Proceedings of I4SDG Workshop 2023: IFToMM for Sustainable Development Goals

Description

This volume contains the proceedings of the 2nd IFToMM Workshop for Sustainable Development Goals - I4SDG 2023 held in Bilbao, Spain, on 22-23 June 2023. The workshop papers are focused on those aspects of the theory, design and applications of Mechanism and Machine Science that are fundamental for moving towards sustainable development. The main topics of the workshop are: sustainable energy systems, robotics and mechatronics, biomechanical and medical systems, education, linkages, gears, transmissions and actuators, engines and powertrains, tribology, transportation machinery, service systems for sustainability, humanitarian engineering and socio-technical systems for sustainable and inclusive development. The contributions, selected through a rigorous international peer-review process, highlight many exciting ideas that will drive new research directions and foster multidisciplinary collaboration between researchers from different backgrounds. Preface Organization Contents Sustainable Energy Systems Experimental Investigation to Enhance Performances of MRE in Energy Harvesting 1 Introduction 2 Villari Effect 3 Test Rig 3.1 Magnetic Circuit 3.2 MRE Pads 3.3 Motion Excitation System 3.4 Measurement Devices 4 Results 5 Conclusion References Dynamic Motion Evaluation of a Novel Hybrid Wind and Wave Integrated Platform 1 Introduction 2 Methods 2.1 Hydrostatic Stability 2.2 Time Domain Model 3 Results 4 Conclusions References Model and Control Analysis for a Point Absorber Wave Energy Converter in Lebu, Chile 1 Introduction 2 Background 2.1 Study Case 2.2 Mathematical Model 3 Control Strategies 3.1 Resisitive Control 3.2 Reactive Control 3.3 Latching Control 4 Results 5 Conclusion References Novel Pseudo 3D Design of Solar Thermal Facades with Triangle and Trapeze Solar Thermal Collectors for Increased Architectural Acceptance 1 Introduction 2 The Concept 2.1 Basic Subassemblies 2.2 Pseudo Three-Dimensional Images 3 Applications 3.1 Traditional Design Elements Implemented in Solar Thermal Facades 3.2 Pseudo 3D Solar Thermal Facades Implemented in Buildings 4 Conclusions References Fast Frequency-Domain Based Tool for FOWT Platforms Preliminary Design 1 Introduction 2 Fast Design Tool 2.1 Simplified Response Model 2.2 Linear Hydrodynamic Coefficient Estimation Methodology 2.3 Accelerated Method for the Second-Order Hydrodynamic Load Calculation 3 Case Study 4 Results and Discussion 5 Conclusions References Robotics and Mechatronics A Framework for Improving the Energy Efficiency and Sustainability of Collaborative Robots 1 Introduction 2 Energy Modelling of a Collaborative Robot 3 Experimental Results 4 Conclusion References Modeling and Parametric Analysis of Quasi-Translational Parallel Continuum Manipulators 1 Introduction 2 Mechanism Description 3 Simulation Method 4 Parametric Analysis and Motion Evaluation 5 Conclusions References Energy Efficiency of a SCARA-Like Manipulator with Elastic Balancing 1 Introduction 2 RR-4R-R SCARA-Like Manipulator with Elastic Balancing 3 Cartesian Space Position Control 4 Simulation Results 5 Discussion of the Results and Conclusions References Deep Learning Technique to Identify Abrupt Movements in Human-Robot Collaboration 1 Introduction 2 Materials and Methods 2.1 Experimental Set-Up 2.2 Protocol 2.3 Data Analysis 3 Results 4 Discussions References Planning Real-Time Energy Efficient Trajectories for a Two Degrees of Freedom Balanced Serial Manipulator 1 Introduction 2 Problem Statement 2.1 Electro-Mechanical Model 2.2 Trajectory Requirements 2.3 Problem Formulation 3 Solution 4 Results 5 Conclusions References Reducing Energy Consumption and Driving Torque in an Underactuated Robotic Arm Through Natural Motion 1 Introduction 1.1 Motivations and State of the Art 1.2 Contributions of This Paper 2 System Model 3 The Proposed Method 4 Numerical Assessment 5 Conclusions References Online vs Offline Calibration of 5 DOFs Robotic Manipulators 1 Introduction 2 Kinematic Calibration of Open-Loop Manipulators 2.1 Open-Loop Forward Kinematic Modelling 3 Nonlinear Parameter Identification 4 Recursive Nonlinear Least-Squares Identification (r-NLLSQ) 5 A Case of Study for a 5 DOFs Manipulator 6 Conclusions References Task-Specific Synthesis and Design of a Mobile Six-DoF Hexa Parallel Robot for Weed Control 1 Introduction and State of the Art 2 Application and Requirements 3 Synthesis 4 Design 5 Workspace Characteristics 6 Conclusion References Optimization of the Design Parameters of a 6-DOF Mobility Platform 1 Introduction 2 Dynamic and Simulation Model of the Mobility Platform 3 Investigation Methodology 4 Investigation Results 5 Conclusion References Biomechanical and Medical Systems Identification of Surgical Forceps Using YOLACT++ 1 Introduction 2 Materials and Methods 2.1 Dataset Collection 2.2 Annotation Processing 2.3 Deep Learning Model 3 Identification Speed and Accuracy Validation 3.1 Training/Validation/Testing Methods 3.2 Hyperparameter Validation Results 3.3 Model Test Results 3.4 Discussion 4 Conclusion References RehaWrist.q - Development of a 3 DoF Cable-Driven End-Effector Wearable Robot for Rehabilitation of the Wrist Joint 1 Introduction 2 Wrist Rehabilitation Robot Proposal 2.1 Wrist Joint 2.2 Robot Functional Design 3 Cable-Driven Parallel Robot Design 3.1 Mechanism Kinematics 3.2 Adimensional Synthesis 3.3 Quasi-Static Analysis 3.4 Final Design 4 Conclusion References Lifting Assist Device for Transfer in Cooperation with Caregivers 1 Introduction 2 Method 2.1 Proposed Concept of Lifting Assist Device 2.2 Experiments with Full-Scale Prototype 3 Results and Discussions 4 Conclusion References Design and Prototyping of a Semi-wearable Robotic Leg for Sit-to-Stand Motion Assistance of Hemiplegic Patients 1 Background 2 Sit-to-Stand Assist Robot Design 3 Control Scheme of the STS Assist Robot 4 Experiment Design and Methodology 5 Results and Discussion 6 Conclusion References Comprehensive Control Strategy Design for a Wheelchair Power-Assist Device 1 Introduction 2 Dynamic Model 3 Control Law 4 Results and Discussions 5 Conclusions References Analytical Synthesis of the Seven-Bar Linkage 7-RR(RRRR)RR Used for Medical Disinfection Robot 1 Introduction 2 Type Synthesis of the Seven-Bar Linkage 3 Positional Analysis of the Symmetrical seven-bar linkage 7-RR(RRRR)RR(f) 4 Analytical Synthesis of the Symmetrical Seven-Bar Linkage 5 Numerical Example 6 Conclusions References Design of a Novel Medical Rolling Walker for Use in Hospital Environment 1 Introduction 2 Description of the Design 3 Rear Wheel 4 Adjustable Width System 5 Static Strength Analysis 6 Analysis I 7 Analysis II 8 Conclusions References Linkages, Gearing, Transmissions and Actuators Influence of Design Parameters in Energy Lost for Eccentric Cam Mechanisms with Translational Roller Follower 1 Introduction 2 Problem Formulation 3 Results 4 Conclusions References Friction Models for a Sustainable Design: Friction Coefficient in Lubricated Conformal Pairs 1 Introduction 2 Friction Coefficient Trends: Stribeck and Lambda Curves 3 Thrust Bearings 3.1 Infinitely Wide Slider Bearing 3.2 Finite Width Slider Bearing 4 Plain Journal Bearings 4.1 Long Journal Bearing 4.2 Short Journal Bearing 4.3 Finite Length Journal Bearing 5 Conclusions References Evolution of Gear Machining Technology in a Japanese Manufacturer – Realization of Skiving Method as an Application of 5-Axes Machining Center - 1 Introduction 2 Principal of the Gear Skiving Method and Its Merits 3 Practical Tool Development Process for Skiving Method 4 Impact of the Gear Skiving Method for the Establishment of Sustainable Automobile Industry 5 Conclusion References A Vibration Exciter for Dynamic Testing of Large Structures 1 Introduction 2 Methodologies to Excite Forced Vibrations of a Structure in Absence of a Fixed Point 3 Air Spring Stiffness 4 Natural Vibration of the Suspended Mass on Air Spring 5 Conclusions References Low Cost 3D Printed Pneumatic Linear Actuator 1 Introduction 2 Prototypes 3 Experimental Tests 4 Conclusions References Development of Orientation Modules with Linear Actuation 1 Introduction 2 Type Synthesis of the Geared Linkage with Linear Actuation 3 Direct Kinematics of the Geared Linkages with Linear Actuation 4 Design of the Orientation Modules with Linear Actuation 5 Conclusions References Analytical Synthesis of Five-Bar Linkage 5-RPRPR 1 Introduction 2 Kinematic of the Five-Bar Linkage 5-RPRPR 2.1 Direct Kinematic 2.2 Inverse Kinematic 3 Analytical Synthesis of the Five-Bar Linkage 5-RPRPR 4 Singularities Analysis of the Five-Bar Linkage 5-RPRPR 5 Numerical Example 6 Conclusions References Technical Developments for Sustainable Engineering An Automatic Measurement System for Shape Memory Alloys' Wire Resistivity Characterization 1 Introduction 2 Design Requirements and Specifications 3 Measurement System Design 3.1 Existing Methods and Instrumentation 3.2 Proposed Measurement System 3.3 Data Acquisition and Processing 4 Results 5 Conclusions References Fault Detection in Induction Machines of Air Handling Units 1 Introduction 2 Experimental Set 3 Experiments and Results 4 Fault Detection Algorithm 5 Conclusion References Development of a Remote-Controlled Scaled Multi-actuated Vehicle 1 Introduction 2 Vehicle 2.1 Commercial Model Selection 2.2 Modifications 3 Experimental Tests 4 Results and Discussion 5 Conclusion References Functional Design and Prototyping of a Novel Soft Fingertip with Variable Stiffness 1 Introduction 2 Functional Design 2.1 Fingertip Geometry Modelling 2.2 Fingertip Stiffness Estimation 3 Prototyping and Experimental Tests 3.1 Experimental Evaluation of Fingertip Contact Force 4 Conclusion References Machine-Learning Based Energy Estimation on a High-Speed Transportation System 1 Introduction 2 Machine Learning: Gaussian Process Regression 3 Experimental Data and Model Fitting 4 Conclusion References Overturning Stability for the SNAP Cargo Family of Pedal‑Assisted Ultralight Vehicles 1 Introduction 2 Current Standards and Design Requirements 3 Introduction of the SNAP Cargo+ Model 4 Cargo+ Longitudinal Dynamics 5 Static Stability References Gas Bearings Applications in Automotive Fuel Cell Technology 1 Introduction 2 The Fuel Cell System 2.1 The Fuel Cell Types 2.2 Automotive Fuel Cell Technology 3 Air Compressors for Fuel Cells 4 Dynamic Air Bearings for Turbochargers 5 Conclusions and Future Developments References Numerical Simulation of Cylindrical Lithium-ion Cells Impact 1 Introduction 2 Dynamic Impact 2.1 Dynamic Simulation 2.2 Initial Conditions 3 Results 4 Discussion 5 Conclusions References Conceptual Design and Numerical Analysis of a Photobioreactor to Cultivate Arthrospira 1 Introduction 2 Materials and Method 2.1 Photobioreactor Design 3 Numerical Analysis 4 Results 5 Conclusions References Movement Smoothness Metrics in Human-Machine Interaction 1 Introduction 2 Materials and Methods 2.1 Participants 2.2 Test Bench and Protocol 2.3 Data Collection and Signals Processing 3 Results and Discussions 4 Conclusion References Education for Sustainabililty and Special Session: Educational Experiences in Mechatronics (Coordinated by Alberto Borboni) Humanitarian Techniques in the Teaching of Technical Sciences 1 Introduction 2 Humanitarian Techniques 2.1 Multidisciplinary Technique 2.2 Systematization of Student Works 3 Conclusion References Teaching Appropriate Technologies with the Applied Mechanics Approach to Sensitize Students to Their Future Role in Environmental Sustainability and Social Justice 1 Introduction 2 Functional Mechanics-Based Courses Dealing with ATs 3 Technologies for Sustainable Development 4 Humanitarian Engineering 5 Conclusions References Machine Learning Algorithm for Robotic Inverse Kinematic Problem 1 Introduction 2 Materials and Methods 2.1 Materials 2.2 Methods - Inverse Kinematics 3 Results 4 Discussion 5 Conclusions References Robot Motion Planning in ROS Environment 1 Introduction 2 Materials and Methods 2.1 Case Study, Simulation Environment and Solvers 2.2 Software Implementation 2.3 Testing Protocol 3 Results 4 Discussion 5 Conclusion References Intersubjective Dynamics in Cooperative Robots 1 Introduction 2 Materials and Methods 3 Results 4 Discussion 5 Conclusions References A Code of Ethics for Social Cooperative Robots 1 Introduction 2 Materials and methods 3 Results 4 Discussion 5 Limitations of this research 6 Conclusions References Special Session: Engines and Powertrains (Coordinated by Tigran Parikyan) Crankshaft Balancing Design Platform: A Practical Application 1 Introduction 2 Real Case Design Process 2.1 Preliminary Design Results 2.2 Optimisation Results 2.3 Dynamic Verification Results 3 Conclusion References A Drop-In Phase Change Material-Based Augmented Cooling System for Track Capable Electric Vehicles 1 Introduction 2 Thermal Architecture with Augmented, Drop-In Heat Exchanger 3 Experimental Setup and Results to Evaluate Additional Heat Rejection with Drop-In Heat Exchanger 4 Modeling the Vehicle Level Benefits (Lap Time Improvement) Due to the Augmented Heat Exchanger 5 Summary References Decarbonizing Marine Sector: The Drop – In Solution of Marine Sustainable Fuels Following Their Lubricity Performance 1 Introduction 2 Results and Discussion 2.1 Drop-In Gas to Liquid (GtL) to Distillate Marine Fuel Oil (DMA) 2.2 Drop-In Hydrotreated Vegetable Oil (HVO) and Fatty Acid Methyl Ester (FAME) to Distillate Marine Fuel Oil (DMA) 3 Conclusion References On the Influence of the Actual Load Sharing Factor in Increasing the Power Density in Gearboxes 1 Introduction 2 Standard Procedure 3 Advanced Procedure 4 Case Study 5 Conclusions References Driveability Constrained Models for Optimal Control of Hybrid Electric Vehicles 1 Introduction 2 Simulation Model 3 EMS Design with Dynamic Programming 4 Case Study 5 Conclusions References Torsional Dynamic Performance of a Transmission Test Bench: An Investigation on the Effect of Motors Controllers Parameters 1 Introduction 2 Transmission Test Rig Description 3 Modelling and Simulation 4 Effect of PID Controller Gains 5 Conclusions References Special Session: Service Systems for Sustainability (coordinated by Maria Cristina Valigi) Sustainable Design of Machine Guards 1 Introduction 1.1 Background 2 Impact Tests and Ageing Process 2.1 Materials and Methods for Impact Tests 2.2 Materials and Methods for Ageing Tests 3 Deformation Analysis and Results 3.1 Deformation Analysis for Different Dimensions 3.2 Deformation Analysis for Different Ageing Conditions 4 Conclusions References Robotic System for Hand Rehabilitation Based on Mirror Therapy 1 Introduction 2 The Hand Rehabilitation Robotic System 3 Results 4 Conclusions References Development of Energy Optimization Strategies for Catenary-Free Tramways 1 Introduction 2 System Modelling 3 Test Case and Results 4 Conclusion and Further Developments References Multibody Simulation of an Underactuated Gripper for Sustainable Waste Sorting 1 Introduction 2 Materials and Methods 2.1 SynGrasp and Simscape Multibody Simulation 2.2 Custom Contact Models 3 Results and Discussion 4 Conclusions References Preliminary Study on a Handle with Haptic Devices for Collaborative Robotics in a Remote Maintenance Environment 1 Introduction 2 Instruments and Technologies 3 New Handle Development 4 Devices Testing and Comparison 4.1 Questionnaire for the Users 4.2 Comparing the Two Handles 5 Conclusions and Future Works References Joint Stiffness Analysis and Regulation for Underactuated Soft Grippers Based on Monolithic Structure 1 Introduction 2 Wave Joint with Variable Stiffness: Description and Model 2.1 The Wave-Gripper Structure 2.2 Overview on Twisted String Actuators 3 Joint Characterization 3.1 Characterization Based on FEM Analysis 3.2 Compression Tests 3.3 Compression and Bending Tests 3.4 Characterization Based on Experimental Tests 4 Conclusion References Author Index