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Scuffing analysis of roller-shoe mechanism after an aggressive test

IOP Conference Series: Materials Science and engineering 2019年第1期591卷

作者： C R Iordache F C Ciornei C Bujoreanu 'Gheorghe Asachi' Technical University of Iasi-Romania Department of Mechanical Engineering Mechatronics and Robotics Blvd. Prof. Mangeron No. 43 700050 Iasi Romania 'Stefan cel Mare' University of Suceava Mechanical and Technologies Department Str. Universitatii No. 13 Suceava Romania

The roller-shoe assembly is a known and efficient mechanism used for movement transmission in order to obtain mechanical energy. This mechanism is found in high pressure pumps and its role is to change the rotating motion in a translation one. During the running time, some wear types can be identified such as scuffing, corrosion, material removal. Scuffing is the main type of wear appearing in this mechanism. The aim of our paper is to analyse the behaviour of these two components (roller and shoe) over an aggravating test. The main defect is low clearance between components. The roller and shoe assembly is mounted in a diesel fuel pump for test. The test chosen for this experiment is Low Sommerfeld Number. It was stopped after 10% from time set. After visual analysis, it was observed the roller-shoe scuffing. The shoe was analysed and it was observed that the diamond like carbon (DLC) layer is non-conform. In the same pump, the affected components were replaced with new components to be convinced that the wear was caused by low clearance between them correlated to non-conform DLC layer. The test results confirm the reason of scuffing.

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The reliability analysis for some subassemblies in the structure of 060-DA diesel-electric locomotive

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IOP Conference Series: Materials Science and engineering 2018年第6期444卷

作者： M Alexandrov V Goanţă M Mareş D Apostol I Blanari Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Romania CFR Iasi maintenance department

The increasing complexity of technical systems, together with their increasingly important functions, determines the continuously growing importance of reliability studies. The working regime parameters are more and more intense, the operating conditions are more and more complex, leading to the need of a large scale automation of production processes, and also of their control, including the use of some powerful process computers. Industrial products, mechanical equipment and devices, various machine components, and so on, they can all be regarded as basic units with autonomous operation, embedded in complex aggregates or installations. The 060-DA diesel-electric locomotive is SUCH a complex set of components and subassemblies, working together, so that any accidental failure of a basic constituent could lead to a total or partial decommissioning of the locomotive, or to its incorrect operation. The subject of the present paper is a reliability analysis for the most important components and subassemblies from the structure of 060-DA diesel-electric locomotive.

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A Study on the End-Effector Exchange Mechanism of a Space Robot

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Journal of Mechanics engineering and Automation 2017年第5期7卷 278-284页

作者： Rui Qu Yuto Takei Mitsushige Oda Hiroki Nakanishi Armin Wedler Kent Yoshikawa Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo 1528550 Japan RMC (Robotics and Mechatronics CenteO DLR (German Aerospace Center) Oberpfaffenhofen 82234 Germany

This study investigates the necessity for space robots to independently exchange their end-effectors due to the contradiction that exists between the requirements of various robots in space missions and the payload capacity limits of rockets. The results of this study summarize the system requirements for a new end-effector exchange mechanism, including compact size, misalignment tolerance, and regolith tolerance. This is followed by the development of a prototype model with a set of test apparatus. Then the function of the prototype is verified, the prototype is optimized, and the relation between docking force and misalignment is examined through operation tests.

关键词： Space robot end-effector exchange mechanism operation test.

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On designing an automated tool for capacitors removal from waste printed circuits boards

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IOP Conference Series: Materials Science and engineering 2019年第1期591卷

作者： C Stamate I Doroftei D Chirita A Burlacu 'Gheorghe Asachi' Technical University of Iasi Department of Mechanical Engineering Mechatronics and Robotics Blvd. Mangeron No. 43 700050 Iasi Romania 'Gheorghe Asachi' Technical University of Iasi Department of Automatic Control and Applied Informatics Blvd. Mangeron No. 27 700050 Iasi Romania

The mass electronics sector is one of the most important sources of waste, both in terms of volume and materials content with dangerous effects on the environment. Printed Circuit Boards (PCBs) are the most valuable component embedded into Electrical and Electronic Equipment (EEEs). The current amount of electronic systems is impressive while manual dismantling is a very common and non-efficient solution. On average, waste PCB accounts almost from 3% to 5% of the overall weight of waste electrical and electronic equipment. At this time, in Romania, the implemented solutions for waste PCB reduction are in a research phase, with no existing technological procedures that can be replicated. In the context of the TRADE-IT project we aim to design replicable architectures for waste printed boards reduction. Starting from the largest base plate and continuing to the smallest size, Extended ATX, ATX, Micro ATX, Mini ITX are some of the most used boards in a computer. When choosing a base plate from the ATX and/or microATX range, the shape factor must fit on a universal support bracket. The shape factor identifies the size of the circuit board, the location of the slots, and the location of the display board that comes out on the back of the computer. The shape factor also identifies the location of the holes that are used to mount the base plate in the universal clamp holder. Taking into account that capacitors represent approximately 8.6% of the PCB mass, we aim at designing an automated driven tool for their removal. The design is based on a robotic arm for motion manoeuvring, a programmable screwdriver and a custom-made end tool. In the current phase the proposed design was evaluated on controlled individual tests. The initial results highlight the feasibility of the proposed design while uncovering potential challenges for real-time implementation.

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Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

Flights are ten a sail - Re-use and commonality in the desig...

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70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the DLR-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOS

关键词： Solar sails

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Determination of Fracture Mechanics Parameters Using Simulation Based on Finite Element Analysis

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IOP Conference Series: Materials Science and engineering 2018年第6期444卷

作者： C Danila V Goanta Continental Iasi branch Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania

Failures of assemblies and parts lead sometimes to cracks which can have disastrous results, even if the stress level in a structure considered 'perfect' can indicate a satisfactory design. The study of crack initiation and propagation is a complex subject, which implies different notions from Physics, Chemistry and Mechanics. Understanding the main issues regarding the propagation of cracks – is treated in the Fracture Mechanics engineering field. For example, engineers desire to understand the conditions in which a pre-existing crack continues to propagate. Next, we will use Finite Element Analysis to determine the stress at the tip of a pre-existing crack, also other fracture mechanics related characteristics. Thus, we will use the Fracture Mechanics module for the Algor finite element analysis software, version 22.1.

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A one-degree-of freedom ankle rehabilitation platform

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IOP Conference Series: Materials Science and engineering 2019年第1期591卷

作者： I Doroftei C M Racu C Honceriu D Irimia 'Gheorghe Asachi' Technical University of Iasi Mechanical Engineering Mechatronics and Robotics Department Iasi Romania 'Alexandru Ioan Cuza' University of Iasi Department of Physical Education and Sports Iasi Romania 'Gheorghe Asachi' Technical University of Iasi Department of Energy Utilisation Electrical Drives and Industrial Automation Iasi Romania

The ankle structure holds one of the most important role in the human biomechanics. Due to complexity of everyday activities this joint is the most prone to be injured part of the lower limb. For a complete recovery of the locomotor function, recovery exercises are mandatory. The existent ankle rehabilitation equipments allow only simple rehabilitation exercises, which cannot be used safely without the aid of a therapist. The introduction of robotic physical recovery systems represents a modern alternative to traditional recovery. Actuated devices are advantageous because they allow many types of exercises on same device, and also they accurate measure forces and angular motions. The purpose of this two paper is to propose a simple rehabilitation device, based on a one-degree-of-freedom mechanisms. Some structural, kinematic and designing aspects of this new ankle rehabilitation device are presented.

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Robust control of the boost-pressure of a turbocharger subject to model uncertainty and disturbances

Robust control of the boost-pressure of a turbocharger subje...

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Asian Control Conference

作者： Tobias Posielek Kai Wulff Johann Reger German Aerospace Center (DLR) Institute of Robotics and Mechatronics Germany Control Engineering Group Technische Universitat Ilmenau Ilmenau Germany

ISBN: (纸本)9781509015740;9781509015733

Controller design for the boost-pressure of an exhaust-gas turbo-charger is considered. To this end, we propose a sliding mode controller with integral action in the sliding-variable. The design is simple, requires a small number of sensors and is robust with respect to various uncertainties and disturbances. Compared to standard integral sliding-mode controllers our design approach yields a dynamics of lower order which simplifies the stability and invariance analysis.

关键词： Manifolds Uncertainty Turbines Engines Stability analysis Combustion Atmospheric modeling

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Load cell for active pantograph solution based on the Fiber-Bragg grating sensor

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AIP Conference Proceedings 2018年第1期2029卷

作者： Paweł Zdziebko Piotr Kurowski Adam Martowicz Tadeusz Uhl 1AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics al. Mickiewicza 30 30-059 Kraków Poland

One of the solutions for improving quality of a railway pantograph-catenary contact during a high speed run is to implement an active control in the pantograph system. The goal of the control is to adjust an actual uplift force exerted by a pantograph on a contact line to reduce fluctuations observed in the reaction force course. While the closed-loop control is conducted, the actual contact force has to be measured. The paper presents a new design of the load cell dedicated for that purpose. The shape of the designed and manufactured device was chosen to allow for easy implementation in a pantograph construction. The load cell is based on the Fiber-Bragg grating sensor, since more popular techniques based on electric quantities measurements may be disturbed by strong electromagnetic field which is present in the vicinity of pantograph-catenary interface. The paper discusses the results of sensor validation procedure.

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Determining the probability of failure for a diesel electric locomotive 060-DA using fault tree analysis

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IOP Conference Series: Materials Science and engineering 2018年第6期444卷

作者： V Goanţă M Alexandrov D Apostol I Blanari Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania CFR Company Iasi branch

The 'fault tree' analysis is one of the most commonly used methods for determining reliability, calculating the probability of failure and thereby determining risk. The primary purpose of this analysis is to evaluate, using analytical and statistical methods, the likelihood of an unfavorable event occurring. These calculations involve the knowledge of system reliability data such as probability of failure, failure rate, time to failure, repair rate etc. Building a 'fault tree' model can provide insight into how to pinpoint potential deficiencies within a functional system. In this paper, a defective tree structure was made for the main components of the 060-DA electric diesel locomotive. Five types of equipment part of the locomotive were taken into consideration: mechanical, pneumatic, thermal, power and auxiliary electrical. Each of these contains, in turn, other subassemblies and components. For the latter, some parameters needed to draw the fault tree diagrams were calculated on a statistical basis. In this way, the probability of the locomotive exiting operation was determined as a result of the defects that occurred in the component parts.

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