Articles in This Issue
Abstract
This paper presents a novel control framework for robot manipulator path tracking based on the integration of artificial immune systems, fuzzy logic, and fractional-order PID control. The proposed Fuzzy-Immune Fractional-Order PID (FIFOPID) controller combines immune feedback mechanisms, fuzzy logic reasoning, and fractional-order control principles, with controller parameters optimized using the Clonal Selection Algorithm (CSA). The performance of the FIFOPID controller is evaluated and compared against a Fuzzy-Immune PID (FIPID) controller under identical conditions. Simulation results conducted in MATLAB 2014a with SIMULINK demonstrate that the optimal FIFOPID controller outperforms the FIPID controller in terms of path tracking accuracy and overall control performance, highlighting its potential as an effective approach for precise robotic manipulator control.
Abstract
This study numerically investigates natural convection of Cu-water nanofluid in a square cavity subjected to a cooling air stream along the left wall, with the right and bottom walls maintained at cold (TC) and hot (TH) temperatures, respectively, while the top wall is adiabatic. The nanofluid flow is assumed laminar and governed by the Boussinesq approximation. The governing equations are solved using the finite volume method in ANSYS FLUENT. Simulations are performed for nanofluid volume fractions (φ = 0–0.16), Rayleigh numbers (Ra = 10³–10⁵), and free stream Reynolds numbers (Re∞ = 10³–10⁴). The effects of these parameters on stream function (ψ), temperature contours (θ), and average Nusselt number (Nuavg) are analyzed. Results indicate that heat transfer rates increase with higher φ, Ra, and Re∞. Increasing φ and Ra enhances circulation within the cavity, whereas higher Re∞ induces secondary vortices and reduces circulation in the primary vortex. Comparisons of local Nusselt numbers and temperature distributions with previous studies show good agreement, with maximum errors of 14.28% and 3.2%, respectively.
Abstract
This study investigates the vibration behavior of cantilever beams with bolted joints of different lap types (single lap and double lap) under free and forced vibration conditions. The effects of various parameters, including beam configuration, bolt preload, harmonic force magnitude, and force application position, on natural frequency, mode shape, and vibration amplitude are analyzed. Experimental work involved material selection, chemical composition testing, tension tests, beam preparation, and free and forced vibration tests with pre-torque ranging from 6 to 60 N·m and rotational speeds between 300 and 900 RPM. Numerical simulations were performed using the general-purpose finite element software ANSYS 16.1. Results indicate that the natural frequencies of single-lap bolted beams (1 or 2 bolts) are approximately equal to those of intact beams, while double-lap bolted beams exhibit slightly lower natural frequencies than intact beams with the same profile. Increasing bolt preload stabilizes the natural frequency for all beam configurations. For forced vibrations, the amplitude is strongly influenced by the magnitude and position of the applied harmonic force. Validation with experimental results shows good agreement, with a maximum error of approximately 5%.
Abstract
This study investigates the influence of internal pressure and axial feeding loading paths on the quality of tubes in the hydroforming process. Numerical simulations were conducted to examine the effect of loading paths on final part characteristics, including thickness distribution and shape conformance. Finite element analyses were performed on small bulge-shaped copper tubes with a bulge width of 50 mm, wall thickness of 2 mm, and an outer diameter of 60 mm. A two-dimensional model was developed from a cylindrical tube, and simulations were conducted using ANSYS 11. Results indicate that the choice of loading path significantly affects the thickness distribution along the tube and determines the ability to achieve the target shape of the final product. The study provides practical guidelines for optimizing internal pressure and axial feeding programs in tube hydroforming operations.