Finite Element Mesh Generator Applying Constraints’ Propagation and Isoparametric Mapping

This paper presents a finite element mesh generation algorithm (PREPAT) designed to automatically discretize two-dimensional domains. The mesh generation algorithm is a mapping scheme which creates a uniform isoparametric FE model based on a pre-partitioned domain of the component. The proposed algorithm provides a faster and more accurate tool in the pre-processing phase of a Finite Element Analysis (FEA). A primary goal of the developed mesh generator is to create a finite element model requiring only essential input from the analyst. As a result, the generator code utilizes only a sketch, based on geometric primitives, and information relating to loading/boundary conditions. These conditions represents the constraints that are propagated throughout the model and the available finite elements are uniformly mapped in the resulting sub-domains. Relative advantages and limitations of the mesh generator are discussed. Examples are presented to illustrate the accuracy, efficiency and applicability of PREPAT.

Approximate Solution of Nonclassically Damped Systems

In analyzing a nonclassically damped linear system, one common procedure is to neglect those damping terms which are nonclassical, and retain the classical ones. This approach is termed the method of approximate decoupling. For large-scale systems, the computational effort at adopting approximate decoupling is at least an order of magnitude smaller than the method of complex modes. In this paper, the error introduced by approximate decoupling is evaluated. A tight error bound, which can be computed with relative ease, is given for this method of approximate solution. The role that modal coupling plays in the control of error is clarified. If the normalized damping matrix is strongly diagonally dominant, it is shown that adequate frequency separation is not necessary to ensure small errors.

Innovative Approaches for Teaching Descriptive Geometry With CADD

This paper presents the innovative approaches that can be implemented in teaching descriptive geometry by using a Computer-Aided-Design-Drafting (CADD) software. Examples of line relations, line/surface relations, and plane/cylindrical solid intersections are given in the paper. The paper first discusses the principles of descriptive geometry, and then focuses on how these principles can be applied in a CADD environment. In addition, new methods that take advantage of CADD are also provided. The paper emphasizes creativity while solving descriptive problems by using a CADD software. Although all examples illustrated in CADKEY, the concepts revealed in this paper can be applied to other 3-D CADD software, such as AutoCAD 10 and will significantly improve the engineering student’s CADD skills.

Feasibility Study of Designing a Three Legged Walking Robot: Tribot

In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

Optimization in Trajectory Planning of Multi-Jointed Fingers in Dextrous Hand Designs

An optimization technique based on the well known Dynamic Programming Algorithm is applied to the motion control trajectories and path planning of multi-jointed fingers in dextrous hand designs. A three fingered hand with each finger containing four degrees of freedom is considered for analysis. After generating the kinematics and dynamics equations of such a hand, optimum values of the joints torques and velocities are computed such that the finger-tips of the hand are moved through their prescribed trajectories with the least time or/and energy to reach the object being grasped. Finally, optimal as well as feasible solutions for the multi-jointed fingers are identified and the results are presented.

An Attempt at the Detection of a Flaw Using the Inverse Problem Solution of Impedance Imaging

In this paper we present some preliminary numerical simulations which allow us to predict a single flaw in a simply connected body. The purpose of this investigation was to detect flaws and cracks of engineering components using the method of electrical current computed tomography (ECCT), which is used in non-destructive testing technology. As in the previous paper, we have utilized the network analogy to detect a single flaw anywhere in the object. For detection of multiple flaws, the analysis has to be refined to give consistent results.

Dynamics Equations of Robots Mounted on Moving Bases

A number of programs have been developed for the automatic symbolic generation of efficient computer code for the dynamic analysis of serial rigid and flexible link manipulators. Code for both the inverse and the direct dynamics computations can be generated. The symbolic generators allow the robot base to be given an arbitrary linear acceleration anchor angular velocity and acceleration. The efficiency of the generated code is an important consideration for simulation studies and/or implementation in control systems. This paper briefly describes the symbolic generation and simplification techniques. The added computational load due to including the base motion is discussed. Some dynamics simulation results are presented for a 3R rigid link manipulator mounted on an oscillating base, which graphically illustrates the effect of the base movement on the dynamics.

Elastic-Plastic FEM Analysis of Deformations of a Cylinder Subjected to Severe Uniaxial and Bilateral Compression by Flat Plates

Uni-lateral and bi-lateral elastic-plastic compressions of a circular cylinder with three different wall thicknesses by flat plates are numerically analysed by the Finite Element Method (FEM). J2-flow theory (J2F), and J2-Gotoh’s corner theory (J2G) which was previously proposed by one of the authors are used as the constitutive equations. In the case of uni-lateral compression, the cylinder is compressed up to a completely flattened shape, which is considered a kind of plastic forming processes. The deformed shapes and the compressive force are predicted better by J2G than by J2F. The spring-back behaviours are also analysed by imposing unloading process during deformation. The deformation process in the compression of a ring (plane stress state) and a spherical shell (axi-symmetric state) is also analysed. In the case of bi-lateral compression, the process is considered a kind of square-tube forming. In its final stage, the cylinder deforms into a completely unexpected shape which could be thought of as a square tube reinforced with ribs. The J2G allows the process to proceed at a lower compressive force than that for J2F. The effect of n-value (the strain-hardedning exponent) on the deformation pattern is also discussed.

Database Considerations for an ICU Patient Data Management System

A Patient Data Management System (PDMS) is being developed for use in the Intensive Care Unit (ICU) of the Montreal Children’s Hospital. The PDMS acquires real-time patient data from a network of physiological bedside monitors and facilitates the review and interpretation of this data by presenting it as graphical trends, charts and plots on a color video display. Due to the large amounts of data involved, the data storage and data management processes are an important task of the PDMS. The data management structure must integrate varied data types and provide database support for different applications, while preserving the real-time acquisition of network data. This paper outlines a new data management structure which is based primarily on OS/2’s Extended Edition relational database. The relational database design is expected to solve the query shortcomings of the previous data management structure, as well as offer support for security and concurrency. The discussion will also highlight future advantages available from a network implementation.

Distribution of Flow Across the Radius of an Axisymmetric Shock Tube With Variable Cross-Sectional Area

Experiments were conducted to study the characteristics of unsteady flow in a small, axisymmetric shock tube. These experiments have been supplemented by calculational results obtained from the SHARC hydrodynamic computer code. Early calculational results indicated that a substantial gradient in flow velocity and dynamic pressure may exist along the cross-section of the shock tube. To further investigate this phenomenon, a series of experiments was performed in which dynamic pressure measurements were made at various radii in the expansion section of the shock tube. Additional calculations with the SHARC code were also performed in which turbulence modelling, artificial viscosity and second order advection were employed. The second set of calculations agree very well with the experimental results. These results indicate that the dynamic pressure is nearly constant across the radius of the shock tube. This contradicts the early computational results which were performed with first order advection and without turbulence modelling. As a result of these findings, it was concluded that turbulence modelling was necessary to obtain accurate shock tube flow simulations.