Visualization in the Ranque-Hilsch vortex tube using high-speed video recording

Visualisation via video recording was carryed out in a Ranque-Hilsch vortex tube with a square cross-section. Video files were captured at recording speeds from 1000 to 10 000 frames per second. The best video files were obtained at a shooting frequency of 7600 frames per second with an input pressure of 1 bar. The video confirmed the presence of a double helix in the flow core in the second section of the tube. The video files showed the presence of a circulation zone between the flow core and the periphery, which is constantly changing over time. It can be clearly seen the angle at which the particles move in the peripheral flow.

Stiffness Modelling and Performance Evaluation of a Soft Cardiac Fixator Flexible Arm with Granular Jamming

To meet the practical application requirements of cardiac fixation during off-pump coronary artery bypass surgery, a soft cardiac fixator with a flexible arm was previously designed. To enable the soft cardiac fixator to adapt to uncertain external forces, this study evaluates the variable-stiffness performance of the flexible arm. First, the flexible arm was simplified as a soft silicone manipulator measuring 60 mm × 90 mm × 120 mm, which can actuate, soften, or stiffen independently along the length of the arm by combining granular jamming with input pressure. Then, the soft manipulator was modelled as a cantilever beam to analyse its variable-stiffness performance with granular jamming. Next, based on theoretical analysis and calculations, many experiments were conducted to evaluate the variable-stiffness performance of the soft manipulator. The experimental results demonstrated that the variable-stiffness performance is influenced by the flexible arm length, the size of the granules, and the input pressure.

Studies Regarding the Use of Pneumatic Muscles in Precise Positioning Systems

The paper presents the methods and results of an experimental study that highlights the behavior of a pneumatic actuator under different pressures and with different loads applied. One important challenge that occurs in the application of pneumatic muscles is the phenomenon of hysteresis, which causes a nonlinear relationship between the input–output values. The aim of this study is to identify the occurrence of hysteresis in the operation of a small pneumatic muscle in different conditions. Thus, different loads are attached to the free end of a pneumatic muscle and different successive pressures are applied in order to examine the hysteresis of the contraction ratio when the muscle is inflated and then deflated. The obtained equations that describe the relationship between the input pressure and the axial contraction are significant for reaching a high-performance position control. In this regard, the article proposes a solution to increase positioning accuracy based on pressure control using a proportional pressure regulator and a programmable logic controller.

Design Optimization & Analysis of a Soft Crawling Robot

Soft crawling robots (SCRs) are the kind of robots that use soft and flexible material for motion. These soft robots capable to sustain huge distortions with vast degree-of-freedom which makes them more suitable to be employed in unstructured location compared to the conventional rigid robots. Unlike soft robotics, the conventional rigid robots are capable to be employed in situations where precision is required. However, soft robots are preferable in tight spaces such as in medical surgery and earthquake search and rescue operations due to its flexibility and adaptability capability. In this research, two types of soft robots were design using i.e.: (a) inchworm design and (b) quadrupedal design. The similarities between the inchworm and quadrupedal design are both use pressure input for motion. The SCRs also bend by using the expansion of chambers at their body. Both designs have the same length fixed at 86mm, but with different topology. The design optimization for maximum bending motion with respect to input pressure were evaluated using Finite Element Method (FEM) via Abaqus software, where the results shows that the highest bending was observed for the inchworm design. The maximum bending value (extension) of 130.4 mm was obtained with the optimized parameters set at 4mm base thickness, 5mm chamber gap, and 2mm width for the air chamber, respectively.

Investigation of Gas-Liquid Flow Using Electrical Resistance Tomography and Wavelet Analysis Techniques for Early Kick Detection

Gas kick is a well control problem and is defined as the sudden influx of formation gas into the wellbore. This sudden influx, if not controlled, may lead to a blowout problem. An accidental spark during a blowout can lead to a catastrophic oil or gas fire. This makes early gas kick detection crucial to minimize the possibility of a blowout. The conventional kick detection methods such as the pit gain and flow rate method have very low sensitivity and are time-consuming. Therefore, it is required to identify an alternative kick detection method that could provide real-time readings with higher sensitivity. In this study, Electrical Resistance Tomography (ERT) and dynamic pressure techniques have been used to investigate the impact of various operating parameters on gas volume fraction and pressure fluctuation for early kick detection. The experiments were conducted on a horizontal flow loop of 6.16 m with an annular diameter ratio of 1.8 for Newtonian fluid (Water) with varying pipe inclination angle (0–10°) and annulus eccentricity (0–30%), liquid flow rate (165–265 kg/min), and air input pressure (1–2 bar). The results showed that ERT is a promising tool for the measurement of in-situ gas volume fraction. It was observed that the liquid flow rate, air input pressure and inclination has a much bigger impact on gas volume fraction whereas eccentricity does not have a significant influence. An increase in the liquid flow rate and eccentricity by 60% and 30% decreased the gas volume fraction by an average of 32.8% and 5.9% respectively, whereas an increase in the inclination by 8° increased the gas volume fraction by an average 42%. Moreover, it was observed that the wavelet analysis of the pressure fluctuations has good efficacy for real-time kick detection. Therefore, this study will help provide a better understanding of the gas-liquid flow and potentially provide an alternative method for early kick detection.

Study of Air Pressure and Velocity for Solution Blow Spinning of Polyvinylidene Fluoride Nanofibres

Solution blow spinning (SBS) is gaining popularity for producing fibres for smart textiles and energy harvesting due to its operational simplicity and high throughput. The whole SBS process is significantly dependent on the characteristics of the attenuation force, i.e., compressed air. Although variation in the fibre morphology with varying air input pressure has been widely investigated, there is no available literature on the experimentally determined flow characteristics. Here, we have experimentally measured and calculated airflow parameters, namely, output air pressure and velocity in the nozzle wake at 12 different pressure values between 1 and 6 bar and 11 different positions (retracted 5 mm to 30 mm) along the centreline. The results obtained in this work will answer many critical questions about optimum protrusion length for the polymer solution syringe and approximate mean fibre diameter for polyvinylidene fluoride (PVDF) at given output air pressure and velocity. The highest output air pressure and velocity were achieved at a distance of 3–5 mm away from the nozzle wake and should be an ideal location for the apex of the polymer solution syringe. We achieved 250 nm PVDF fibres when output air pressure and velocity were 123 kPa and 387 m/s, respectively.

Increasing the Energy-Efficiency in Vacuum-Based Package Handling Using Deep Q-Learning

Billions of packages are automatically handled in warehouses every year. The gripping systems are, however, most often oversized in order to cover a large range of different carton types, package masses, and robot motions. In addition, a targeted optimization of the process parameters with the aim of reducing the oversizing requires prior knowledge, personnel resources, and experience. This paper investigates whether the energy-efficiency in vacuum-based package handling can be increased without the need for prior knowledge of optimal process parameters. The core method comprises the variation of the input pressure for the vacuum ejector, compliant to the robot trajectory and the resulting inertial forces at the gripper-object-interface. The control mechanism is trained by applying reinforcement learning with a deep Q-agent. In the proposed use case, the energy-efficiency can be increased by up to 70% within a few hours of learning. It is also demonstrated that the generalization capability with regard to multiple different robot trajectories is achievable. In the future, the industrial applicability can be enhanced by deployment of the deep Q-agent in a decentral system, to collect data from different pick and place processes and enable a generalizable and scalable solution for energy-efficient vacuum-based handling in warehouse automation.

Modeling and analysis of an electro-pneumatic braided muscle actuator

The present study deals with static modeling and analysis of a novel electro-pneumatic braided muscle (EPBM) actuator. The EPBM actuator is a hybrid McKibben-type actuator, made of a dielectric polymeric bladder enclosed in a braided mesh sleeve. A continuum mechanics-based electromechanical model is developed to predict the response of the actuator for a combined pressure and voltage loading. The model also incorporates braid-to-braid frictional effects. The model agrees well with existing experimental results for the special case of zero input voltage. Parametric studies are subsequently performed for varying braid angle, input pressure, and voltage. Finally, the model is utilized to study the impact of fiber-reinforcement in the bladder on the actuator performance.

Investigation of Ultra-High Pressure Gas Control System for Hydrogen Vehicles

With the increasing demand to find new energy resources instead of using fossil fuels, for the protection of the environment, one of most attractive areas in renewable energy is hydrogen. Hydrogen gas has high energy efficiency, generates the least greenhouse gases and produces no noise. Moreover, overland transportation industries have been researching and developing hydrogen gas storage systems worldwide. Such a manner of fuel system consists of a hydrogen gas tank, high pressure regulator and solenoid valve, etc. In this paper, a test bed is suggested for ultra-high pressure systems integrating a valve and regulator with precision control. We carried out performance tests by applying voltage with wide ranges of input pressure, response time and output flow rate and pulsation repetition tests considering increases in temperature, etc. Moreover, the results indicated good potential for application in fuel charging and transporting commercial hydrogen vehicles.

Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

In recent years, soft actuator has been extensively developed in robotic research. This type of robot is expected to work with human with its flexible and adaptable advantage. The actuator material is soft, light, safe and high compliant. Due to these factors, soft McKibben is of interest as an actuator for this research for bending application. This paper introduces a variant bending analysis of a soft body manipulated using soft McKibben actuators. A series of 1.80 mm width with the length of 120.0 mm McKibben actuator is used to control the bending motion. The design consists of four McKibben actuators arranged in parallel and compacted in a soft body. The bending behavior was evaluated using an experimental test with a variety of pneumatic input pressure and length section on the actuator. The experiment showed that the bending angle was influenced by the segmentation length of the actuator, where the segmentation length and increased input pressure also allow more bending on the actuator. The actuator with lot of section gave more bending response compared to the actuator with lesser section. With the performance exhibited from this study, McKibben actuator can be applied in a wider use for continuum manipulator.