduction
2 Experimental Data
2.1 Operating Conditions During the Tests
3 Improved Envelope-Based Methods for Bearing Diagnostics and Fault Indices
3.1 Squared Envelope Spectrum
3.2 Indices Used for the Definition of the Optimal Frequency Band for Signal Filtering and for the Evaluation of the Fault Severity
4 Results for the Test Bearing on the Left Side
4.1 Optimal Frequency Band of the Filter
4.2 Fault Identification
5 Results for the Test Bearing on the Right Side
6 Conclusions
Acknowledgments
References
Air Pad Controlled by Means of a Diaphragm-Valve: Static and Dynamic Behaviour
Abstract
1 Introduction
2 Materials and Methods
2.1 The Compensated Pad
2.2 The Pad Model
3 Results and Discussions
3.1 Static Performance
3.2 Dynamic Performance
4 Conclusions
References
Application of Generalized Models for Identification of Viscoelastic Behavior
Abstract
1 Introduction
2 Rheological Models
3 Material Under Investigation
4 Identification of Viscoelastic Behaviour
5 Conclusions
References
Pseudo-Villari Experimental Characterization of Magneto-Rheological Elastomers
Abstract
1 Introduction
2 Construction of the MR Elastomer Specimens
3 Test Setup and Characterization Procedure
4 Results
5 Conclusions
Acknowledgments
References
Crank Mechanism Friction Modeling for Control-Oriented Applications
Abstract
1 Introduction
2 The Physics - Based Model Adopted
2.1 Piston - Cylinder Model
2.2 Journal - Bearing Model
3 The Proposed Model Calibration Methodology
4 Results and Analyses
5 Conclusions
References
I Vehicle Dynamics and Control
A Parametric Simulator for Railway Odometry Systems
Abstract
1 Introduction: Odometry and Related Safety Issues
2 Specification and Design Features of the Model
3 Efficient Simulation of Three-Dimensional Data from Planar, Mono-dimensional Models
4 Conclusions
References
A Constrained Nonlinear Approach for Monitoring the Railway Anti-yaw Damping
Abstract
1 Introduction
2 Estimator Design Model
3 Simulation Results
4 Conclusions and Future Developments
Appendix. Parameters for the Estimator Design Model
References
Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System
Abstract
1 Introduction
2 System Modelling
2.1 Contact Forces
3 Experimental Validation
4 Conclusions
References
Design of Understeer Characteristics Through Torque Vectoring on a Lumped-Parameter Full Vehicle Model
Abstract
1 Introduction
2 Design of a PID-Based Controller for TV in a LPFVM
3 Test Results
4 Conclusion
Acknowledgement
References
Active Aerodynamics Design Methodology for Vehicle Dynamics Enhancement
Abstract
1 Introduction
2 Dynamic Requirements and Baseline Analysis
2.1 Vehicle Dynamics Requirements
2.2 Aerodynamic Baseline Analysis
2.3 Vehicle Dynamics Enhancing Workflow
2.4 Aerodynamics Improvements Achieved
3 Conclusions
Acknowledgements
References
Autonomous Driving Scenario Generation in Overtake Manoeuvres Through Data Fusion
Abstract
1 Introduction
2 Manoeuvre Classification
2.1 Parameter Selection
2.2 Configuration of Decision Tree Classifier
2.3 Classifying the Manoeuvres
3 Database Generation
3.1 Selection of Comparison Variables
3.2 Database for Comparison of Scenarios
3.3 Database for Studying Individual Scenarios
4 Conclusions
Acknowledgments
References
4x4 Hybrid Electric Vehicle vs. Fully Electric Vehicle Mobility in Drastically Changing Terrain Conditions
Abstract
1 Introduction
2 Two 4x4 Driveline Models with Controllable Power Split
2.1 Vehicle with Hybrid Electric-Power Transmitting Unit (HE-PTU)
2.2 FE Vehicle with Individual Wheel Drives
3 Mobility in Drastically Differing Terrain Condition
4 Conclusion
Acknowledgments
References
Development of an Innovative Instrument for Non-destructive Viscoelasticity Characterization: VESevo
Abstract
1 Introduction
2 Viscoelastic Properties and Characterization Methods
3 Prototypal Device Description
4 Signal Acquisition and Processing
5 Conclusions
References
Identification of Tire Transient Parameters from Vehicle Onboard Sensors Data
Abstract
1 Introduction
2 Proposed Methodology
3 Double Track Model
3.1 Roll Dynamics
3.2 Vertical Forces
3.3 Steering and Inclination Angles
3.4 Contact Patch Dynamics
4 Conclusions
References
Articulated Steering Control for an All-Terrain Tracked Vehicle
Abstract
1 Introduction
2 Model Description
3 ATV Cornering Response
4 Hitch Angle Controller
5 Conclusions
References
I Mechatronics
Experimental Approaches to Measure Displacements in Mechanical Systems Through Vision Devices
Abstract
1 Introduction
2 Experimental Setup
3 Methods
3.1 Two Markers
3.2 One Marker
3.3 No-Marker
4 Results
4.1 Two Markers
4.2 One Marker
4.3 No-Marker
5 Conclusions
References
RGB-D Vision Device for Tracking a Moving Target
Abstract
1 Introduction
2 Experimental Setup
3 Methodology
3.1 Target Object Detection
3.2 Measuring Actuator Stroke Position Through Vision-Devices
4 Application
5 Results
6 Conclusions
References
Design Formulation for a Multi-criteria Optimization of Mechatronic Systems
Abstract
1 Introduction
2 Design Requirements
3 Design Criteria
4 Optimization Problem and Its Solution
5 An Example of Application to a Four-Bar Mechanism
6 Conclusions
Acknowledgments
References
An Implantable Biocompatible Smart Stent for Monitoring Eventual Restenosis
Abstract
1 Introduction
2 Device Operation Principle
3 A Blood Flow Simulation
4 Conclusions
References
I Vibrations
Friction Coefficient Estimation in Sliding Isolators Through a Nonlinear Parametric Estimation Approach
Abstract
1 Introduction
2 Estimator Design Model
3 Numerical Analysis
4 Conclusions
Appendix. Parameters for the Estimator Design Model
References
An Active Vibration Isolator Based on an Electromagnetic Actuator
Abstract
1 Introduction
2 Isolator Description
3 Experimental Set-Up
4 Actuator Characterization
5 Conclusion
Acknowledgment
References
Development of an Innovative Torsional Vibration Damper with Magneto-Rheological Elastomers for Vehicle Driveline
Abstract
1 Introduction
2 The Torsional Theoretical Model
3 The Experimental Test Rig Design
4 Multibody Simulations
5 Conclusions
References
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