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检索条件"丛书名=Mechanisms and Machine Science"

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Hand-Eye Calibration Using Invariant Calibrator Placed to a Robotic Arm 5th

Hand-Eye Calibration Using Invariant Calibrator Placed to a ...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science IFToMM ITALY (IFIT)

作者： Cosenza, Chiara Malfi, Pierangelo Nicolella, Armando Niola, Vincenzo Savino, Sergio Univ Naples Federico II Dept Ind Engn Naples Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The development of proper hand-eye calibration procedure is essential for the application of RGB-D camera in industrial context. Here, a hand-eye calibration approach is proposed using a colored marker placed on a robotic arm as an invariant calibrator. The procedure combines several algorithms, namely color segmentation, iterative approaches and geometrical constraint approaches, to identify in accurate manner point cloud data belonging to the marker and compute the geometrical transformation between the RGB-D camera and the robotic-arm end effector reference frames. The calibration procedure has been tested over multiple robotic arm/calibrator poses to obtain a reasonable transformation matrix that in a future perspective will allow its applicability in an industrial scenario.

关键词： Camera calibration Depth camera Robotic arm Hand-eye calibration Computer vision

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Simulation of Hydraulic Fracturing Intersecting Natural Fractures in Fractured Shale Reservoirs 30th

Simulation of Hydraulic Fracturing Intersecting Natural Frac...

引用

30th International Conference on Computational and Experimental Engineering and sciences

作者： Ji, Hui Li, Jun Guan, Lichen Guo, Boyun Chen, Kangping Lian, Wei Zhang, Juncheng China Univ Petr Coll Petr Engn Beijing Peoples R China China Univ Petr Karamay Campus Karamay Xinjiang Peoples R China Univ Louisiana Lafayette Dept Petr Engn Lafayette LA USA Arizona State Univ Tempe AZ USA

ISBN: (纸本)9783031816758;9783031816734;9783031816727

In order to effectively simulate the expansion pattern of hydraulic fracture (HF) intersecting with natural fracture (NF) in fractured shale reservoirs, with a view to improving the recovery rate of shale reservoirs. In this paper, firstly carried out a theoretical analysis of the fracture intersection criterion, and combined with the simulation results, supplemented the types of fracture morphology and Blanton intersection criterion, and realistically simulated the expansion situation of hydraulic fracture intersecting with natural fracture in the shale reservoirs by using the method of global embedding of the bonded pore pressure unit, and analyzed the changing rules of the fracture expansion pattern, pore pressure, and the width of the fractures in the different levels of the difference in geopathological stresses and the angle of the fracture intersections. The results show that: (1)the smaller the horizontal stress difference is, the easier the natural crack is opened, and it is more likely to open the end with a small angle;the larger the horizontal stress difference is, the more the hydraulic crack tends to penetrate the natural crack;(2)with the increase of the analyzing steps, there exists a crack in the direction of the horizontal stress that is first extended and then gradually closed to the point of no further extension;(3)When the crack intersection angle is 30 degrees, only the end with small angle between the natural crack and the hydraulic crack is opened;when the crack intersection angle is 60 degrees, both ends of the natural crack are opened;when the crack intersection angle is 90 degrees, the natural crack is directly passed through by the hydraulic crack without being opened;when the crack intersection angle is 120 degrees, also only the end with small angle between the natural crack and the hydraulic crack is opened, which indicates that there is a symmetry in crack extension;(4)Under the coupling effect of geostress difference and intersection

关键词： Fractured reservoir Shale Hydraulic fracture Natural fracture Intersection simulation Cohesive unit

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machine Learning Prediction of Time-Varying Reservoir Permeability Under Different Water Quality 30th

Machine Learning Prediction of Time-Varying Reservoir Permea...

引用

30th International Conference on Computational and Experimental Engineering and sciences

作者： Song Xiankun Liu Yuetian Wang Jianzhong Yang Xiaowen Fan Pingtian Liu Xinju China Univ Petr Sch Petr Engn Beijing Peoples R China China Univ Petr Sch Artificial Intelligence Beijing Peoples R China China Univ Petr East China Sch Petr Engn Qingdao Peoples R China Yanchang Oilfield Co Ltd Nanniwan Oil Prod Plant Yanan Shaanxi Peoples R China PetroChina Changqing Oil & Gas Field Co Explorat & Dev Res Inst Xian Shaanxi Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

Water injection development is the primary mode for enhancing the productivity of sandstone reservoirs, and the quality of the injected water significantly impacts the development outcome. Field practice demonstrates that pollutants such as suspended solid particles and emulsified oil in the injected water can clog the pores of the oil reservoir. Due to water quality influences, the permeability of reservoirs with an extended water injection history diverges from the initial permeability, necessitating re-evaluation. Combining the injected water quality standard (SY/T 5329-2012) with laboratory experiments using sandstone cores of varying permeability, a sample database was established encompassing injection history, water quality factors, and permeability ratios. The random forest algorithm was employed to analyze the sample data and determine the importance of each influencing factor. By comparing the BP neural network, random forest algorithm, and particle swarm optimization random forest (PSO-RF) machine learning algorithms, a prediction model for the time-varying characteristics of permeability was developed. The results show that the PSO-RF algorithm excels in predicting the time-varying characteristics of permeability. Integrating the Gaussian filtering algorithm, data clustering, and denoising processes, the PSO-RF deep learning method effectively balances model practicality and accuracy. Consequently, a method for predicting the time-varying characteristics of reservoir permeability during high water cut periods was established. The accuracy of this method was validated by comparing it with numerical simulation results, providing a novel approach for the re-evaluation of permeability.

关键词： sandstone reservoir water injection history water quality permeability prediction machine learning

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Calculation Model and Characteristic Analysis of Dynamic Wind-Induced Deflection of Tension Transmission Towers' Jumper Wires 30th

Calculation Model and Characteristic Analysis of Dynamic Win...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Yan, Cong Xie, Qiang Tongji Univ Coll Civil Engn 1239 Siping Rd Shanghai 200092 Peoples R China Tongji Univ State Key Lab Disaster Reduct Civil Engn 1239 Siping Rd Shanghai 200092 Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

To explore the dynamic wind-induced deflection of jumper wires on tension transmission towers under fluctuating winds and its characteristics, and provide a theoretical method for analyzing flashover tripping incidents in transmission lines, two scenarios are analyzed: jumper wire without jumping string and jumper wire with jumping string. The response of jumper wire under fluctuating wind is assumed to be small deformation and the effects of its vibration mode is ignored. By ensuring the resultant moment of studied objects on target axis is zero and considering the aerodynamic damping effects, the dynamic equations for wind-induced deflection of jumper wires on tension towers are established based on the d'Alembert's principle. These equations can be solved by fourth-order Runge-Kutta method. Through case analysis, it is observed that the two models are effective in calculating the time history of jumper wires' wind-induced deflection. Additionally, upon comparing with the wind-induced deflection of suspension insulator strings on tangent towers, it is found that jumper wires' wind-induced deflection exhibits a higher frequency and a larger range of fluctuations. Moreover, the jumping strings exert a restraining effect on the wind-induced deflection of the jumper wires. As the mass of the jumping string increases, the dynamic wind deflection angle of the jumper wire decreases, thereby reducing the risk of flashover tripping incidents.

关键词： Tension transmission tower Jumper wire Jumping string Wind-induced deflection Dynamic equation

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Sensor Oriented Dynamics Model of Rotor as Basis of machines Diagnostic 12th

Sensor Oriented Dynamics Model of Rotor as Basis of Machines...

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12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Antunovic, Ranko Vucetic, Nikola Jeremic, Dejan Univ East Sarajevo Fac Mech Engn East Sarajevo Bosnia & Herceg Higher Educ Tech Sch Profess Studies Novi Sad Serbia

ISBN: (纸本)9783031805141;9783031805127;9783031805110

In last time, vibrations analysis and monitoring are become the most widespread and softest part of machines diagnostics. Detection, identification and removing of problems about work of machine is simpler if we modeling few dynamics solution. When forming model which oriented on discovering defect by means sensors measured vibrations, which almost located in bearings, mathematics model is presented as elastic rotor with concentrated weight. As note, mathematics model in the most cases based on radial oscillation of rotor and torsion oscillations in someone cases. Torsional vibrations are not detected without special sensors even if they are his magnitude near destruction level. This paper presents one of the ways of modeling rotary machines, which is oriented towards the identification of the causes of problems in their operation. These mathematical models are the result of experimental research by some of the world's leading companies. The importance of these models in detecting damage was confirmed during testing on real machines during exploitation.

关键词： Rotors Dynamics Modeling Vibrations Diagnosis Monitoring

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CO2 Multi-stage Fracturing Casing Load Prediction Research 30th

CO2 Multi-stage Fracturing Casing Load Prediction Research

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Li, Hui Li, Jun Shan, Liping Lian, Wei Liu, Jinlu China Univ Petr Beijing Peoples R China Yunnan Agr Univ Kunming Yunnan Peoples R China

ISBN: (纸本)9783031816758;9783031816734;9783031816727

During multi-stage fracturing, the wellbore casing is subjected to multiple rounds of pressure shocks and complex mechanical environments due to thermal stress cyclic loads, making it crucial to clarify the forces on the casing during multi-stage fracturing for predicting its remaining life. Based on wellbore flow theory and heat transfer principles, considering the number of pressure cycles and the alternating wellbore temperature changing rules during multi-stage fracturing, a three-dimensional finite element model of the casing-cement sheath-formation combination under multi-stage fracturing conditions was established. It analyzed the force distribution pattern on the casing during multi-stage fracturing and predicted the stress changes in the casing under different fracturing stages. Results show that the wellbore temperature decreases with fracturing time and rapidly increases in a short period after stopping fracturing, later slowly returning to near the formation temperature. Considering temperature effects, the remaining strength of the casing in multi-stage fracturing shows a cumulative increase trend with the number of fracturing stages, with the casing Mises stress increasing by 24.72% after 13 stages of fracturing compared to the initial stress. The temperature effect during CO2 multi-stage fracturing is one of the key factors affecting casing stress that cannot be ignored.

关键词： Multistage fracturing Wellbore heat transfer Transient thermomechanical coupling Residual stress Casing load prediction

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The Use of Torsion Pendulum Dampers in the Drivetrain Systems of Passenger Cars 14th

The Use of Torsion Pendulum Dampers in the Drivetrain System...

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14th International Conference on the Theory of machines and mechanisms (TMM)

作者： Musil, Milos Uradnicek, Juraj Milata, Michal Skopek, Karol Gasparovic, Lubos Slovak Univ Technol Fac Mech Engn Inst Appl Mech & Mechatron Namestie Slobody 2910-17 Stare Mesto 81231 Slovakia

ISBN: (纸本)9783031702532;9783031702518;9783031702501

This study focuses on the design and optimization of torsional dampers used in the drivetrain systems of passenger cars. Dynamic issues between the engine and the drivetrain, such as torsional vibrations that occur during acceleration, braking, or operation in the critical RPM range, negatively affect the vibrational and acoustic properties of vehicles. In this work, a simulation model of a pendulum torsional damper was created to minimize these unwanted vibrations. The results of numerical simulations were validated through experimental measurements on a real vehicle.

关键词： Torsional Vibrations Pendulum Damper Drivetrain System

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Comparison of Different Physiological Models for Estimating Muscle Forces Based on Inverse-Dynamics 8th

Comparison of Different Physiological Models for Estimating ...

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8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： Jemaa, Olfa Daney, David Romdhane, Lotfi Bennour, Sami Univ Sousse Natl Engn Sch Sousse Lab Mech Sousse Bp 264 Erriadh Sousse 4023 Tunisia Natl Inst Res Comp Sci & Automat Bordeaux France Amer Univ Sharjah Coll Engn Sharjah U Arab Emirates

ISBN: (纸本)9783031598906;9783031598883;9783031598876

The quantification of individual muscle forces from motion data is a relevant tool to better evaluate the biomechanical constraints of occupational tasks and decreased the risk of musculoskeletal injury. The aim of this paper was to develop a new method for estimating muscle forces from experimental kinematic data. The original method calculates muscle forces using the conventional numerical optimization by including physiological muscle properties. Then, the muscle forces estimated by the physiological optimization method (PO) were compared with those found by a traditional static optimization method (SO). In both optimization problems, muscle forces of the upper limb were estimated by minimizing a specific performance criterion. Although the muscles were treated as ideal force generators in the traditional method, they were constrained by their force-length and force-velocity relationships in the physiological method. Experimental methods to validate mathematical approach are limited. In the present study, we have chosen the EMG-to-force approach as a reference method with which to compare both numerical optimization results during a pointing task. The findings suggest that the physiological optimization provides better estimates of muscle forces during pointing task than traditional static optimization. Muscle forces from PO method were well matched with those from the EMG-to-force validation method, for flexors elbow muscles (BIC, BRA and BRD), as well as for main flexors shoulder (Coracobrachialis and Deltoid Anterior). In addition, the PO model predicted extensors muscle function for Triceps long in the elbow joint, and for Deltoid Posterior and Latissimus dorsi in the shoulder joint. However, SO solutions showed little or no recruitment of extensors muscles which are the Triceps long and the Latissimus dorsi, and preferentially activated flexors muscles with large moment arms.

关键词： Muscle forces Musculoskeletal model Static optimization Hill rheological

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Structural Solutions of Walking mechanisms Intended to Exoskeleton Robots to Assist Human Gait 6th

Structural Solutions of Walking Mechanisms Intended to Exosk...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Geonea, Ionut Dumitru, Nicolae Dumitru, Sorin Copilusi, Cristian Tarnita, Daniela Univ Craiova Fac Mech Craiova Romania

ISBN: (纸本)9783031673856;9783031673832;9783031673825

In this paper, several types of walking mechanism design solutions are presented for the legs of bipedal robots, such as exoskeletons for assisting human walking. All these constructive solutions are driven by a single motor, placed at the superior level. A virtual model is developed for each of these designs, on the basis of which a dynamic analysis is carried out using ADAMS multibody systems analysis software. The ovoid shape of the ankle joint trajectory is analysed, as well as the laws of variation of the angles in the knee and hip joints. Finally, a comparison is made between the proposed design solutions, in order to choose the optimal structure that reproduces as faithfully as possible the movement of the human foot.

关键词： biped mechanism exoskeleton robot virtual simulation mechanism dynamics

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A System Identification Approach for Nondestructive Characterization of Sport Surfaces 5th

A System Identification Approach for Nondestructive Characte...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science IFToMM ITALY (IFIT)

作者： Genovese, Andrea Tordela, Ciro Univ Naples Federico II Naples Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The knowledge of viscoelastic properties of sports surfaces is fundamental for monitoring their wear status to avoid accidents for athletes. A state-space grey-box model identification approach is proposed in the present work for estimating viscoelastic parameters of sports surfaces by testing them in a non-destructive way through an innovative portable device. The developed procedure is functional for making the condition monitoring of sports surfaces by observing values of identified viscoelastic parameters for each test made at different ranges of temperature.

关键词： System identification Grey-Box model Sport Surfaces Viscoelasticity Nondestructive testing

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