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Meeting report
MechatronicsVol. 7, No. 6, pp. 565 568, 1997 @ 1997 Elsevier Science Ltd. All rights reserved. Printed in Great Britain. 0957 ~.158/97 $17.00+ 0.00
Pergamon PII: S0957-4158(97)00017-2
MEETING REPORT DINAME '97 RIO DE JANEIRO, BRAZIL 3-7 MARCH 1997 This was the 7th DINAME international conference on dynamic problems in mechanics and was held at the Hotel do Frado, Angra dos Reis, Rio de Janerio. The conference was opened Professor Carlos A. Almedia, who welcomed the delegates and guests to the conference and gave a brief overview of the sponsors (Associa~/lo Brasileira de Cifincias Mec~nicas-ABCM), the DINAME conferences and their objectives. The proceedings opened with an invited paper from Professor Peter Wagstaff from the University of Technology of Compi6gne, France. Wagstaff, a graduate of Loughborough University of Technology, gave an interesting talk entitled "Signal Processing Techniques for the Identification of Noise and Vibration Sources", This referred to his work on ships, buildings and structural density, explaining how multi input-multi output systems can be broken down into individual sources for processing. Wagstaff stressed that it was important to reduce measurement errors to as low a value as possible. He concluded with reference to his recent work with wavelets which are a newly introduced technique for time and frequency domain measurements. The first conference session proper was entitled Rotor Dynamics 1. It consisted of seven papers investigating various rotor dynamic problems from "Dynamic Behaviour of a Turbine/Blower Assembly: Behaviour of Rotors" by Professor Michel Lalanne to "Theoretical and Experimental Investigation of Flexible Blade Dynamics" by Cristina Minioli Saracho. The papers tended to concentrate on the different Finite Element methodologies available for rotor dynamic analysis and most of the authors had their own variations of well established techniques and principles to solve their own particular problems. The quote of the morning came from Francisco C. B. Nigro: " R e a l work is often more complicated than a model can handle".
The second session was entitled Modelling and Controls 1. Again there were seven papers, ranging in scope from "Linear-Quadratic Optimal Control of Descriptor Systems" by Professor Peter C. MUller to "Application of Fuzzy Logic on Motion Control Systems in Machine Tools" by Helder Barbieri Lacerda. Pure fuzzy logic controllers were not thought to be a good idea and a degree of PID control should be combined with them. Elastodynamics and fundamental solutions to stress problems relating to crack detection were also discussed. In his talk on semi-trailer suspension systems, Paulo Sergio Lima Alves concluded that "Active controllers improve safety and comfort". Vibration Analysis was the theme of the third session. The papers presented covered areas from work on oil rig platforms by Arcanjo Lenzi, "Response of Grillage-Like Structures by the Mobility Approach", which was aimed at investigating vibrations with a view to improving the comfort of the crew's quarters, to the design of a new style of threshing 565
566
Meeting Reporl
machine for sisal, "Revising the Design of the Threshing Machine by Considering the Actual Load Distribution" by Seyyed Said Dana, important to one particular area of Brazil as it is the only crop that will survive the particular climatic conditions. Finite Element Analysis methods also featured in this section. A special invited lecture was given by Professor Francis C. Moon of Cornell University, and was entitled " G o o d Chaos and Controlled Chaos in Mechanical Systems". This was a highly entertaining lecture in which Moon suggested that engineers need to build in chaos for quasi-adaptive machines. After giving some general properties of chaos Professor Moon then went on to detail some of his research work in machine tools and asked "Is chaos present'?". The fourth session was on Non-Linear Dynamics and Chaos. The titles of the papers ranged from "The Non-Linear Dynamics of Asymmetric-Post-Buckling" by D. M. Santee, to "On Non-Linear Vibration: The State of the Art" by Josh Manuel Balthazar. Subject areas ranged from detailed analysis of periodic solutions to non-linear mechanical systems, with particular reference to underwater systems to work with shape memory alloys. Engineers were urged not to forget non-linearities and they were reminded that all structures are imperfect, and that they should always include an "'imperfect parameter" in their equations. The use of shape memory alloys as an active member in a dynamic damping system was proposed for tow frequency vibration control. There followed the only session on Robotics. Eight papers were presented, ranging from "'Cascade Control of Hydraulic Actuators for Robot Manipulators" by Edson R. de Pieri to "Biomechanics of Upright Standing in Humans: A Simulation Study" by Lucianno Luporini Menegaldo. When modelling systems the audience were urged by Professor Jos6 Antonio Tenreiro Machado not to forget the "simple things which make all the difference". A high speed camera/microscope method of measuring/observing micro devices was outlined and talks were given on passive underwater arms for oil rig maintenance/inspection and the problems that need to be addressed when considering new advances in surgical robotics. The sixth session was the second on Modelling and Control and consisted of seven papers. The keynote speech was presented by Professor H. H. MOller-Slany, entitled "A Basic Outline According to a New Method of Model Based Damage Detection", in which he described a reduced diagram model for maintenance on demand. Other papers ranged from "Modelling and Dynamics of" a Slewing Flexible Structure Under Small Deflections" by Andre Fenili, which was concerned with the modelling of a beam structure fixed at one end, to an interesting talk by Professor Dr Celso P. Pesce entitled "Non-Linear Dynamics of Submerged Lines Suspended in Catenary Configuration from Floating Units". Agenor T. Fleury outlined an approach to putting real Mechanical Engineering back into control experiments with his paper entitled "'Development of Control Laboratory Experiments for Mechanical Engineers". The seventh session was taken up by an invited talk by Professor Josh A. T. Machado from the University of Porto, Portugal entitled "'Kinematic Analysis of Robotic Biped Locomotion Systems". This was a very exciting and visual talk, and he set the pace right from the start when he explained that his name translates to "the young bull with the axe"! Professor Machado described the kinematics of walking--with visual representations of what he meant---and compared the work of various research groups that are attempting to produce a walking machine. He described the jerking up and down motion of some systems as "Madonna Walking"!
Meeting Report
567
The eigth session was the second on Vibration Analysis. Topics ranged from "The Absorption Algorithm and Implementation for Irregular Ocean Waves at a Test Tank" by Professor Ben T. Nohara, in which he described some of his research for Mitsubishi Heavy Industries into work with man made islands around Japan, to Flaminio Levy Neto's talk "Modal Analysis of a composite Aramid/Epoxy Satellite Launcher Motor Case", in which he outlined his work with Kevlar in the manufacture of space vehicles. Again Finite Element Analysis was featured in most talks, especially those on modelling real world systems in the laboratory. This was shown to be especially true in the case of a compact disc player in a car where Paulo S. Varoto demonstrated that it is important to ensure that data taken in the field are complete and accurate. An especially neat application of "smart beams" was explained by Arthur Martins Barbosa Braga, in which he used Piezo crystals to actively modify the frequency response of the beam. Professor Dragomir N. Nenchev from Tohoku University, Japan gave an evening lecture entitled "Recent Research Aspects of Space Robotics". In his talk Professor Nenchev gave details of recent Japanese and other research work into robotic arms and the special conditions placed on them by being in space. Most recent applications have seven degreeof-freedom arms, sometimes with twin arms, to give them better utilisation. Professor Dragomir gave details of various manned space vehicles and also of the Japanese "Space Hotel" which would cost £40 000 per night to stay at. The ninth session was the only session on Signal Processing and Diagnosis and a broad range of papers was presented. Professor Steven Y. Liang gave an upbeat keynote speech entitled "Vibration Signal Analysis for Bearing Race Damage Diagnostics", detailing his work for Timken and the Office of Naval Research which has led to techniques capable of identifying defects as small as 10mm. Jos6 Sotelo Jr explained how it was possible to compensate for noise in ducts with his talk "Active Acoustic Noise Control in Ducts", and Renato Viveiros de Castro outlined his research in "Experimental Developments of a Microstepping Driver for Increased Resolution and Low Vibration". The session ended with a talk on machine tool monitoring, "Vibration Sensitivity Analysis of a Milling Machine for Tool Wear Purposes", by Marcus Antonio Viana Duarte. The tenth session was the second on Rotor Dynamics. The eight papers ranged from "A Mechatronics Design of a Flywheel for Short Term Enery Storage" by Professor Gerhard Schweitzer, to "Modelling and Control of a Magnetic Bearing" by Roberto Firminto de Noronha, which was an undergraduate final year project at the Escola de Engenharia, Universidade Federal Fluminese RJ. Reference to work on the first Brazilian Scientific Satellite (SACI 1) was made by Marcelo Lopes Olivera Souza in a paper entitled "Dynamics and Autonomous Control of a Spinning Satellite Using Fuzzy Logic". Paulo G. Milani's talk "On the Dynamics of a Rotor Suspended and Driven by an Electric Field" described work aimed at micro and nano devices and how two coupled rotors could be treated as a rotating capacitor for control. Vehicle Dynamics was the theme of the eleventh session. It was dominated by reports on work on railways. Reinhold Meisingers keynote speech "Simulation of Creep-Controlled Wheelset for High-Speed Rail Vehicles" concentrated on his work to develop an active magnetic axle coupling. "On the Use of the Karhunen-Lo6ve Transformation to Analysis the Dynamics of Railroads" by Fernando Costa Pinto focused on the dynamics of the actual track and trackbed and a further talk by Roberto Spinola Barbosa continued the railway theme. Marcleo Becker spoke about the "Design and Control of a Tricycle Autonomous Mobile Robot", while J. A. F. Borges was interested in bigger things with his
568
Meeting Report
talk "'Modelling the Dynamics of a Vehicle", in which he outlined his work with articulated lorries. The session was brought to a close by Joao Mendes Carvalho with a talk entitled "'Formation of the direct and Inverse Geometric Model of the Fully Parallel Cartesian Structure", in which he demonstrated a model of a parallel robot with six degrees of freedom. An invited lecture by Professor Manfred Hillier from the University of Duisburg described the work of IMECH, which is a non-profit making company spun-off from the University. The main part of his lecture concentrated on work for Bosch developing active suspension, braking and traction control systems for BMW and Mercedes Benz. This was illustrated with various simulation studies and a video of the real thing. The lecture closed with a glimpse of the future showing prototype active vehicle safety systems. The twelfth and final conference session was the third session on Modelling and Control. Professor Heinz Ulbrich opened this session with his keynote talk on active force control for magnetic bearings entitled "Active Control of Elastic Rotors with Fluid Components by Magnetic Bearings". This was tbllowed by a talk on adaptive vehicle dampers by Professor Douglas E. Zampieri called "Improvement of Ride Comfort and Ride Safety by Using Non-Linear Spring and Damping Elements". Two simulation studies on natural gas engines and two interesting talks on aircraft wing dynamics followed. The first focused on work on military aircraft and the development of a "'smart" wing by Mauricio Pazini Brand,o, entitled "A Brazilian Experiment on Aeroservoelasticity Phase I Aeroelastic Modelling", and the second on civilian aircraft "'Improvement of Aircraft Conceptual Design Through Drag Minimisation", presented by Paulo Martin F. Diniz. The chairman of DINAME '97, Professor Carlos Alberto de Almeida, brought the conference to a close with a talk entitled "On the Finite Element Representation of Hydrodynamic Bearings". In his talk Professor Almeida spoke of work he is undertaking with Finite Element Analysis of hydrodynamic bearings, and of how the models exhibited a very good validation when compared to the test results of the actual system This was a very enjoyable, well organised conference that covered a surprisingly wide range of subjects in an extremely attractive location. The Brazilians would like to increase their connections with foreign universities and industry. The next DINAME conference is to be held during 4~9 January 1999 and details are available from ABCM, Av. rio Branco, 124/18' andar, 20040-001 Rio de Janeiro, R J, Brazil, or by e-mail at abcm~c~ rdc.puc-rio.br. Department of A.P.E.M.E. University of Dundee Dundee DDI 4HN U.K.
Alan Slade
Pergamon PII: S0957-4158(97)00017-2
MEETING REPORT DINAME '97 RIO DE JANEIRO, BRAZIL 3-7 MARCH 1997 This was the 7th DINAME international conference on dynamic problems in mechanics and was held at the Hotel do Frado, Angra dos Reis, Rio de Janerio. The conference was opened Professor Carlos A. Almedia, who welcomed the delegates and guests to the conference and gave a brief overview of the sponsors (Associa~/lo Brasileira de Cifincias Mec~nicas-ABCM), the DINAME conferences and their objectives. The proceedings opened with an invited paper from Professor Peter Wagstaff from the University of Technology of Compi6gne, France. Wagstaff, a graduate of Loughborough University of Technology, gave an interesting talk entitled "Signal Processing Techniques for the Identification of Noise and Vibration Sources", This referred to his work on ships, buildings and structural density, explaining how multi input-multi output systems can be broken down into individual sources for processing. Wagstaff stressed that it was important to reduce measurement errors to as low a value as possible. He concluded with reference to his recent work with wavelets which are a newly introduced technique for time and frequency domain measurements. The first conference session proper was entitled Rotor Dynamics 1. It consisted of seven papers investigating various rotor dynamic problems from "Dynamic Behaviour of a Turbine/Blower Assembly: Behaviour of Rotors" by Professor Michel Lalanne to "Theoretical and Experimental Investigation of Flexible Blade Dynamics" by Cristina Minioli Saracho. The papers tended to concentrate on the different Finite Element methodologies available for rotor dynamic analysis and most of the authors had their own variations of well established techniques and principles to solve their own particular problems. The quote of the morning came from Francisco C. B. Nigro: " R e a l work is often more complicated than a model can handle".
The second session was entitled Modelling and Controls 1. Again there were seven papers, ranging in scope from "Linear-Quadratic Optimal Control of Descriptor Systems" by Professor Peter C. MUller to "Application of Fuzzy Logic on Motion Control Systems in Machine Tools" by Helder Barbieri Lacerda. Pure fuzzy logic controllers were not thought to be a good idea and a degree of PID control should be combined with them. Elastodynamics and fundamental solutions to stress problems relating to crack detection were also discussed. In his talk on semi-trailer suspension systems, Paulo Sergio Lima Alves concluded that "Active controllers improve safety and comfort". Vibration Analysis was the theme of the third session. The papers presented covered areas from work on oil rig platforms by Arcanjo Lenzi, "Response of Grillage-Like Structures by the Mobility Approach", which was aimed at investigating vibrations with a view to improving the comfort of the crew's quarters, to the design of a new style of threshing 565
566
Meeting Reporl
machine for sisal, "Revising the Design of the Threshing Machine by Considering the Actual Load Distribution" by Seyyed Said Dana, important to one particular area of Brazil as it is the only crop that will survive the particular climatic conditions. Finite Element Analysis methods also featured in this section. A special invited lecture was given by Professor Francis C. Moon of Cornell University, and was entitled " G o o d Chaos and Controlled Chaos in Mechanical Systems". This was a highly entertaining lecture in which Moon suggested that engineers need to build in chaos for quasi-adaptive machines. After giving some general properties of chaos Professor Moon then went on to detail some of his research work in machine tools and asked "Is chaos present'?". The fourth session was on Non-Linear Dynamics and Chaos. The titles of the papers ranged from "The Non-Linear Dynamics of Asymmetric-Post-Buckling" by D. M. Santee, to "On Non-Linear Vibration: The State of the Art" by Josh Manuel Balthazar. Subject areas ranged from detailed analysis of periodic solutions to non-linear mechanical systems, with particular reference to underwater systems to work with shape memory alloys. Engineers were urged not to forget non-linearities and they were reminded that all structures are imperfect, and that they should always include an "'imperfect parameter" in their equations. The use of shape memory alloys as an active member in a dynamic damping system was proposed for tow frequency vibration control. There followed the only session on Robotics. Eight papers were presented, ranging from "'Cascade Control of Hydraulic Actuators for Robot Manipulators" by Edson R. de Pieri to "Biomechanics of Upright Standing in Humans: A Simulation Study" by Lucianno Luporini Menegaldo. When modelling systems the audience were urged by Professor Jos6 Antonio Tenreiro Machado not to forget the "simple things which make all the difference". A high speed camera/microscope method of measuring/observing micro devices was outlined and talks were given on passive underwater arms for oil rig maintenance/inspection and the problems that need to be addressed when considering new advances in surgical robotics. The sixth session was the second on Modelling and Control and consisted of seven papers. The keynote speech was presented by Professor H. H. MOller-Slany, entitled "A Basic Outline According to a New Method of Model Based Damage Detection", in which he described a reduced diagram model for maintenance on demand. Other papers ranged from "Modelling and Dynamics of" a Slewing Flexible Structure Under Small Deflections" by Andre Fenili, which was concerned with the modelling of a beam structure fixed at one end, to an interesting talk by Professor Dr Celso P. Pesce entitled "Non-Linear Dynamics of Submerged Lines Suspended in Catenary Configuration from Floating Units". Agenor T. Fleury outlined an approach to putting real Mechanical Engineering back into control experiments with his paper entitled "'Development of Control Laboratory Experiments for Mechanical Engineers". The seventh session was taken up by an invited talk by Professor Josh A. T. Machado from the University of Porto, Portugal entitled "'Kinematic Analysis of Robotic Biped Locomotion Systems". This was a very exciting and visual talk, and he set the pace right from the start when he explained that his name translates to "the young bull with the axe"! Professor Machado described the kinematics of walking--with visual representations of what he meant---and compared the work of various research groups that are attempting to produce a walking machine. He described the jerking up and down motion of some systems as "Madonna Walking"!
Meeting Report
567
The eigth session was the second on Vibration Analysis. Topics ranged from "The Absorption Algorithm and Implementation for Irregular Ocean Waves at a Test Tank" by Professor Ben T. Nohara, in which he described some of his research for Mitsubishi Heavy Industries into work with man made islands around Japan, to Flaminio Levy Neto's talk "Modal Analysis of a composite Aramid/Epoxy Satellite Launcher Motor Case", in which he outlined his work with Kevlar in the manufacture of space vehicles. Again Finite Element Analysis was featured in most talks, especially those on modelling real world systems in the laboratory. This was shown to be especially true in the case of a compact disc player in a car where Paulo S. Varoto demonstrated that it is important to ensure that data taken in the field are complete and accurate. An especially neat application of "smart beams" was explained by Arthur Martins Barbosa Braga, in which he used Piezo crystals to actively modify the frequency response of the beam. Professor Dragomir N. Nenchev from Tohoku University, Japan gave an evening lecture entitled "Recent Research Aspects of Space Robotics". In his talk Professor Nenchev gave details of recent Japanese and other research work into robotic arms and the special conditions placed on them by being in space. Most recent applications have seven degreeof-freedom arms, sometimes with twin arms, to give them better utilisation. Professor Dragomir gave details of various manned space vehicles and also of the Japanese "Space Hotel" which would cost £40 000 per night to stay at. The ninth session was the only session on Signal Processing and Diagnosis and a broad range of papers was presented. Professor Steven Y. Liang gave an upbeat keynote speech entitled "Vibration Signal Analysis for Bearing Race Damage Diagnostics", detailing his work for Timken and the Office of Naval Research which has led to techniques capable of identifying defects as small as 10mm. Jos6 Sotelo Jr explained how it was possible to compensate for noise in ducts with his talk "Active Acoustic Noise Control in Ducts", and Renato Viveiros de Castro outlined his research in "Experimental Developments of a Microstepping Driver for Increased Resolution and Low Vibration". The session ended with a talk on machine tool monitoring, "Vibration Sensitivity Analysis of a Milling Machine for Tool Wear Purposes", by Marcus Antonio Viana Duarte. The tenth session was the second on Rotor Dynamics. The eight papers ranged from "A Mechatronics Design of a Flywheel for Short Term Enery Storage" by Professor Gerhard Schweitzer, to "Modelling and Control of a Magnetic Bearing" by Roberto Firminto de Noronha, which was an undergraduate final year project at the Escola de Engenharia, Universidade Federal Fluminese RJ. Reference to work on the first Brazilian Scientific Satellite (SACI 1) was made by Marcelo Lopes Olivera Souza in a paper entitled "Dynamics and Autonomous Control of a Spinning Satellite Using Fuzzy Logic". Paulo G. Milani's talk "On the Dynamics of a Rotor Suspended and Driven by an Electric Field" described work aimed at micro and nano devices and how two coupled rotors could be treated as a rotating capacitor for control. Vehicle Dynamics was the theme of the eleventh session. It was dominated by reports on work on railways. Reinhold Meisingers keynote speech "Simulation of Creep-Controlled Wheelset for High-Speed Rail Vehicles" concentrated on his work to develop an active magnetic axle coupling. "On the Use of the Karhunen-Lo6ve Transformation to Analysis the Dynamics of Railroads" by Fernando Costa Pinto focused on the dynamics of the actual track and trackbed and a further talk by Roberto Spinola Barbosa continued the railway theme. Marcleo Becker spoke about the "Design and Control of a Tricycle Autonomous Mobile Robot", while J. A. F. Borges was interested in bigger things with his
568
Meeting Report
talk "'Modelling the Dynamics of a Vehicle", in which he outlined his work with articulated lorries. The session was brought to a close by Joao Mendes Carvalho with a talk entitled "'Formation of the direct and Inverse Geometric Model of the Fully Parallel Cartesian Structure", in which he demonstrated a model of a parallel robot with six degrees of freedom. An invited lecture by Professor Manfred Hillier from the University of Duisburg described the work of IMECH, which is a non-profit making company spun-off from the University. The main part of his lecture concentrated on work for Bosch developing active suspension, braking and traction control systems for BMW and Mercedes Benz. This was illustrated with various simulation studies and a video of the real thing. The lecture closed with a glimpse of the future showing prototype active vehicle safety systems. The twelfth and final conference session was the third session on Modelling and Control. Professor Heinz Ulbrich opened this session with his keynote talk on active force control for magnetic bearings entitled "Active Control of Elastic Rotors with Fluid Components by Magnetic Bearings". This was tbllowed by a talk on adaptive vehicle dampers by Professor Douglas E. Zampieri called "Improvement of Ride Comfort and Ride Safety by Using Non-Linear Spring and Damping Elements". Two simulation studies on natural gas engines and two interesting talks on aircraft wing dynamics followed. The first focused on work on military aircraft and the development of a "'smart" wing by Mauricio Pazini Brand,o, entitled "A Brazilian Experiment on Aeroservoelasticity Phase I Aeroelastic Modelling", and the second on civilian aircraft "'Improvement of Aircraft Conceptual Design Through Drag Minimisation", presented by Paulo Martin F. Diniz. The chairman of DINAME '97, Professor Carlos Alberto de Almeida, brought the conference to a close with a talk entitled "On the Finite Element Representation of Hydrodynamic Bearings". In his talk Professor Almeida spoke of work he is undertaking with Finite Element Analysis of hydrodynamic bearings, and of how the models exhibited a very good validation when compared to the test results of the actual system This was a very enjoyable, well organised conference that covered a surprisingly wide range of subjects in an extremely attractive location. The Brazilians would like to increase their connections with foreign universities and industry. The next DINAME conference is to be held during 4~9 January 1999 and details are available from ABCM, Av. rio Branco, 124/18' andar, 20040-001 Rio de Janeiro, R J, Brazil, or by e-mail at abcm~c~ rdc.puc-rio.br. Department of A.P.E.M.E. University of Dundee Dundee DDI 4HN U.K.
Alan Slade