Adaptive Car Buffer — The Concept, Design Tools and Perspectives
Tomasz Bielecki, Jan Holnicki-Szulc, Polish Academy of Sciences, Poland, Luis Jezequel, Ecole Centrale de Lyon, France
The general concept of design of adaptive structures (equipped with controllable energy dissipaters, so called structural fuses) is presented and the corresponding, gradient based numerical design tools are described. This concept is applied to design of deployable adaptive car buffer. Numerical simulation of the effect of its adaptation to various crash scenarios is demonstrated. High effectiveness of active impact energy absorption by adaptive structures demonstrates potential of this adaptive crashworthiness applications.
An Evaluation of the Linear Clamp Pre-Load Model with Respect to Milling Operations
Edward C. De Meter, Shabbir Choudhuri, Subramanian Vallapuzha, Pennsylvania State University, Raghunath P. Khetan, Delphi Automotive Systems, USA
This paper briefly summarizes the formulation and execution of the Linear, Clamp Pre-Load (LCPL) model. This model is used to compute the minimum clamp pre-loads necessary to keep a workpiece from slipping within a fixturing during machining. This model takes into account all sources of compliance in the fixture-workpiece system as well as gravity and the system of forces exerted during machining. This paper also describes a series of milling experiments that were used to characterize the accuracy of the LCPL model.
15:10―15:30
Analysis and Control of Vehicle Dynamics Under Crosswind Conditions
Oliver Hanke, Torsten Bertram, Manfred Hiller, Gerhard-Mercator-Universität Duisburg, Germany
In more recent vehicle tests the cars crosswind sensitivity is often determined. In this paper models of a Ford Explorer Sport and an Audi A4 Quattro are tested for crosswind sensitivity with the help of FASIM_C++ (a vehicle dynamics simulation tool, developed in the Mechatronics Laboratory in Duisburg). Further the systematic design of a control unit for the Ford Explorer is described. The intention is to reduce the lateral offset of the vehicle due to the crosswind in order to reduce the number of vehicle accidents.
Optimal Placement of Fixture Clamps
Rodrigo A. Marin, Placid M. Ferreira, University of Illinois at Urbana―Champaign, USA
This paper addresses the problem of synthesizing optimal clamping schemes on three-dimensional parts with planar and cylindrical faces with and without friction. Given a workpart with a pre-defined deterministic 3-2-1 location scheme a set of polygonal convex regions on its faces are defined as areas of admissible clamp positions. A known set of one or more external disturbing wrenches are also given. The frictionless case is considered first and a new linear program is formulated that minimizes the maximum clamping force. A transformation of the solution is presented that permits the extraction of the optimal positions of the clamps as well. Friction is introduced next and a linear program is presented that minimizes the maximum normal clamping force. We extend the frictionless formulation to …
15:30―15:50
Some Aspects of Road Sweeping Vehicle Automation
Gareth Peel, Maarten Michielen, Graham Parker, University of Surrey, UK
Road sweeping vehicles that are commonly seen on the roads today, have been empirically developed over the years. As a result the operation of such machines has not undergone systems engineering development with respect to automating the sweeping performance so as to reduce the workload of the driver. This paper reports on work being undertaken to enhance the performance and safety of road sweeping vehicles. A forward looking debris detection system is being developed alongside research into brushes and the brushing process. This work is necessary to fully understand and automate the sweeping process. Vision processing techniques have been used to identify various road surfaces and debris. A two step approach is adopted to reduce the load on the processor, but still extract all the necessary information. Continuous flow of data is provided by laser striping, building up …
Fabrizio Caccavale, Luigi Villani, Università di Napoli Federico II, Italy
In this paper an impedance control strategy is devised for a system of manipulators tightly grasping a common rigid object. In order to avoid internal loading at the object a six-DOF impedance behaviour is imposed at each end-effector. Moreover impedance control is also adopted to achieve a compliant behavior of the object when interaction with the external environment occurs. The overall control scheme is derived according to an inverse dynamics strategy with adoption of an inner motion loop for each manipulator providing robustness to unmodeled dynamics and disturbances.
