TY - CHAP A1 - Carrillo Li, Enrique Roberto A1 - Schorr, Philipp A1 - Kaufhold, Tobias A1 - Rodríguez Hernández, Jorge Antonio A1 - Zentner, Lena A1 - Zimmermann, Klaus A1 - Böhm, Valter ED - Awrejcewicz, Jan ED - Kaźmierczak, Markek ED - Olejnik, Paweł T1 - Kinematic analysis of the rolling locomotion of mobile robots based on tensegrity structures with spatially curved compressed components T2 - Applicable Solutions in Non-Linear Dynamical Systems; 15th International Conference "Dynamical Systems - Theory and Applications" (DSTA 2019, 2-5 December, 2019, Lodz, Poland N2 - In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion. The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic, due to the possibility to adjust their mechanical properties reversibly during locomotion. In this paper rolling locomotion of mobile robots based on simple tensegrity structures, consisting of three compressed spatially curved members connected to a continuous net of prestressed tensional members, is discussed. Planar locomotion of these robots is induced by the movement of internal masses. The movement direction can be changed by changing the robot's shape between a cylinder and a truncated cone. The paper focuses on the description of the kinematics of these systems with respect to the shape change. KW - Inverse kinematics KW - Nonholonomic mechanics KW - Tensegrity structure Y1 - 2019 UR - http://212.191.87.54:1616/k16/awrejcewicz/publikacje/T2.pdf SN - 978-83-66287-30-3 SP - 335 EP - 344 PB - Wydawnictwo Politechniki Łódzkiej CY - Łódź, Polen ER - TY - JOUR A1 - Keim, Vincent A1 - Nonn, Aida A1 - Münstermann, Sebastian T1 - Application of the modified Bai-Wierzbicki model for the prediction of ductile fracture in pipelines JF - International Journal of Pressure Vessels and Piping N2 - The complex mechanical and corrosive loads of modern pipeline systems transporting oil, natural gas and CO2 impose steadily increasing requirements on material properties. The majority of current design standards still limit the application of modern high toughness linepipe steels due to the simple specification of material requirements in terms of energy levels from Charpy impact or Battelle Drop-Weight-Tear (BDWT) tests. In consequence, research activities have been conducted recently aiming at developing modified or novel experimental methods for the characterization of the ductile fracture behavior. To quantify the effects of various parameters on fracture behavior and derive suitable correlations, it is necessary to accompany these activities by numerical simulations with appropriate ductile damage models. In this paper, the MBW model is applied to study the structural behavior of pipelines in ductile fracture regime. Due to its precise incorporation of the underlying load conditions, the damage model is successfully used to simulate the slant fracture behavior in Battelle Drop weight tear test specimens and pipe sections. In comparison to ductile damage models applied in former studies, namely the Gurson-Tvergaard-Needleman and Cohesive Zone model, the presented numerical methodology allows for a more detailed investigation of loading, material and geometry effects on fracture and crack arrest behavior of pipelines. KW - Running ductile fracture KW - Stress state conditions KW - MBW model KW - Pipeline failure KW - Slant fracture Y1 - 2019 U6 - https://doi.org/10.1016/j.ijpvp.2019.02.010 VL - 171 IS - March SP - 104 EP - 116 PB - Elsevier ER - TY - RPRT A1 - Sterner, Michael A1 - Bauer, Franz A1 - Hofrichter, Andreas A1 - Heberl, Michael T1 - Systemanalyse und -integration Power-to-X im Kontext von erneuerbarer Elektrizität als Primärenergie (SPIKE) N2 - Durch das in Paris beschlossene Ziel, die globale mittlere Temperatur auf deutlich unter 2 Grad Celsius gegenüber dem vorindustriellen Niveau zu begrenzen, ist ein Ausstieg aus der Nutzung fossiler Energieträger und Rohstoffe bis zum Jahr 2050 notwendig (WBGU 2016). Daher hat sich die Bundesregierung das Ziel gesetzt, bis zur Mitte des Jahrhunderts eine weitgehende Treibhausgasneutralität zu erreichen. Hierzu ist neben einer Steigerung der Energieeffizienz in allen Sektoren ein Ausbau erneuerbaren Energien notwendig. Dies beinhaltet hauptsächlich den Zubau von Wind‐ und Solarstromanlagen. Somit gewinnt die Sektorkopplung immer mehr an Bedeutung und wird in Zukunft eine tragende Rolle für die Defossilisierung des Energiesystems spielen (BMUB 2016). Als zentrales Element der Sektorkopplung gilt Strom, der über Power‐to‐X (PtX) sowohl energetisch im Wärme‐, und Verkehrssektor als auch stofflich in der Industrie und vor allem im Chemiesektor eingesetzt werden kann (Ausfelder et al. 2018a). Im Rahmen des P2X‐Vorhabens der Kopernikus Forschungsinitiative wird die Sektorkopplung durch die Umwandlung von Strom mittels elektrochemischer Prozesse in stoffliche Ressourcen wie Wasserstoff, Synthesegas oder Kohlenstoffmonoxid untersucht. Der Schwerpunkt liegt auf der Betrachtung der Kopplung von Strom und Verkehr sowie Strom und Chemie und der Untersuchung von Prozessen und Pfaden, die aus ökologischer, ökonomischer und gesellschaftlicher Sicht vorteilhaft sind. Eine vergleichende Einordnung in den Gesamtkontext der Energiewende mit Abwägung zahlreicher Alternativen und Konkurrenztechnologien ist dort allerdings nicht vorgesehen. Zudem werden einige relevante PtX‐Technologien wie Power‐to‐Heat nicht betrachtet. Aus diesem Grund wurden in SPIKE ergänzende PtX‐Technologiepfade aus systemanalytischer Sicht untersucht. Dies sind Power‐to‐Heat (PtH) und Power‐to‐Gas (PtG) über Elektrolyse und optionaler anschließender Methanisierung sowie die Herstellung ausgewählter Pfade der strombasierten Herstellung von Produkten der energieintensiven Industrie. Ziel des Forschungsvorhabens war die Analyse von PtX‐Technologien und Pfaden, deren vergleichende Einordnung im Gesamtkontext der Energiewende sowie die Unterstützung des P2X Roadmapping Prozesses und die Ableitung von Handlungsempfehlungen. Ein besonderer Schwerpunkt lag auf dem Einsatz von PtX im Industriesektor. Für das Vorhaben wurden Arbeitspakete (AP) erstellt, die Untersuchungen zu Technologie, Potenzial, Ökonomie und Ökologie von PtH (AP 1), PtG (AP 2), Power‐to‐Ammoniak, Power‐to‐Ethen und Power‐to‐Propen (AP 3) umfassten. Daraus wurde in AP 4 ein Systemvergleich mit Einordnung von PtX in die Energiewende durchgeführt. Auf dieser Basis und der Identifizierung regulatorischer Rahmenbedingungen für PtX (AP 5) wurde das deutsche Energiesystem samt PtX‐Pfaden in einem Energiesystemmodell abgebildet (AP 6). Die Ergebnisse flossen in das Roadmapping ein (AP 7). Zudem erfolgte ein Austausch mit den Projektpartnern und das Verfassen wissenschaftlicher Abhandlungen (AP 8). KW - Energieintensive Industrie KW - Energiesystemmodellierung KW - Power-to-Gas KW - Power-to-Heat KW - Ökobilanzierung Y1 - 2019 ER - TY - JOUR A1 - Saveliev, Dmitry V. A1 - Fetisov, Leonid Y. A1 - Chashin, Dmitri V. A1 - Shabin, P. A. A1 - Vyunik, D. A. A1 - Fedulov, Feodor A1 - Kettl, W. A1 - Shamonin (Chamonine), Mikhail T1 - Method of Measuring Deformations of Magnetoactive Elastomers under the Action of Magnetic Fields JF - Russian Technological Journal Y1 - 2019 U6 - https://doi.org/10.32362/2500-316x-2019-7-4-81-91 VL - 7 IS - 4 SP - 81 EP - 91 ER - TY - JOUR A1 - Klenk, Eva Marianne A1 - Galka, Stefan T1 - Analysis of real-time tour building and scheduling strategies for in-plant milk-run systems with volatile transportation demand JF - IFAC - PapersOnLine N2 - In modern manufacturing systems, milk run (MR) systems represent route-based, cyclic material-handling systems that are used widely and enable frequent deliveries of containerized parts in small lot sizes from a central storage area to multiple points of use on the factory floor. Usually, deliveries take place at predetermined, constant time intervals. As in real-world MR systems, the number of containers to deliver in each interval varies in the short term, peaks in the number of deliveries may lead to capacity bottlenecks and late deliveries. In this paper, we develop three alternative strategies to determine starting times of MR cycles in real-time based on the current number of delivery orders in the system aiming to better handle variations in the number of orders. We evaluate the three strategies for different system load scenarios with respect to delivery service levels, order lead times, systems utilization and necessary number of MR trains using a discrete-event simulation model. KW - Control algorithms KW - Logistics KW - Material handling KW - Milk-run systems KW - Production systems KW - Real-time decision making KW - Transportation control Y1 - 2019 U6 - https://doi.org/10.1016/j.ifacol.2019.11.517 VL - 52 IS - 13 SP - 2110 EP - 2115 PB - Elsevier ER - TY - GEN A1 - Altmann, Robert A1 - Gebhard, Jürgen T1 - Phänomenologische Untersuchung des Einspritzprozesses eines Injektors aus dem Off-Highway-Segment mit Diesel- und Rapsölkraftstoff T2 - 16. Internationaler Fachkongress "Kraftstoffe der Zukunft 2019", Berlin Y1 - 2019 ER - TY - JOUR A1 - Rill, Georg T1 - Sophisticated but quite simple contact calculation for handling tire models JF - Multibody system dynamics N2 - Handling tire models like Pacejka (Tire and Vehicle Dynamics, 3rd edn., Elsevier, Amsterdam, 2012) or TMeasy (Rill in Proc. of the XV Int. Symp. on Dynamic Problems of Mechanics, Buzios, RJ, Brazil, 2013) consider the contact patch as one coherent plane. As a consequence, the irregularities of a rough road profile must be approximated by an appropriate local road plane that serves as an effective road plane in order to calculate the geometric contact point and the corresponding contact velocities. The Pacejka/SWIFT tire model employs a road enveloping model that generates the effective height and slope by elliptical cams. TMeasy just uses four representative road points for that purpose. In addition, TMeasy replaces the geometric contact point by the static contact point and shifts it finally to the dynamic contact point that represents the point where the contact forces are applied. In doing so, a rather sophisticated but still simple contact calculation is possible. Simulations obtained with a virtual tire test rig and fully nonlinear three-dimensional multibody system models of a motor-scooter and a passenger car demonstrate the potential of this contact approach. KW - Dynamic contact point KW - Effective road plane KW - Geometric contact point KW - Static contact point KW - Tire road contact KW - TMeasy tire model KW - Vehicle modeling Y1 - 2019 U6 - https://doi.org/10.1007/s11044-018-9629-4 VL - 45 IS - 2 SP - 131 EP - 153 PB - Springer Nature ER - TY - CHAP A1 - Rill, Georg A1 - Arrieta Castro, Abel ED - Kecskeméthy, Andrés ED - Geu Flores, Francisco ED - Carrera, Eliodoro ED - Elias, Dante A. T1 - The Influence of Axle Kinematics on Vehicle Dynamics T2 - Interdisciplinary Applications of Kinematics. Proceedings of the Third International Conference (IAK) N2 - The automotive industry employs many different kinds of axle suspension systems at modern passenger cars. Important criteria are costs, space requirements, kinematic properties, and compliance attributes. This paper illustrates that in particular the kinematic properties of a suspension system have a significant influence on the dynamics of vehicles. As a consequence, the kinematics of a suspension system must be modeled very precisely and nonlinear. Typical kinematical features of a suspension system are discussed by analyzing the most common double wishbone axle suspension system. The influence of the axle kinematics on vehicle dynamics is finally demonstrated by simulation results generated with a fully nonlinear and three-dimensional multibody vehicle model. KW - Double wishbone suspension system KW - Multibody system KW - Suspension kinematics KW - vehicle dynamics Y1 - 2019 SN - 978-3-030-16422-5 U6 - https://doi.org/10.1007/978-3-030-16423-2_2 VL - 71 SP - 23 EP - 31 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Rill, Georg ED - Lugner, Peter T1 - Multibody Systems and Simulation Techniques T2 - Vehicle Dynamics of Modern Passenger Cars N2 - This part begins with an introduction to Multibody Systems (MBS). It presents the elements of MBS and discusses different modeling aspects. Then, different methods to generate the equations of motion are presented. Solvers for ordinary differential equations (ODE) as well as differential algebraic equations (DAE) are discussed. Finally, techniques for “online” and “offline” simulations including real-time applications are presented like necessary for car development. Special examples show the connection between simulation and test results. KW - Differential equations KW - Equations of motion KW - Multibody systems KW - Numerical solution KW - Vehicle models Y1 - 2019 SN - 978-3-319-79007-7 U6 - https://doi.org/10.1007/978-3-319-79008-4_6 SP - 309 EP - 375 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Arrieta Castro, Abel A1 - Chaves, Rafael B. A1 - Rill, Georg A1 - Weber, Hans I. ED - Fleury, Agenor de T. ED - Rade, Domingos A. ED - Kurka, R. G. T1 - Use of Integrated Control to Enhance the Safety of Vehicles in Run-Off-Road Scenarios T2 - Proceedings of DINAME 2017 : Selected Papers of the XVII International Symposium on Dynamic Problems of Mechanics N2 - In this work, an integrated vehicle control system (IC) is tested in run-off-road scenarios. The integrated approach was employed in order to coordinate vehicle control systems, i.e. the Anti-Lock Brake System (ABS), Four-wheel Steering (4WS) and the Electronic Stability Program (ESP). To perform a run-off-road maneuver, a fuzzy virtual test driver was designed. By receiving the lateral position of an obstacle and the vehicle’s relative yaw angle, the virtual test driver is capable of following a reference trajectory. Furthermore, to test the performance of the standalone controllers, i.e. ABS, ESP and 4WS, individual maneuvers are performed using a multibody vehicle model. The vehicle without any coordination between the control systems is used as reference. For the simulation results, it is concluded that the IC improves the vehicle stability and maneuverability in comparison with the non-integrated approach. Y1 - 2019 SN - 978-3-319-91217-2 SN - 978-3-319-91216-5 U6 - https://doi.org/10.1007/978-3-319-91217-2_30 SN - 2195-4356 SP - 431 EP - 443 PB - Springer CY - Cham ET - 1. Auflage ER -