The Tactile Exploration of a Harsh Environment by a Manipulator With Joint Backlash

2010 ◽  
Author(s):  
Francesco Mazzini ◽  
Steven Dubowsky
Keyword(s):  
Case Studies ◽  
Laboratory Experiments ◽  
Contact Point ◽  
Oil Wells ◽  
Harsh Environment ◽  
Tactile Sensors ◽  
Contact Points ◽  
Geometric Primitives ◽  
Harsh Conditions ◽  
Direct Kinematics

Here the tactile exploration by an autonomous robot when its joints are corrupted by significant backlash is studied. The motivation is the exploration of junctions in oil wells where the harsh conditions dictate the use of tactile exploration. These conditions also result in large, unknown, and variable backlash in the manipulator’s transmissions. Here, a method is developed to simultaneously identify the backlash and map the unknown surface. The method only needs joint encoders, and avoids the use of delicate force or tactile sensors. The mapped surface is described as a combination of geometric primitives. The robot probes the surface in several locations with its tip and computes the contact point through direct kinematics. These contact points are used simultaneously to construct a map of the environment and to identify its joint backlash, improving the precision of the map. The effectiveness of the approach is demonstrated in both simulation case studies and laboratory experiments.

Experimental Validation of the Tactile Exploration by a Manipulator With Joint Backlash

2012 ◽  
Vol 4 (1) ◽  
Author(s):  
Francesco Mazzini ◽  
Steven Dubowsky
Keyword(s):  
Case Studies ◽  
Laboratory Experiments ◽  
Experimental Validation ◽  
Measurement Precision ◽  
Oil Wells ◽  
Typical Application ◽  
Surface Measurements ◽  
Geometric Primitives ◽  
Harsh Conditions ◽  
Backlash Error

This research investigates using a manipulator to tactilely explore objects and environments when significant backlash affects its joint’s positions. A typical application is the exploration of rough environments, such as oil wells, where the harsh conditions dictate the use of tactile exploration. These conditions can result in large, unknown, and variable backlash in the manipulator’s transmissions, which strongly affects the measurement precision. Here, a method is developed to simultaneously map the unknown surface and identify the joint backlash. The robot probes the surface and uses its encoder readings to construct a partial map of the environment as a combination of geometric primitives. While the surface is built, the same data are also used to estimate backlash in the joints and to correct the surface measurements for backlash error. The effectiveness of the approach is demonstrated in simulation case studies and laboratory experiments.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

scholarly journals Cavitation between cylinder-liner and piston-ring in a new designed optical IC engine

2021 ◽  
pp. 146808742110080
Author(s):  
Jamshid Malekmohammadi Nouri ◽  
Ioannis Vasilakos ◽  
Youyou Yan
Keyword(s):  
High Speed ◽  
Contact Point ◽  
Cylinder Liner ◽  
Optical Methods ◽  
Engine Management System ◽  
Great Success ◽  
Ic Engine ◽  
Contact Points ◽  
Lubricant Flow ◽  
Cavitation Intensity

A new engine block with optical access has been designed and manufactured capable of running up to 3000 r/min with the same specification as the unmodified engine. The optical window allowed access to the full length of the liner over a width of 25 mm to investigate the lubricant flow and cavitation at contact point between the rings and cylinder-liner. In addition, it allowed good access into the combustion chamber to allow charged flow, spray and combustion visualisation and measurements using different optical methods. New custom engine management system with build in LabView allowed for the precise full control of the engine. The design of the new optical engine was a great success in producing high quality images of lubricant flow, cavitation formation and development at contact point at different engine speeds ranging from 208 to 3000 r/min and lubricant temperatures (30°C–70°C) using a high-speed camera. The results under motorised operation confirmed that there was no cavitation at contact points during the intake/exhaust strokes due to low in-cylinder presure, while during compression/expansion strokes, with high in-cylinder pressure, considerable cavities were observed, in particular, during the compression stroke. Lubricant temperatures had the effect of promoting cavities both in their intensity and covered ring area up to 50°C as expected. Beyond that, although the cavitation intensity increases further with temperature, its area reduces due to possible collapse of the cavitating bubbles at higher temperature. The change of engine speed from 208 to 800 r/min increased cavitating area considerably by 52% of the ring area and was further increased by 19% at 1000 r/min. After that, the results showed very small increase in cavitation area (1.3% at 2000 r/min) with similar intensity and distribution across the ring.

scholarly journals The macroscopic shape of assemblies formed from microparticles based on host–guest interaction dependent on the guest content

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Takahiro Itami ◽  
Akihito Hashidzume ◽  
Yuri Kamon ◽  
Hiroyasu Yamaguchi ◽  
Akira Harada
Keyword(s):  
Molecular Recognition ◽  
Smart Materials ◽  
Self Assembly ◽  
Early Stage ◽  
Contact Point ◽  
Sodium Acrylate ◽  
Contact Points ◽  
Assembly Behavior ◽  
Small Clusters ◽  
Macroscopic Shape

AbstractBiological macroscopic assemblies have inspired researchers to utilize molecular recognition to develop smart materials in these decades. Recently, macroscopic self-assemblies based on molecular recognition have been realized using millimeter-scale hydrogel pieces possessing molecular recognition moieties. During the study on macroscopic self-assembly based on molecular recognition, we noticed that the shape of assemblies might be dependent on the host–guest pair. In this study, we were thus motivated to study the macroscopic shape of assemblies formed through host–guest interaction. We modified crosslinked poly(sodium acrylate) microparticles, i.e., superabsorbent polymer (SAP) microparticles, with β-cyclodextrin (βCD) and adamantyl (Ad) residues (βCD(x)-SAP and Ad(y)-SAP microparticles, respectively, where x and y denote the mol% contents of βCD and Ad residues). Then, we studied the self-assembly behavior of βCD(x)-SAP and Ad(y)-SAP microparticles through the complexation of βCD with Ad residues. There was a threshold of the βCD content in βCD(x)-SAP microparticles for assembly formation between x = 22.3 and 26.7. On the other hand, the shape of assemblies was dependent on the Ad content, y; More elongated assemblies were formed at a higher y. This may be because, at a higher y, small clusters formed in an early stage can stick together even upon collisions at a single contact point to form elongated aggregates, whereas, at a smaller y, small clusters stick together only upon collisions at multiple contact points to give rather circular assemblies. On the basis of these observations, the shape of assembly formed from microparticles can be controlled by varying y.

Spatial Kinematic Analysis of Threaded Fastener Assembly

2005 ◽  
Vol 128 (1) ◽  
pp. 116-127 ◽  
Author(s):  
Stephen Wiedmann ◽  
Bob Sturges
Keyword(s):  
Design Space ◽  
Compliant Mechanisms ◽  
Contact Point ◽  
Three Dimensional ◽  
Vertical Movement ◽  
Initial Contact ◽  
Geometric Problem ◽  
Intelligent Sensor ◽  
Contact State ◽  
Contact Points

Compliant mechanisms for rigid part mating exist for prismatic geometries. A few instances are known of mechanisms to assemble screw threads. A comprehensive solution to this essentially geometric problem comprises at least three parts: parametric equations for nut and bolt contact in the critical starting phase of assembly, the possible space of motions between these parts during this phase, and the design space of compliant devices which accomplish the desired motions in the presence of friction and positional uncertainty. This work concentrates on the second part in which the threaded pair is modeled numerically, and contact tests are automated through software. Tessellated solid models were used during three-dimensional collision analysis to enumerate the approximate location of the initial contact point. The advent of a second contact point presented a more constrained contact state. Thus, the bolt is rotated about a vector defined by the initial two contact points until a third contact location was found. By analyzing the depth of intersection of the bolt into the nut as well as the vertical movement of the origin of the bolt reference frame, we determined that there are three types of contacts states present: unstable two-point, quasi-stable two-point, stable three point. The space of possible motions is bounded by these end conditions which will differ in detail depending upon the starting orientations. We investigated all potential orientations which obtain from a discretization of the roll, pitch, and yaw uncertainties, each of which has its own set of contact points. From this exhaustive examination, a full contact state history was determined, which lays the foundation for the design space of either compliant mechanisms or intelligent sensor-rich controls.

Multi-Agent Form Closure Capture of a Generic 2D Polygonal Object Based on Projective Path Planning

2006 ◽  
Author(s):  
Pankaj Sharma ◽  
Anupam Saxena ◽  
Ashish Dutta
Keyword(s):  
Path Planning ◽  
Contact Point ◽  
Point Contact ◽  
Object Boundary ◽  
Actual Object ◽  
Contact Points ◽  
Correct Orientation ◽  
Novel Approach ◽  
Form Closure ◽  
Multi Agent

The study of multi-agent capture and manipulation of an object has been an area of active interest for many researchers. This paper presents a novel approach using Genetic Algorithm to determine the optimal contact points and the total number of agents (mobile robots) required to capture a stationary generic 2D polygonal object. After the goal points are determined the agents then reach their respective goals using a decentralized projective path planning algorithm. Form closure of the object is obtained using the concept of accessibility angle. The object boundary is first expanded and the robots reach the expanded object goal points and then converge on the actual object. This ensures that the agents reach the actual goal points at the same time and have the correct orientation. Frictionless point contact between the object and robots is assumed. The shape of the robot is considered a circle such that it can only apply force in outward radial direction from its center and along the normal to the object boundary at the contact point. Simulations results are presented that prove the effectiveness of the proposed method.

Unraveling Paradoxical Theories for Rigid Body Collisions

1991 ◽  
Vol 58 (4) ◽  
pp. 1049-1055 ◽  
Author(s):  
W. J. Stronge
Keyword(s):  
Frictional Force ◽  
Contact Point ◽  
Tangential Velocity ◽  
Velocity Slip ◽  
Rigid Bodies ◽  
Contact Points ◽  
Before And After ◽  
Limited Applicability ◽  
Work Done ◽  
Impulsive Reaction

A collision between two rigid bodies has a normal impulsive reaction at the contact point (CP). If the bodies are slightly rough and the contact points have a relative tangential velocity (slip), there is also a frictional force that opposes slip. Small initial slip can halt before contact terminates; when slip halts the frictional force changes and the collision process is separated into periods before and after halting. An energetically consistent theory for collisions with slip that halts is based on the work done by normal (nonfrictional) forces during restitution and compression phases. This theory clearly separates dissipation due to frictional forces from that due to internal irreversible deformation. With this theory, both normal and tangential components of the impulsive reaction always dissipate energy during collisions. In contrast, Newton’s impact law results in calculations of paradoxical increases in energy for collisions where slip reverses. This law relates normal components of relative velocity for the CP at separation and incidence by a constant (the coefficient of restitution e). Newton’s impact law is a kinematic definition for e that generally depends on the slip process and friction; consequently it has limited applicability.

Analysis of the World's First Polymer Injectivity Test in a Carbonate Reservoir Under Extreme Harsh Conditions in ADNOC's Reservoirs

2021 ◽  
Author(s):  
Juan Manuel Leon ◽  
Shehadeh K. Masalmeh ◽  
Siqing Xu ◽  
Ali M. AlSumaiti ◽  
Ahmed A. BinAmro ◽  
...  
Keyword(s):  
High Temperature ◽  
Laboratory Experiments ◽  
High Salinity ◽  
Laboratory Data ◽  
Injection Pressure ◽  
Carbonate Reservoir ◽  
Experimental Program ◽  
Full Field ◽  
Harsh Conditions

Abstract Assessing polymer injectivity for EOR field applications is highly important and challenging. An excessive injectivity reduction during and after polymer injection may potentially affect the well integrity and recovery efficiency and consequently, injection strategy and the economics of the polymer projects. Moreover, well conditions such as skin, completion configuration, and injection water quality can significantly impact polymer injectivity. Additionally, the presence of fractures or micro-fractures may govern injection pressure. In contrast, historic field applications have shown that polymer injectivity is in general better than expected from simulations or laboratory data. In the laboratory experiments, the polymer injectivity has been evaluated by injection of significant amounts of pore volumes of polymer at relevant well-injection rates. In addition, several experiments were performed to measure the complex in-situ rheology expected to dominate the flow near the wellbore This paper presents the analysis of the the world's first polymer injectivity test (PIT) conducted in a high temperature and high salinity (HTHS) carbonate reservoir in Abu Dhabi as part of a comprehensive de-risking program for a new polymer-based EOR scheme proposed by ADNOC for these challenging carbonate reservoirs (see Masalmeh et. al., 2014). The de-risking program includes an extensive laboratory experimental program and field injectivity test to ensure that the identified polymer can be injected and propagated in the target formation before multi-well pilot and full-field implementation stages. Experimental laboratory data and the field injectivity test results are presented in earlier publications (Masalmeh et. al., 2019; Rachapudi et. al., 2020) and references therein. This PIT is the world's first polymer injectivity test in a carbonate reservoir under such harsh conditions of high salinity, high content of divalent ions and high temperature. In addition, the polymer used during the test has never been field-tested before. Therefore, the results of the PIT interpretation will help to de-risk the suitable polymer for the future inter-well pilot for the new proposed EOR Polymer-based scheme and it is a game-changer to unlock several opportunities for different Chemical EOR applications on full-field scale in other reservoirs with similar characteristics. A single well radial simulation model was built to integrate the surveillance data during PIT and the extensive laboratory experiments. Morever, multiple Pressure Fall Off Tests (PFOs) during the same periods were analyzed and intergaretd in the model.The study assessed the effect of polymer viscosity on mobility reduction, evaluated the polymer bank propagation, investigated the effect of the skin build-up, residual resistance factor (RRF) and shear effects on the well injectivity. Additionally, a comprehensive assisted history match method and robust simulation sensitivity analysis was implemented, thousands of sensitivity simulation runs were performed to capture several possible injection scenarios and validate laboratory parameters. The simulation study confirmed that the PIT could be interpreted using the laboratory-measured polymer parameters such as polymer bulk viscosity, in-situ rheology, RRF and adsorption.

MEMS Design Education by Case Studies

2001 ◽  
Author(s):  
Ryszard J. Pryputniewicz
Keyword(s):  
Computer Science ◽  
Case Studies ◽  
Design Education ◽  
Laboratory Experiments ◽  
Microelectromechanical Systems ◽  
Academic Development ◽  
Academic Education ◽  
Graduate Courses ◽  
Mems Technology ◽  
Student Projects

Abstract Advances in microelectromechanical systems (MEMS) technology are based on understanding of the issues involved in design, analysis, fabrication, characterization, and use of the finished products. Although this understanding is being developed “on the job” to satisfy immediate needs of rapid advances in the emerging MEMS technology, there is also growing demand for “academic” education in MEMS. Whether on-the-job or academic, development of the required understanding is no easy task because the MEMS field is very multidisciplinary. Those involved should be able to work simultaneously with topics relating to physics, chemistry, materials, computer science, engineering, as well as other relevant disciplines. To facilitate preparation of future engineers for work with MEMS, we have developed undergraduate and graduate courses addressing some of the crucial issues relating to MEMS. These courses are based on case studies that we have developed in our laboratories. The courses include lectures, laboratory experiments, student projects, and presentations. This paper describes selected case studies used in our courses as they relate to design education with MEMS.

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