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Southeast
Region XI
Abstracts From the
2003 Regional Technical Conference (RTC)
Marriott Biscayne
Bay, Miami, Florida - April 4, 2003
ABSTRACTS
SERVO
AND SENSOR CONTROL ON SMALL MOBILE PLATFORMS
Jorge Blanch and Sabri Tosunoglu, Florida Internatioanl University
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System integration is an unavoidable and important part of a project.
Considerable amounts of time and resources are always devoted to make sure
that all the components in a project work not only properly, but also work together
properly. This work discusses how
different elements of a “desktop” robotic platform that was designed and constructed
at FIU had to be controlled to achieve an effective and mechanically stable platform.
For this purpose, we review the platform design, sensor utilization and servo
control developed for this project. We then demonstrate that a proper servo and
sensor control structure can indeed improve the platform performance appreciably.
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POWER
CONSUMPTION ANALYSIS FOR A HEXAPOD ROBOT BASED ON GAIT PATHS
Juan F. Jaramillo, Mariana E. Oliva, and Diana M. Rincon, Florida
International University |
The
main purpose of the study was to compare multiple walking patterns for a hexapod
robot leg based on power consumption. The
analysis was conducted by real time measurements of electrical power consumption
of “Vicker” hexapod robot and computer simulation analysis.
The walking path found to have the least power requirements was the isosceles
triangle gait pattern because it maintains constant velocities throughout its
lifting cycle. It was also seen that the power required for the vertical motion
makes up for most of the power consumption for any kind of walking path. |
Return
to Top FORMABILITY
ISSUES OF AUTO-BODY MATERIALS
Delfina
C. Joseph, Judy Schneider, Grant Harlow, Mississippi State University | Use
of weight-saving materials to produce lightweight components with enhanced dimensional
control is important to the automotive industry. This has increased the need to
understand the material behavior with respect to the forming process at the microstructure
level. A test matrix is developed based on the orthogonal array of Taguchi method.
Experiments ere conducted for V-bending processing using Al 022-T4 to study the
variation of springback due to factors such as bend radius, sheet thickness, grain
size, plastic anisotropy, heat treatment, punching speeds, and time. The design
of experiments was used to evaluate the optimum factor levels that contribute
to springback in sheet metal forming processes.
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Return
to Top EFFECT
OF ELECTROLYTE FLOW ON THE DEPOSITION RATE OF NICKEL USING "WATTS SOLUTION"
Sandeep Kulathu and Evangelos Eleftheriou, University of Alabama at Birmingham | |
The Electroforming industry, an industry that produces precision products with
no cutting forces affecting their dimensional integrity, faces a primary problem
of residual stress control that results in warpage and transient distortion, especially
when the parts are subjected to thermal and structural load cycles. Furthermore,
this industry is characterized by a substantially slow production rate due to
slow deposition rates. These two problems combined with the fact that only elemental
and rarely alloyed materials can be deposited have delayed wide implementation
of the method to Rapid Tooling and Rapid Prototyping applications. Even though
many organic additives have been found to reduce these problems, this approach
presented in this manuscript has concentrated on effects of mechanical displacement
of the anode, as means of discontinuing surface tension of deposited surfaces.
A transient stylus method is used to discontinue local deposition and the stress
induced on the entire surface. The only adverse effect of the proposed method
is a further reduction in deposition rate. |
Return
to Top DISCRETE
SURFACE DISTORTION TRACKING METHOD FOR REVERSE ESTIMATION OF MECHANICAL PROPERTIES
OF HUMAN CRANIAL BONE
Heng Cao and Evangelos Eleftheriou, University of Alabama at Birmingham | Bone
can be viewed as protective armor for very critical organs and neurological structures,
and as such, can be considered a protective control system that conditions force
spikes before they enter its interior cavities and create adverse effects. The
transfer function of bone that converts external force or pressure to less harmful
strain and stress on protected neurological structures depends on its mechanical
properties. The research presented in this paper has established a feasible experimental
setup, protocol, and algorithms that can be used to measure properties soon after
bone was harvested and most likely to be representative of in-vivo conditions. |
Return
to Top POWER
SPECTRAL DENSITY OF THE DUFFING OSCILLATOR BY THE METHOD OF MEASURING FILTERS:
CASE OF THE GAUSSIAN CLOSURE
Liangliang Song & D.V. Ioutchenko, University of Miami | | In
this paper the measuring filters approach is demonstrated and applied to the Duffing
oscillator to obtain a stationary Power Spectral Density (PSD) of the latter.
The method is based on calculation of moment of the system’s response. However,
since the system is nonlinear, the moment equations have to be truncated. The
Gaussian closure scheme is the simplest closure scheme applied to truncate the
series of differential equations for statistical moments of the response variables.
The truncated equations are transformed into a set of linear algebraic equations,
since the steady-state case is considered, through which an unknown response spectral
density is calculated.
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Return
to Top UV
CURING OF PHOTOINITIATED RESINS USED IN THE FILAMENT WINDING PROCESS FOR MANUFACTURING
POLYMERIC COMPOSITES
Kapil M. Inamdar and Ellen Lackey, University of Mississippi | ight
can be used as an energy source for the cure of polymeric composites in presence
of a photoinitiator. Polymerization is achieved by decomposition of the photoinitiator
on its exposure to an appropriate light source. In this study, numerous combinations
of two different photoinitiators were examined for the UV light cured filament
winding process. A statistical experimental design was utilized to evaluate the
effects of varying weight ratio combinations of two photoinitiators and the operating
speeds, on the physical and mechanical properties of the filament wound composites.
Results demonstrate that photoinitiated resins can be successfully used for the
filament winding.
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Return
to Top STRUCTURAL
DYNAMIC ANALYSIS OF PHORID FLY REARING TANKS
Lay
Menn Khoo, Roger Hasse, and P. Raju Mantena |
Experimental Modal Analysis was used for obtaining the resonant frequencies and
deformation mode shapes of a plastic tank to be used in a phorid fly rearing system.
The tank was then placed, along with live host ants and phorid flies, inside an
“attack box” and an electro-dynamic shaker was used for exciting the tank at each
of the experimentally determined resonant frequencies. It was observed that the
fire ants freeze during the excitation phase, accompanied by a gradual increase
in motion exposing them to phorid fly attack when the shaker was turned off. |
Return
to Top MECHATRONIC
DEVICE TO MEASURE BREAK SHOTS
Philip M. Pombier, Warren A. Wider
and Daniel J. Cox, University of North Florida
| A
device for measuring the effectiveness of a break shot occurring in a game of
pool is presented. The device incorporates the integration mechanical, electronic,
and computer software into a mechatronic system. A physical system model is described
that allows the basis of the mechanical problem to be established and understood.
The mechanical design embodiment is them presented with mechanical design aspects
of the device emphasized. A description of the electronics, sensing, data acquisition
and system software is included. |
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to Top |
