ABSTRACT
Arc welded 316 stainless steel coatings with flux-cored wires are very promising for marine service environments due to their low cost, high efficiency, and satisfactory performance, while they suffers from Cr dilution during the preparation process. Herein, based on the consideration of increasing the Cr content and ensuring the same value of the Cr/Ni equivalence ratio (Creq/Nieq), 316-modified flux-cored wires, 316F (19Cr-12Ni-3Mo) and 316G (22Cr-14Ni-3Mo), were designed under the guidance of a Schaeffler diagram for the improvement of the electrochemical and mechanical properties of 316 stainless steel coatings. The designed flux-cored wires were welded into a three-layer cladding by the tungsten inert gas welding (TIG) process, and the microstructure, corrosion resistance, and mechanical properties of the claddings were investigated. The results showed that 316F and 316G consist of γ-Fe (austenite) and a small portion of δ-Fe (ferrite) as the Creq/Nieq is approximately 1.5. However, due to the higher value of the equivalent Cr content (ECC), 316G has an additional intermetallic phase (σ), which precipitates as a strengthening phase at grain boundaries, significantly increasing the tensile and yield strength of 316G but reducing its plasticity. In addition, the corrosion current density (icorr) and pitting potential (Eb) for 316G are 0.20447 µA·cm-2 and 0.634 V, respectively, while the values for 316F are 0.32117 µA·cm-2 and 0.603 V, respectively, indicating that 316G has better anti-corrosion performance.
ABSTRACT
The valve train is one of the main sources of engine vibration, and its dynamic performance is crucial for output power and fuel consumption. The flexibilities of slender bars and beams should be emphasised in the design of valve trains to develop high-power and high-speed engines with industrial applications. A flexible dynamic model of a valve train system is proposed. In the proposed model, the components, except the cam and gear bodies, are modelled as flexible bodies with multidirectional deformations. The gyroscopic effects of the camshaft, cams and gear discs are also considered to predict dynamic responses at high speeds accurately. Gear meshing, the friction of the cam-tappet pair, the centrifugal force of the cams and valve clearance are also considered. Experiments on housing vibration and pushrod stress are conducted to validate the proposed model. Results show that the proposed model can predict the dynamic stress of the flexible components well and predict the trend shown by the housing vibration. The proposed model shows that excessive cam rotation speed and valve clearance will cause intense bounce and jump phenomena. The proposed model can be an important reference for designing engine work speed, adjusting valve clearance and improving component durability.
ABSTRACT
Prosthetic hands are frequently rejected due to frustrations in daily uses. By adopting principles of human neuromuscular control, it could potentially achieve human-like compliance in hand functions, thereby improving functionality in prosthetic hand. Previous studies have confirmed the feasibility of real-time emulation of neuromuscular reflex for prosthetic control. This study further to explore the effect of feedforward electromyograph (EMG) decoding and proprioception on the biomimetic controller. The biomimetic controller included a feedforward Bayesian model for decoding alpha motor commands from stump EMG, a muscle model, and a closed-loop component with a model of muscle spindle modified with spiking afferents. Real-time control was enabled by neuromorphic hardware to accelerate evaluation of biologically inspired models. This allows us to investigate which aspects in the controller could benefit from biological properties for improvements on force control performance. 3 non-disabled and 3 amputee subjects were recruited to conduct a "press-without-break" task, subjects were required to press a transducer till the pressure stabilized in an expected range without breaking the virtual object. We tested whether introducing more complex but biomimetic models could enhance the task performance. Data showed that when replacing proportional feedback with the neuromorphic spindle, success rates of amputees increased by 12.2% and failures due to breakage decreased by 26.3%. More prominently, success rates increased by 55.5% and failures decreased by 79.3% when replacing a linear model of EMG with the Bayesian model in the feedforward EMG processing. Results suggest that mimicking biological properties in feedback and feedforward control may improve the manipulation of objects by amputees using prosthetic hands. Clinical and Translational Impact Statement: This control approach may eventually assist amputees to perform fine force control when using prosthetic hands, thereby improving the motor performance of amputees. It highlights the promising potential of the biomimetic controller integrating biological properties implemented on neuromorphic models as a viable approach for clinical application in prosthetic hands.
Subject(s)
Artificial Limbs , Humans , Bayes Theorem , Prosthesis Design , Hand/physiology , Electromyography/methodsABSTRACT
Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot are established, and the mapping between actuator space and joint space is simplified by bending decoupling motion in the multiple segments. The workspace and bending configurations of the robot are obtained. The static model is established by the principle of minimum potential energy. Furthermore, the simplified cable constraints in the static model are proposed through Taylor expansion, which facilitates the equilibrium conformation analysis of the robot under different external forces. The cable-driven snake-arm robot prototype is developed to verify the feasibility of the robot design and the availability of the static model through the experiments of the free bending motion and the external load on the robot.