Day 2 :
Time : 09:00-09:30
Christian Duriez received his Engineering Degree in Lille, France and a PhD degree in robotics from University of Evry, France. His thesis work was realized at CEA/LIST followed by a Postdoctoral position at the CIMIT SimGroup in Boston. He arrived at INRIA in 2006 to work on interactive simulation of deformable objects and haptic rendering. In 2009, he was the Vice-Head of SHACRA team and focus on surgical simulation. He is now the Head of DEFROST team, created in January 2015. His research topics are soft robot models and control, fast finite element methods, simulation of contact response and other complex mechanical interactions, new algorithms for haptics. All his research results were developed in SOFA, which is a framework that he co-developed with other INRIA teams. He was one of the Founders of the start-up company InSimo which uses his research results for training future surgeons.
Soft robotics is bringing a renewal of robot design: future robots will no longer be rigid, but made of complex deformable structures, composed of stiff and soft regions, close to organic materials that we can find in the nature. Soft robotics opens attractive perspectives in terms of mechatronic integration of smart soft materials, new applications, and reduction of manufacturing costs, robustness, efficiency and security. It could constitute a great jump in robotics in the following years, with applications in surgery, medicine, domestic robotics, game, arts. But traditional control methods do not fully apply to such robots, which are theoretically composed of an infinite number of degrees of freedom. New control strategies and models need to be found. Our team has recently focused on providing numerical methods and software support to reach the real time constraint needed by robotic systems. We have demonstrated that we can use finite element method (FEM) to compute deformations in real-time, in order to capture the behavior of these soft robots. We can also simulate their interaction with their environment, and in particular to anticipate the additional deformations created by the contact with the obstacles. Finally, in soft-robotics, sensing, actuation and motion are coupled by the deformations. We have proposed new strategies in which the deformable models are placed at the heart of the control algorithm design. This presentation will also include some demonstrations and will outline some application perspectives of these soft robots.
Time : 09:30-10:00
Pascal Berruet is a Professor at Universite de Bretagne-Sud (University of South Brittany, France). He obtained his Engineering diploma in 1994 from Ecole Centrale de Lille (French 'Grande Ecole'), and a Master's degree in Automatic Control and Industrial Computer Sciences from Universite de Lille. He obtained his PhD from Universite de Lille in 1998, and his Habilitation in 2007 from Universite de Bretagne-Sud. From 2012 to 2014, he served as Vice President for Social and Economic Affairs. His researches are in the area of implementation, supervision and automatic control generation for discrete event reconfigurable systems. Through these activities, he contributes in collaborative and innovative projects for Energy Efficiency, Smart Home Automation, and Reconfigurable Manufacturing Systems. He is also involved in transfer platforms (SCAP Industry of the Future) and valorization projects.
The adaption of manufacturing companies to frequent market changes is essential for remaining competitive. In that way, Reconfigurable Manufacturing Systems are interesting as they offer the opportunity to choose the organization of their elements very late in the conception and to modify it dynamically or not during exploitation. This results extensions of control to control/command that includes monitoring, supervision and several control versions. As a consequence of the growing complexity, managing the overall design process, the costs and the delays have become very challenging. One challenge is to easily get several controls depending on exploitation modes, on the PLC targets and consistent with the HMI supervision in order to efficiently pilot the systems. The designer has also to ensure that the control does not contain errors. To address these issues, some automatic generation flows have been proposed. They are based on two main principles: A component based approach that enables reusing and model driven engineering principles that provide a systematic way to derive high level models to platform dependent models such as control codes and as a result, different tools implement the presented flows. The first one Comgem generates control codes for several executing platforms. The code enables different levels of reconfigurations. The second one Anaxagore both generates control and HMI supervision interface that guarantees consistency. Each tool takes part of our demo platform named SCAP Industry of the Future. The provided solutions enable to better take the system expertise into account. The designers do no more focus on low level code constraints and can bring their skill at the level of the system. As computing and data is more and more present in manufacturing systems, future developments have to be carried on verification of the solutions that should incorporate some cyber security features
Clemson University, USA
Time : 10:00-10:30
Ian D Walker completed his BSc in Mathematics from University of Hull, England, in 1983; MS and PhD in Electrical and Computer Engineering from University of Texas, Austin in 1985 and 1989, respectively. He is a Professor in Department of Electrical and Computer Engineering at Clemson University, USA. His research focuses on “Robotics, particularly novel manipulators and manipulation”. His group is conducting basic research in the construction, modeling, and application of biologically inspired robots.
This talk will provide an overview of research in long, thin, cable-like "tendril" continuum robots. Resembling robotic cables, this new class of robots can enter and explore congested and potentially unstable environments, sending back information from sensors at their tips. This capability is of particular value in search operations in urban disaster relief situations. In such situations, lives can depend on whether the existence and location of buried victims and/or dangerous entities (gas leaks, explosive materials, etc.) can be established among damaged infrastructure. Further, inspection needs to be made without further collapsing structures within the environment. There is therefore, a need for alternative sensor placement technologies which can maneuver through tight space in cluttered, complex, a priori unknown (or partially known) environments. In the event of contact between the deployed technology and its surroundings (either planned or inadvertent), the machine interface needs to be compliant, to prevent the generation of high contact forces which could destabilize the environment. Conventional robot technologies are based around rigid elements (links, wheels, tracks, etc.), which inherently present a relatively high stiffness mechanical interface to the environment. While this is highly advantageous in traditional robot application arenas (factories, hard floors/road surfaces, etc.), enabling high precision and repeatability operations in structured or semi-structured environments, it is less inherently suited to compliant and adaptive operation in unstructured and potentially unstable environments. Continuum robots are a novel and rapidly emerging class of robot with continuously bendable backbones. Sometimes inspired by biological structures such as elephant trunks, octopus arms and vines, continuum robots are inherently more compliant and adaptable than conventional robot structures based on rigid links. This compliance allows them to gently maneuver among and through obstacles, while avoiding the generation of large contact forces. Use of these robots for remote inspection operations will be discussed.
University of Toronto, Canada
Time : 10:50-11:20
Andrew Goldenberg is the Founder of the field of Robotics at University of Toronto where he has been a Professor of Mechanical and Industrial Engineering since 1982. He has supervised many graduate students and 46 PhD students. From 1975-1981, he has been an Employee of SPAR Aerospace Ltd., of Toronto, working on the development of the first Space Shuttle Remote Manipulator System. He is also the Founder of Engineering Services Inc. (ESI) established in 1982 and operating in the development of robotics-based automation. Under his leadership, the company has achieved significant growth and a global leading role in a wide range of industrial sectors. In 2015, ESI has been acquired by a Shenzhen-based Chinese consortium, and as of November 2016 the company become public listed in Hong Kong. He is the Chief Technology Officer (CTO) of the public company
Mechatronics is an essential multidisciplinary element of modern engineering design that is required in the development of products and processes that are multi-user oriented, simple to maintain, programmable, and, most recently, fully automatic or autonomous. The foundation of mechatronics is the concurrency of mechanical, electrical and computer engineering designs and their embedded integration in any product. The essence of the design is to create products that have a market value as opposed to research that is the undertaking of developing the core technology embedded in the products. Thus, core technology, through patents, trademarks, technical secrets and know-how can be valued by the market through its perceived relevancy in creating new products. This market value is further affected by the perceived market impact and estimation of penetration of the new products. Academic and research-oriented institutions focus almost unilaterally on the development of core technology. They are guided by the perceived market needs; competitions between research institutions expressed by the publications and citations of each, and shear curiosity. The related undertakings are usually not linked directly to product development. This leads to excessive generation of core technology that may or may not be directly useful. Nonetheless, it may be ahead of the state-of-the-art, sometime by a decade, therefore, one cannot fully assess its impact. The fact is that core technologies directly related to market-driven products under development or already in use are rarely addressed outside those businesses whose main undertaking is to develop the products first place. This presentation recommends a closer collaboration of sides, research and industry, by closely adhering to mechatronics principle of simultaneous development that is embedding the research in the product development. This would provide a better justification for research funding from the participating businesses instead of almost totally relying on government support of research.
University of British Columbia, Canada & Abu Dhabi University, UAE
Time : 11:20-11:50
Mohamed Gadala is a Professor Emeritus of Mechanical Engineering at the University of British Columbia in Vancouver, Canada. Also, he is the Chair of Mechanical Engineering Department at Abu Dhabi University in UAE. His current research interests include finite element and numerical simulation of structural & CFD problems; online monitoring of rotating equipment & turbo machinery; inverse heat transfer analysis for cooling on runout table, fracture mechanics and design optimization. He is the recipient of the NSERC University-Industry Synergy award; Patrick Campbell Chair in Design in Mechanical Engineering at UBC for 12 years. He established PACE (Partner for Advancement of CAE Education) lab in UBC with multi million dollars industrial contributions of hardware & software licenses. He has authored & co-authored over 180 refereed papers, 4 book chapters, 4 patents and 4 software manuals. Before joining academia, he has worked in various industries in the US and Canada for more than twelve years and also taught at the University of Michigan-Dearborn.
Linear and non-linear stability of a flexible rotor-bearing system supported on short and long journal bearings is studied for both laminar and turbulent operating conditions. The turbulent pressure distribution and forces are calculated analytically from the modified Reynolds equation based on two turbulent models: Constantinescu’s and Ng–Pan–Elrod. Hopf bifurcation theory was utilized to estimate the local stability of periodic solutions near bifurcating operating points. The shaft stiffness was found to play an important role in bifurcating regions on the stable boundaries. It was found that for shafts supported on short journal bearings with shaft stiffness above a critical value, the dangerous subcritical region can be eliminated from a range of operating conditions with high static load. The results presented have been verified by published results in the open literature. Dynamic coefficients of a finite length journal bearing are numerically calculated under laminar and turbulent regimes based on Ng–Pan–Elrod and Constantinescu models. Linear stability charts of a flexible rotor supported on laminar and turbulent journal bearings are found by calculating the threshold speed of instability associated to the start of instable oil whirl phenomenon. Local journal trajectories of the rotor-bearing system were found at different operating conditions solely based on the calculated dynamic coefficients in laminar and turbulent flow. Results show no difference between laminar and turbulent models at low loading while significant change of the size of the stable region was observed by increasing the Reynolds number in turbulent models. Stable margins based on the laminar flow at relatively low Sommerfeld number S≤0.05 were shown to fall inside the unstable region and hence rendering the laminar stability curves obsolete at high Reynolds numbers. Ng-Pan turbulent model was found to be generally more conservative and hence is recommended for rotor-bearing design.
- Mechatronics | Smart Materials and Technologies | Automation Engineering | Advanced Intelligent Mechatronics | Industrial Automation
Andrew A Goldenberg
Chief Technology Officer SuperRobotics Ltd., Hong Kong, China ANZER Intelligent Systems Co. Ltd., Shenzhen, Guangdong, China Engineering Services Inc., Toronto, Ontario, Canada Professor Emeritus University of Toronto
Munich University of Applied Sciences, Germany
Time : 11:50-12:15
Multipoint tooling is a reconfigurable mold making technology that replaces solid moulds with an array of individually adjustable pins to create a discrete representation of the desired mould geometry. These pins have to be adjusted to very precise heights in reasonable time with manageable tool complexity to create a competitive new technology. Leadscrew driven pin actuation has proven to be precise, reliable and cost efficient. The height adjustment of the individual pins thereby can be either direct, with dedicated drives for each pin, or sequential, with one actuator used for all pins. A semi-sequential adjustment design is introduced to combine the advantages of both these designs. The passive, sensor less, pins in this concept are adjusted with an array of actuator devices. A setup algorithm ensures precise adjustment of each pin. The connection between the pins and the actuators is realized with a specifically designed form lock claw clutch. To ensure reliable function of this clutch the coupling process and parameters influencing coupling performance are analysed. Different methods of measurement are tested and evaluated to ensure the coupling’s performance. Subsequently sensitivity analysis is used to evaluate the influence of each parameter on the coupling performance and create a reduced parameter set. A Metamodell of Optimal Prognosis (MOP) is derived and used to optimize the actuator parameters. Finally, the robustness of the optimized system is tested. After parameter optimization, the design operates reliable and can reduce the total costs of a multipoint tool significantly.
Matthias Wimmer is a Postgraduate Research Student at Plymouth University and a Research Assistant at Munich University of Applied Sciences. His research is focused on reconfigurable tooling technologies in general and multipoint tooling in particular. In his PhD, encompasses the optimization of critical components within the multipoint tooling systems. He has published articles in reputed journals and presented at international conferences.
Indian Institute of Technology (BHU) Varanasi, India
Title: Influence of mold oscillation during solidification on grain size, degree of grain refinement and tensile properties of the A356 and A319 aluminum alloys
Time : 12:15-12:40
A356 and A319 aluminum alloys were cast under stationary and oscillation condition. The frequency range selected was 0 Hz to 400 Hz with constant amplitude of 15 μm. It has been observed on the basis of experimental results that intensity of oscillation, in general enhances mechanical properties such as ultimate tensile strength, yield strength and percentage elongation of casting along with reduction of grain size of α-Al. The mechanical and metallurgical properties are appreciably improved at a higher frequency of oscillation. This may be due to the increase in number of nucleation sites because of fracturing of grains due to oscillation. Rapid ejection of heat of molten metal takes place due to mold oscillation at interface during solidification. This brings about grain refinement and modification of eutectic cells in casting.
S.P. Tewari has his expertise in casting and welding area. He is having approximately 37 years of teaching and research experience in the area of casting and welding. He has published more than 60 research papers in international and national journals. He has authored six books in the field of manufacturing and production engineering. His extensive work is in the area of mold oscillation and weld pool oscillation which bring about grain refinement and ultimately leads to the enhancement of mechanical properties of casting and weldments respectively.
Badji Mokhtar University of Annaba, Algeria
Time : 13:55-14:20
Amirat Abdelaziz has completed his Bachelor’s in Engineering in Production Engineering; MSc Research and PhD in Mechanics of Materials. He is a Professor since 2009 in Badji Mokhtar Annaba University and has been leading a research team in new materials and composite in the mechanics of material and plant maintenance laboratory and then recently a new team in internal logistics in production workshops, in the laboratory of advanced technology in production engineering. He has been President of the national committee of the professional branch of mechanical and steel industry, within the ministry of vocational training of Algeria for 4 years. He is a member of MasTech Tempus Project and he has published papers in reputed journals and attended international conferences.
Despite the efforts that are continuously spent in developing high technology to make the production engineering process accurate, reliable, efficient and competitive, there is stil a great deal with lifetime of the tools involved as they are always subjected to progressive damage because of plastic deformation, wear and cracking. Unpredictable failure of tools has great effect on the production and non-maintenace costs. The present work introduces an advanced concept in analyzing tool performance in parts production processes. The concept is based on an engineering model developed by coupling the process behavior model and a corresponding damage model. The analyses uses reliability approach that permits to determine a reliability index expressed in terms of number of parts produce with the same tool regarding the required quality and safety. The higher the number of parts the better the performance of the tool. So the concept will be developed and applied to two case studies: forging die and cutting tool. In both cases the performance index is expressed as the number of produced parts before changing tools because respectively of fatigue damage and wear. A particular attention is given to the uncertainties associated to the variables involved in the mechanichal engineering models in order to analyse their sensitivity.
Dalian University of Technology, China
Time : 14:20- 14:45
Xiaodong Wang has his expertise in precision assembly and automation in improving the assembly quality and efficiency for miniature devices. Currently his research work includes analysis of assembling process, design and manufacture automatic measuring instruments and assembly equipment for production of miniature devices. He has won the China Mechanical Science and Technology Award and China Aviation Industry Group Corporation Technology Award in recent years for his achievements in precision assembly technology and system development. He developed a variety of automatic assembly equipment and provided assembly solutions for research institutes and companies. He holds over 30 China invention patents in related research work.
Statement of the Problem: Press-fit assembly is one of the traditional methods for assembly of interference fitting parts, and its assembly quality has attracted the attention of many researchers. Generally, the strength of assemblies depends on various parameters such as interference value, physical dimensions, form error of contact surfaces, etc. Furthermore, the connection quality cannot be obtained directly by the press-fit method. Hence, many studies have been performed to investigate the effect of various parameters on the load bearing ability of interference fits based on finite element method (FEM) and theoretical method. But most of the researches focus on the contact status of finished interference fits. Since the press-fit curve can be used for real-time monitoring and evaluate the assembly quality, the purpose of this study is to obtain standard press-fit curves as an evaluation criterion to estimate the assembly quality.
Methodology: A theoretical model and simplified FE model were used to predict the standard press-fit curves. To verify the accuracy of the prediction results, assembly experiments were carried out using an automatic press-fit instrument which consists of binocular vision device, upper and lower fixtures, XY precision stages, and force-displacement measurement module, etc. Finally, the reasonable growth tendency and a reasonable range of maximum press-mounting force are obtained and used for quality estimation.
Results: The prediction results of the press-fit curve have sufficient accuracy, and the evaluation strategy proposed in this study can give a reasonable assessment of assembly quality whether the failure is caused by form error or alignment error, etc.
Conclusion & Significance: The theoretical model is more efficient than FEM in press-fit curve prediction. The evaluation strategy can be used to predict the assembly quality, which is of great significance to improve the reliability of interference fits.
UBC, Canada & ADU, UAE
Title: An automated system for the design and optimization of industrial motion control machines: Development and case study
Time : 14:45-15:10
Ibrahim Gadala is currently an Integrity Specialist with the Encana Corporation in Calgary, Canada. He graduated with PhD in Materials Engineering in 2017 from the University of British Columbia in Vancouver, Canada. He has a background in Mechanical Engineering Design and Optimization through his Master’s thesis research. His research interests include materials characterization, pipeline integrity, mechancial design, optimization, and automation. He has recently been an Erasmus Mundus Visiting Researcher at Ghent University in Belgium and a Sessional Instructor of various Materials/Mechanical Engineering courses at UBC Vancouver.
Motion control is a form of automation which enables the position- or velocity-control of a machine using an actuator such as an electric motor. The selection of suitable components and actuators for complex mechanical structures requires significant engineering expertise and intelligence. In this work, a design expert system is presented to support and automate the motion control system design process through optimization of the mechanical components involved and accurate selection of an actuator-transmission combination for the system. The design expert system contains an optimization and motor selection knowledge base, is synchronized with Matlab optimization schemes, and is linked with Excel spreadsheets of purchasable motors and gearheads. Specifications and anticipated performance data of selected drive models are provided for each design expert system decision. Verification of the developed system is conducted on an industrial conveyor belt. A culminating case study involving a heavy-weight industrial hoister driven by a DC motor is presented, where the developed automated system is found to consistently outpace human performance on the same design tasks
Feng Chia University, Taiwan
Time : 15:10-15:35
Hao-Ting Lin is an Assistant Professor of Mechanical and Computer-Aided Engineering, Feng Chia University and he received his PhD degree from National Taiwan University in 2012. Between 2013 and 2015, he was a Postdoctoral Fellow in Graduate Institute of Oral Biology and Department of Engineering Science and Ocean Engineering in National Taiwan University. In 2015, he began as an Assistant Professor in Feng Chia University in Taiwan. His research interests include Dynamics Analysis and Simulation, Robotics, Mechanical Design and Analysis, Microfluidic Application, Bioengineering and Medical Device.
In this paper, a path planning system for B-axis is developed for a 4-axis turn-mill multitasking machine. Due to the lack of B-axis, the features on a tilt plane are difficult to be machined; this research developed value-added software to solve above issues. Extending the machinability of a CNC multi-axis machine tool can be achieved without increasing cost, this research uses homogeneous coordinates to transform the existing 3-axis machining path which planned in the system into a tilt fixed plane machining path. In addition, the theoretical formula of bottom surface roughness is derived from the research, and C♯ programming language and Visual Studio platform are utilized to complete the development of HMI (Human-Machine Interface). Four machining paths and the prediction of roughness are the main features for this tilted plane machining software. The HMI is primarily presented in a dialog form so that the users have a simple operating environment which is a low threshold of technique. This software is mainly used in aerospace, automobile, and precision machinery industries. Set each machining path into a path-function of C♯ language, and set homogeneous coordinate matrices into a method of C♯ language to apply to each coordinate point. In order to transform a horizontal plane to a tilt plane, the program needs the rotation matrix by the world Y-axis and the rotation matrix by the current X-axis. Also, the prediction of roughness is derived from the bottom milling. Verification of the software which is developed in this research is done through NcPlot, Vericut, and AutoCAD, by testing the accuracy of the path of the exported program, the accuracy of the path is less than or equal to 1 μm. In order to enhance the practicality, researcher derives a new formula for predicting the surface roughness, the rate of error for predicting is less than 10%. Finally, the speed of generating machining code is 92.8% faster than a traditional method.
Royal Thai Air Force Academy, Thailand
Time : 15:35-16:00
Parinya Anantachaisilp received his PhD in Electrical Engineering from University of Virginia in 2015. He is now teaching at the Royal Thai Air Force Academy. His research interest includes control design system, fractional order control, active magnetic bearings, rotating machinery, unmanned aerial vehicle, and mechatronics.
One of the key issues in control design for Active Magnetic Bearing (AMB) systems is the tradeoff between the simplicity of the controller structure and the performance of the closed-loop system. To achieve this tradeoff, this talk proposes the design of a fractional order Proportional-Integral-Derivative (FOPID) controller. The FOPID controller consists of only two additional parameters in comparison with a conventional PID controller. The feasibility of FOPID for AMB systems is investigated for rotor suspension in both the radial and axial directions. Tuning methods are developed based on the evolutionary algorithms for searching the optimal values of the controller parameters. The resulting FOPID controllers are then tested and compared with a conventional PID controller, as well as with some advanced controllers such as Linear Quadratic Gausian (LQG) and H-infinity controllers. The comparison is made in terms of various stability and robustness specifications, as well as the dimensions of the controllers as implemented. Lastly, to validate the proposed method, experimental testing is carried out on a single-stage centrifugal compressor test rig equipped with magnetic bearings. The results show that, with a proper selection of gains and fractional orders, the performance of the resulting FOPID is similar to those of the advanced controllers.
- Video Presentation
Navrachana University, India
Time : 12:40-12:55
Hiral H Parikh has pursued her PhD from CHARUSAT, Changa University, Gujarat, India, in the field of Tribological Characterization of Polymer Matrix Composites. Her research interest areas are biodegradable composites, polymer and polymer composites, tribological characterization, adhesive and abrasive wear analysis. She has guided many undergraduate projects and two postgraduate projects and she is a recipient of Dean’s Choice Award - 2015 at Navrachana University, she serves as an external examiner to evaluate undergraduate students at various universities. She is accomplished researcher authored several research papers which have been published in national and international conference proceedings. She is the author of two book chapters with Springer and ACME (Advances in Chemical and Mechanical Engineering) publishers. She has number of international journal publications in her credit. She is also a member of Tribology Society of India and Indian Society of Technical Education
Composites have been established as one of the most promising modern materials to replace conventional metals and alloys in numerous structural and tribological applications. Fiber reinforced polymer (FRP) materials developed using thermoplastic and thermosets as matrices, natural and synthetic fibers as reinforcing and organic and inorganic materials as fillers have potential owing to their high strength to weight ratio. Natural fiber reinforced materials developed using plant fibers have attached the attention of the manufacturers because of their good strength, low cost and biodegradability. In the present work, cotton fibers are used as reinforcement with the polyester resin material. Tribological characterization of a material, determines its wear and friction coefficient properties at different operating parameters such as load, sliding distance, sliding velocity, filler content, etc. Response surface Box Behnken (BB) design approach is used to create the design matrix. Scanning electron microscope (SEM) is used to investigate the morphology of worn surfaces and artificial neural network (ANN) has been used to predict the tribo behavior of the cotton fiber polyester composites. A measured experimental database was used for successful training of the ANN and the test results reveal that the fillers have significant effect on tribo behavior of cotton fiber polyester composites. The results of validation network show that predicted tribo behavior is well acceptable when comparing it with the actual experimental results. The use of cotton fiber reinforced polyester composites can be employed depending upon various applications as per the requirement. For instance, the materials offer low wear rate and low co-efficient of friction may be used for the mechanical elements like gears, seals, bushes, bearings and turbines. The materials which offer high co-efficient of friction and low wear rate may be used for the brakes and clutches