18

RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

  • Upload
    others

  • View
    9

  • Download
    0

Embed Size (px)

Citation preview

Page 1: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple
Page 2: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

RECENT ADVANCES in ROBOTICS, AERONAUTICAL and

MECHANICAL ENGINEERING

Proceedings of the 1st International Conference on Mechanical and Robotics Engineering (MREN '13)

Proceedings of the 1st International Conference on Aeronautical and Mechanical Engineering (AEME '13)

Vouliagmeni, Athens, Greece May 14-16, 2013

Scientific Sponsors:

University Politehnica

of Bucharest University of

Petrosani

University of

Craiova TEI of Athens

Recent Advances in Mechanical Engineering Series | 4 ISSN: 2227-4596

ISBN: 978-1-61804-185-2

Page 3: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

RECENT ADVANCES in ROBOTICS, AERONAUTICAL and MECHANICAL ENGINEERING

Proceedings of the 1st International Conference on Mechanical and Robotics Engineering (MREN '13) Proceedings of the 1st International Conference on Aeronautical and Mechanical Engineering (AEME '13)

Vouliagmeni, Athens, Greece May 14-16, 2013

Published by WSEAS Press www.wseas.org Copyright © 2013, by WSEAS Press All the copyright of the present book belongs to the World Scientific and Engineering Academy and Society Press. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the Editor of World Scientific and Engineering Academy and Society Press. All papers of the present volume were peer reviewed by no less that two independent reviewers. Acceptance was granted when both reviewers' recommendations were positive. See also: http://www.worldses.org/review/index.html

ISSN: 2227-4596 ISBN: 978-1-61804-185-2

Page 4: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

RECENT ADVANCES in ROBOTICS, AERONAUTICAL and

MECHANICAL ENGINEERING

Proceedings of the 1st International Conference on Mechanical and Robotics Engineering (MREN '13)

Proceedings of the 1st International Conference on Aeronautical and

Mechanical Engineering (AEME '13)

Vouliagmeni, Athens, Greece May 14-16, 2013

Page 5: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple
Page 6: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Editors: Prof. Tohru Kawabe, University of Tsukuba, Japan. Prof. Mihaiela Iliescu, "Politehnica" University of Bucharest, Romania. Prof. Adrian Florin Nicolescu, "Politehnica" University of Bucharest, Romania. Prof. Konstantin Volkov, Kingston University, UK. Reviewers: Hung-Jen Yang Calbureanu Popescu Madalina Xenia Petr Mastny Hessam Ghasemnejad Elena Mereuta Jose Alberto Duarte Moller Dana Anderson Isaac Yeboah Mihaela Dudita Vasile Cojocaru Nikos Loukeris Mehdi Safari Avijit Maji Guido Izuta Gilbert-Rainer Gillich Luís Roseiro Vishnu Pratap Singh Kirar Eustache Muteba Ayumba Saheeb Ahmed Kayani Chandrasekaran Subramaniam Heimo Walter Al Emran Ismail Hamed Ziaeipoor Chandrasekaran Manoharan Hugo Rodrigues Mihaiela Iliescu Natasa Trisovic Damelys Zabala Ioana Diaconescu Christos Volos Konstantin Volkov Masaji Tanaka Mohammad D. Al-Tahat Valeriy Perminov Gillich Gilbert-Rainer Badrul Aisham Md Zin Sorinel Oprisan Srdjan Bosnjak Igor Astrov Marius Marcu Hime Aguiar Najib Altawell Ibrahim Canak Valentina E. Balas Claudio Guarnaccia George D. Verros Kannan K. Vipul Arvindbhai Shah Zaini Ahmad Mariya Aleksandrova Cristian Patrascioiu

Ioan Doroftei Elena Scutelnicu Diana Cotoros Ioana Adrian Zengshi Chen Nicolae Patrascoiu Muhammad Musaddique Ali Rafique Hossein Afshar Lesley Farmer Kostantinos Kalovrektis Krisztina Uzuneanu Yasser Mohammad Chao Wang Miguel Angel Vigil Berrocal Calin Ciufudean Madalina Xenia Dan Victor Cavaropol Yogesh Kumar Alina Adriana Minea Csaki (Apostolescu) Ioana Roots Larissa Oguz Arslan Guoxiang Liu Sorin Gherghinescu Josip Music Aron Poanta Chunwei, Lu Wini Lu Musa Mailah Yuqing Zhou Santoso Wibowo Ngo Van Hien M. M. Noor

Page 7: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple
Page 8: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Preface This year the 1st International Conference on Mechanical and Robotics Engineering (MREN '13) and the 1st International Conference on Aeronautical and Mechanical Engineering (AEME '13) were held in Vouliagmeni, Athens, Greece, May 14-16, 2013. The conferences provided a platform to discuss mechanics of nanomaterials, advanced materials and smart structures, autonomous vehicles, human-robot interaction, robot intelligence, control and supervision systems, image processing, mathematical modeling in fluid mechanics, wave modeling, atmospheric chemistry, alternative fuels etc with participants from all over the world, both from academia and from industry.

Their success is reflected in the papers received, with participants coming from several countries, allowing a real multinational multicultural exchange of experiences and ideas.

The accepted papers of these conferences are published in this Book that will be sent to international indexes. They will be also available in the E-Library of the WSEAS. Extended versions of the best papers will be promoted to many Journals for further evaluation.

Conferences such as these can only succeed as a team effort, so the Editors want to thank the International Scientific Committee and the Reviewers for their excellent work in reviewing the papers as well as their invaluable input and advice.

The Editors

Page 9: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple
Page 10: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Table of Contents

Plenary Lecture 1: Authentication And Secure Robot Communication 12

Evangelos A. Yfantis

Plenary Lecture 2: The Robot Real Time Control Using the Extenics Multidimensional Theory 13

Luige Vladareanu

Plenary Lecture 3: Application of Nano Fluids in Machining 14

Krishna Mohana Rao Gurram

Plenary Lecture 4: The Flow of Gravity Currents and Intrusions: A Test-Case for the Power and Limitations of Simple Mathematical Models in the Prediction of Complex Phenomena

15

Marius Ungarish

Plenary Lecture 5: Features of the Universe Simulators Based on the Variability of Time Measurement Standards

16

Vitaly O. Groppen

The Robot Real Time Control using the Extenics Multidimensional Theory 17

Luige Vladareanu, Ovidiu I. Sandru, Victor Vladareanu

Bayesian Approach of Simultaneous Localization and Mapping (SLAM) in a Wireless Sensor Networks Navigation for Mobile Robots in Non-Stationary Environments

25

Victor Vlădăreanu, Gabriela Tonţ, Paul Schiopu

Risk-Based Approach in Availability Management for Dynamical Complex Systems 31

Gabriela Tonţ, Victor Vlădăreanu

Effect of Inlet on Efficiency and Flow Pattern in Centrifugal Fan using CFD Analysis and Experimental Validation

37

Mojtaba Gholamian, Gurram Krishna Mohana Rao, Panitapu Bhramara

Analysing the Defects of the Pumps Composing the Lubricating System of the Pressure Bearing of the EsRc 1400 Type Excavator

45

Vlad Florea, Walter Loga, Moldovan Ana Codruta

Increasing the NC Axes Positioning Accuracy through Positioning Error Software Compensation 51

Avram Georgia-Cezara, Nicolescu Florin Adrian, Dumitrache-Rujinski Alexandru, Popa Stelian

Experiment for Determining the Global Static Stiffness of Articulated-Arm Industrial Robots 57

Ivan Mario, Nicolescu Adrian, Ghinea Mihai, Popa Stelian

Volumetric Accuracy Experimental Evaluation and 3D Error Map Generation for a Kawasaki FS 10 E Articulated Arm Industrial Robot

63

Nicolescu Adrian, Ivan Mario, Avram Cezara, Dobrescu Tiberiu

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 9

Page 11: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Plane Lapping Process of Silicon Wafers 69

Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu

Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple Fingers 73

P. Ravi Kumar, G. Krishna Mohana Rao, K. C. Sudha Rani

Effect of Process Parameters on Surface Roughness in Turning of Titanium Alloy under Different Conditions of Lubrication

83

M. Venkata Ramana, G. Krishna Mohan Rao, D. Hanumantha Rao

Effect of Plate Aspect Ratio on Buckling Strength of Rectangular Composite Plate with Square/rectangular Cutout Subjected to Various Linearly Varying In-Plane Loading Using Fem

92

A. Lakshmi Narayana, Krishnamohana Rao, R. Vijaya Kumar

Virtual User Interface for Industrial Robots Off-Line Programming & Simulation and Video Cam On-Line Remote Operation

100

Stelian Popa, Adrian Nicolescu, Mario Ivan, Nicoleta Pascu

The Simulation of the Stepper Motor with Variable Reluctance by Matlab-Simulink 106

Ghinea Mihalache, Avram Cezara, Dobrescu Tiberiu, Balan Emilia

RFID Technology in Industrial Logistics: Basics and Applications for Shelves 112

Enciu George, Popescu Adrian, Constantin George, Amza Catalin

Contributions to the Elastodynamic Analysis of Mobile Mechanical Systems Using Finite ElementMethod

116

Nicolae Dumitru, Raluca Malciu, Madalina Calbureanu

Influence of the Hysteretic Response on the Inelastic Displacement Demand for Long Control Period Ground Motions

122

Viorel Popa, Vasile Oprisoreanu, Emil Albotă, Mădălina Călbureanu

Processing of GPS Data for Mobile Robot 128

Jaroslav Hanzel, František Duchoň, Jozef Rodina, Peter Pásztó

The Vertical Forces Variation at the Vehicle Wheels in the Case of Supplementary Loads in the Non-Steady Motion

134

Mihaela-Liana Bogdan, Dumitru Bolcu, Simniceanu Loreta

The Extension Real Time Control Method for Restoring the Robot Equilibrium Position 137

Nicolae Pop, Luige Vladareanu, Alex Gal

Design of a Landing Control System which considers Dynamic Ground Effect for an Unmanned Airplane

143

Pedro J. González, Pedro J. Boschetti, Elsa M. Cárdenas, Miguel Rodríguez

Features of the Universe Simulators Based on the Variability of Time Measurement Standards 149

Vitaly O. Groppen

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 10

Page 12: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Gravity as a Sum of Reaction Forces 155

Vitaly O. Groppen

Gravity Control Possibility Verification 161

Vitaly O. Groppen

Inertia as a Sum of Reaction Forces 167

Vitaly O. Groppen

Some Aspects Regarding the Changing of Static Longitudinal Stability of the Aircraft in Vertical Gusts Conditions

173

Octavian Preotu

Fuel Injection Dosage Control System with Air Pressure Correction 177

Alexandru-Nicolae Tudosie

Aircraft Jet Engine Embedded Afterburning Automatic Control System 183

Alexandru-Nicolae Tudosie

The Evaluation of Lateral Drifts Demands for Structures Considering Second Order Effects 189

Fadei Elena Gabriela, Emil Albota, Viorel Popa, Madalina Calbureanu

Fuzzy Logic Control of Fuel Cell Based Power Source for Aerospace Applications 195

Jenica Ileana Corcau, Liviu Dinca, Teodor Lucian Grigorie, Alexandru Tudosie

Considerations Concerning Modelling, Analysis and Design of a DC-DC Boost Converter using MULTISIM

201

Liviu Dinca, Jenica Ileana Corcau, Teodor Lucian Grigorie, Alexandru Tudosie

A Study of Aileron Control Efficiency in Vertical Gusts Conditions 207

Octavian Preotu

About the Capacitive Sensing of the Acceleration in Miniaturized Strap-Down Inertial Navigation Systems

211

Teodor Lucian Grigorie, Petre Negrea, Jenica Ileana Corcau, Nicolae Alexandru Tudosie, Liviu Dinca

Research about Mechanical Vibrations and Shocks at the Processing on Shaping-Machine 218

Mihaela-Liana Bogdan

Performance Evaluation of Eco-Friendly Nanofluids in Machining 221

Krishna Mohana Rao G., Padmini R., Vamsi Krishna S.

Experimental Studies on Properties of Chromite-based Resin Bonded Sand System 230

Surekha Benguluri, Hanumantha Rao Darwada, Krishnamohan Rao Gurram, Pandu Ranga Vundavilli

Authors Index 239

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 11

Page 13: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Plenary Lecture 1

Authentication And Secure Robot Communication

Professor Evangelos A. Yfantis Director of the ICIS Laboratory

Professor of Computer-Robot-Machine-Vision and Machine Intelligence Computer Science Department

Engineering College of the University of Nevada USA

E-mail: [email protected] Abstract: The majority of industrial, educational, medical and other robots have internet connection for wireless communication to their file server, and communication with one another. Wireless communication makes the devices vulnerable to hacker attacks, considering that many of these devices often times are not well protected. Hackers therefore target robots and use them as an entry point to the robot’s organization network in order to either obtain scientific and technical information illegally, or cause distraction to the organizational network. We provide a method for secure wireless communication in this case with secret key distribution along with confidentiality and authentication. Our system includes public private key cryptography along with session key generation and symmetric key cryptography. The Public private key is generated using elliptic curves y2=x3+ax2+b mod p where 0≤x,y≤p-1 and 1≤a,b≤p-1. The coefficients a, b are chosen so that the genus 1 elliptic curve expressed by the Weierstrass equation is nonsingular and therefore satisfies the condition 4a3+27b2≥0 p is chosen to be a 256-bit prime number, thus we developed 512 software bit registers in our board to perform 256 bit multiplications and divisions. Brief Biography of the Speaker: E. A. Yfantis, is the director of the ICIS lab. And a full professor of Computer Science, which is part of the Engineering College at the Unversity of Nevada, Las Vegas. Dr. Yfantis is the author of over 200 reseach papers and technical reports in the areas of Computer Science, Information theory, Internet Intelligence, Signal Processing, Communication, Statistical Pattern Recognition, Probability theory, Statistics, Ocean Engineering, Aerodynamics, Electrical Engineering, Medicine, Visualization, Enviromental Protection, and Chemometrics. He has been a consultant for NASA, Los Alamos Scientific Laboratory, Sandia Laboratories, Lawrence Livermore Laboratories, EG&G, Naval Ocean System Center in Santiego California, Corps of Engineers U.S. Army, Lockheed Engineering and Aerospace, Northrop, NSTeC, U.S. EPA, U.S. Department of Energy, SGI, Exxon Corporation, Shell Oil Company, Bedix Corporation, Nevada Gaming Control Board, and many other companys in the US and Canada. His Education includes: Computer Science, Mathematics, Signal Processing, Statistics, Aeronautics, Ocean Engineering, and Electrical Engineering. He was educated at the Universities of: Athens Greece, Rutgers University in New Brunswick, N.J. U.S.A., New Jersey Institute of Technology, Newark, N.J., Fairleigh Dickinson University, Teaneck, N.J., U.S.A., University of Wyoming, Laramie, U.S.A., Columbia University in N.Y., N.Y., U.S.A, the University of Delaware, Newark, Delaware, U.S.A., School of Aeronautics in Teteboro N.J., U.S.A. He holds a Pilot’s License, and is a certified Scuba Diver by PADI. Hi current research interests are Computer-Robot Vision, Machine Vision, Machine Intelligence, Statistical Pattern Recognition, and Multimedia Communication.

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 12

Page 14: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Plenary Lecture 2

The Robot Real Time Control Using the Extenics Multidimensional Theory

Professor Luige Vladareanu Head of Robotics and Mechatronics Department

Romanian Academy, Institute of Solid Mechanics, Bucharest Romania

E-mail: [email protected] Abstract: The paper presents new concepts and approaches for solving contradictory problems in the constrained motion robot control using extenics multidimensional theory. Starting from the extension distance defined by Prof. Cai Wen, the founder of Extenics and using the linear and non-linear attraction point principle and the network of attraction curves, there is determined the 2D space Dependent Function generated by position and force in relation to Standard Positive Field for a active compliant control. The generalization of the extension distance and dependent function to two dimensions through Extenics multidimensional theory, eliminates the crisp logic matrix of Cantor logic which describes the position-force sequences. Defining the location value of a point and processing of the dependent function of a point on a single finit interval from one dimension, force or position, to two dimensions, force and position, the architecture of the extension hybrid force-position control was developed applying the dynamic feedback control with resolved acceleration, followed by processing of the final error through fuzzy control. Using extended transformations onto the real numbers set and an optimization function generated by the extended dependence function in 2 D space, the final conclusions lead to a methodology that allows obtaining high level results for hybrid position-force control in comparison to the classical method using sequential logic matrices corresponding to Cantor logic. The obtained results, by applying this advanced method of the extension hybrid force-position control, have allowed relaxation of the control system, improving the motion accuracy in conditions of high stability of the robotics and mechatronics systems. Brief Biography of the Speaker: Luige Vladareanu received Ph.D. degree in electronics field from the Institute of Solid Mechanics of Romanian Academy, in 1998. From 2003, Ministry of Education and Research, executive Department for Financing Superior Education and of Scientific University Research - High Level Expert Consulting for MEC/CNCSIS project, from 2003-2005, member of Engineering Science Committee of Romanian National Research Council, from 2005, Scientific Researcher Gr.I (Professor) of Romanian Academy, from 2009 Head of Robotics and Mechatronics Department of Institute of Solid Mechanics, Romanian Academy. His scientific work is focused on real time control in solid mechanics applied in robot trajectory control, hybrid position – force control, multi-microprocessor systems for robot control, acquisition and processing of experimental physical data, experimental methods and signal processing, nano-micro manipulators, semi-active control of mechanical system vibrations, semi-active control of magnetorheological dissipaters systems, complex industrial automations with programmable logical controllers in distributed and decentralized structure. He has published over 35 books and book chapters, 11 edited books, over 200 papers in journals, proceedings and conferences in the areas. Director and coordinator of over 15 grants of international and national research – development programs in the last 5 years, 15 invention patents, developing 17 advanced work methods resulting from applicative research activities and more then 60 research projects. He is the winner of the two Prize and Gold of Excellence in Research 2000, SIR 2000, of the Romanian Government and the Agency for Science, Technology and Innovation. 9 International Invention and Innovation Competition Awards and Gold of World’s Exhibition of Inventions, Geneva 2007 - 2009, and other 9 International Invention Awards and Gold of the Brussels, Zagreb, Bucharest International Exhibition. He received “Traian Vuia” (2006) award of the Romanian Academy, Romania’s highest scientific research forum, for a group of scientific papers published in the real time control in the solid mechanics. He is a member of the International Institute of Acoustics and Vibration (IIAV), Auburn University, USA (2006), ABI´s Research Board of Advisors, American Biographical Institute (2006), World Scientific and Engineering Academy Society, WSEAS (2005), International Association for Modelling and Simulation Techniques in Enterprises - AMSE, France (2004), National Research Council from Romania(2003-2005), etc. He is a PhD advisor in the field of mechanical engineering at the Romanian Academy. He was an organizer of several international conferences such as the General Chair of four WSEAS International Conferences (http://www.wseas.org/conferences/2008/romania/amta/index.html), chaired Plenary Lectures to Houston 2009, Harvard, Boston 2010 and Penang, Malaysia 2010, Paris 2011 to the WSEAS International Conferences, is team leader of WSEAS scientific research project: Mechanics & Robotics Systems and is serving on various other conferences and academic societies.

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 13

Page 15: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Plenary Lecture 3

Application of Nano Fluids in Machining

Professor Krishna Mohana Rao Gurram JNTUH College of Engineering

India E-mail: [email protected]

Abstract: This paper focuses on the application of eco friendly nano fluids in machining processes like turning. One of the most critical factors which determine the work piece quality is the heat generated at cutting zone during machining operations. Conventional cutting fluids are vastly employed to dissipate the heat generated during machining. In spite of their wide use, conventional cutting fluids do cast a check to the health of workers and ecological balance. Owing to this reason, researchers have initiated the search for ecologically safe and user friendly alternatives to conventional cutting fluids. In this context, experiments are being carried out by researches to assess the performance of vegetable oil based nano cutting fluids in machining. An attempt is made in this paper to present the affirmative performance of nano solid lubricant suspensions in vegetable oils in turning of AISI1040 steel in minimum quantity lubrication (MQL). Nano cutting fluids are prepared using three vegetable oils, they being canola, coconut and soy bean oils, which act as base lubricants with suspensions of 100nm sized boric acid particles. Characterization of nano particles is done by X-Ray Diffraction (XRD) to confirm their purity. Particle size analyzer is used to check the particle size of nano solid lubricant. To check the viability of nano lubricants in machining, variation of basic properties like thermal conductivity, specific heat and heat transfer coefficient are evaluated from empirical relations. The variation of cutting tool temperatures, average tool flank wear and surface roughness of the machined surface with cutting speed and feed are studied with the prepared nano cutting fluids. It has been observed results are encouraging, especially among the three oils used coconut oil based nano cutting fluid has exhibited better performance. Brief Biography of the Speaker: G. Krishna Mohana Rao is a member of ASME, ISTE, IE(I). He was born at Machilipatnam, AP, India on 05.05.1970. He received his bachelors’ degree in mechanical engineering from Nagarjuna University, AP, India in the year 1992. Later, he was awarded masters degree in mechanical engineering by the Indian Institute if Science, Bangalore, India in the year 1994. He received his doctoral degree in mechanical engineering from JNT University, Hyderabad, AP, India in the year 2007. He has been working for JNT University, AP, India since 1994. He is on the review board for many international journals. He has published 40 technical papers in international journals and conferences. He co-authored a book on engineering mechanics published by Pearson education. He visited countries including USA, UK, Egypt, UAE, China, Malaysia, Singapore, Hongkong, Thailand, Italy, Switzerland and Austria for presenting his papers in various international conferences. His areas of research include non-traditional machining, casting, welding. Presently, he is guiding 13 research students in the area of mechanical engineering.

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 14

Page 16: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Plenary Lecture 4

The Flow of Gravity Currents and Intrusions: A Test-Case for the Power and Limitations of Simple Mathematical Models in the Prediction of Complex Phenomena

Professor Marius Ungarish Department of Computer Science

Technion - Israel Institute of Technology Israel

E-mail: [email protected] Abstract: A gravity current appears when fluid of one density, ρc, propagates into another fluid of a different density, ρa, and the motion is mainly in the horizontal direction. A gravity current is formed when we open the door of a heated house and cold air from outside flows over the floor into the less dense warm air inside. A gravity current is formed when we pour honey on a pancake and we let it spread out on its own. A gravity current which propagates inside a stratified fluid (rather than along a boundary) is called “intrusion.” Gravity currents (intrusions) originate in many natural and industrial circumstances and are present in the atmosphere, lakes and oceans as winds, cold or warm streams or currents, polluted discharges, volcanic ash clouds, etc. The efficient understanding and prediction of this phenomenon is important in numerous industrial, geophysical, and environmental circumstances. Simple qualitative consideration and observations indicate that the gravity current is a very com- plex, multi-faced, and parameter-rich physical manifestation. Nevertheless, the gravity current also turns out to be a modeling-friendly phenomenon. Indeed, visualizations of the real flow field reveal an extremely complicated three-dimensional motion, with an irregular interface, billows, mixing, and instabilities. The accurate numerical simulation of this flow from the full set of governing equations (the Navier-Stokes system) requires weeks of number-crunching on powerful computer arrays. On the other hand, there are “mathematical models” for the gravity current, whose derivation is based on a long line of assumptions such as hydrostatic pressure, sharp interface, Boussinesq system, thin layer, idealized release conditions. This simplified set of equations enables us to determine the behavior of the averaged variables entirely from analytical considerations and/or numerical solutions that require insignificant CPU time. The lecture gives a brief presentation of some typical models and solutions. We show that: (a) Qualitatively, the simplified theory is able to provide the governing dimensionless parameters and the salient features of the various flow regimes; and (b) Quantitatively, the simple models predict velocities of propagation which agree with experiments and full Navier-Stokes simulations within a few percent, typically within the range of the experimental errors. We argue that the gravity-current analysis can be considered a test-case for the methodology of flow-field modelling: the fact that simple models give useful predictions is a result of well-selected physical components. The implementation of this conclusion in the selection of reliable tools for practical applications is discussed. Brief Biography of the Speaker: Ungarish is presently George Farkas Professor in the Department of Computer Science at the Technion, Israel Institute of Technology, Haifa. His research is focused on modelling, simulation and interpretation of fluid dynamic problems. He graduated Cum Laude in Aeronautical Engineering at the Technion, and did his DSc at the same institute in Applied Mathematics on the simulation and modelling of rotating fluids. He continued his work on similar problems at MIT in the department of Applied Mathematics as a Rothschild and Bantrell post-doc (with H. P. Greenspan) and lec- turer. He has held numerous visiting positions including at MIT, University of Cambridge DAMTP, Technical University Vienna, Institut Polytechnique de Grenoble, University of Witwatersrand at Johannesburg, University of Florida at Gainesville, and National Taiwan University at Taipei. Ungarish is an authority in modelling and investigation of motion of complex fluids in the presence of gravity, centrifugal and Coriolis forces. He made fundamental contributions to the understanding, modelling and simulation of spin-up processes (of suspensions, stratified fluids, and magnetohydro- dynamical fluids), the Taylor column effect, and propagation of gravity currents and intrusion, in particular for stratified and non-Boussinesq systems (a topic of high relevance to environmental flows like propagation of pollutants, volcanic ash clouds, oil slicks over the sea surface, and similar phe- nomena). He published numerous research papers on these topics in prestigious journals, contributed the chapter on gravity currents in the recent “Handbook of Environmental Fluid Dynamics” (edited by H. J. Fernando, CRC Press, Taylor and Francis Group, 2012), and wrote two well-received books: “Hydrodynamics of Suspensions: Fundamentals of Centrifugal and Gravity Separation,” Springer- Verlag, 1993; and “An Introduction to Gravity Currents and Intrusions,” CRC Press, Taylor and Francis Group, 2009.

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 15

Page 17: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Plenary Lecture 5

Features of the Universe Simulators Based on the Variability of Time Measurement Standards

Professor Vitaly O. Groppen Scientific-Research Institute of Applied and Theoretical Informatics

North-Caucasian Institute of Mining and Metallurgy Vladikavkaz, Russia

E-mail: [email protected] Abstract: The proposed approach is based on the combination of differential equation reflecting linear measurement standards variability and of the Hubble Law used for new Universe simulators development, describing gravity and inertia as manifestations of reaction forces. Also this approach on the one hand permits us to predict some important features of the Universe, such as spontaneous growth of distance between two resting objects detected by an observer at one of these objects, and on the other hand it gives us new interpretation of known facts, such as galaxies scattering, constancy of any solid body linear dimensions in time, as well as constancy of mass of stable physical objects. Presented are results and conditions of gravity control experiments based on the developed models. Brief Biography of the Speaker: Vitaly Groppen graduated from the North-Caucasian Institute of Mining and Metallurgy, Russia in 1967. In the 1960s he worked as an Assistant Professor at the Department of Industrial Electronics in the North-Caucasian Institute of Mining and Metallurgy, Vladikavkaz, North Ossetia, Russia. In 1973 he graduated from postgraduate courses in the Institute of Control Science of Russian Academy of Sciences (Moscow, 1970 – 1973) and worked as the Head of Computing Centre of North-Caucasian Institute of Mining and Metallurgy (1973 – 1980) and as an assistant (1973 – 1976) and as Docent (1976 -1988) at the Department of Mathematics in the same institution. In the 1980s he continued as Senior Specialist of the Data Processing Department in the Dresden Technical University (German Democratic Republic, Dresden, 1980), and in the Leipzig Technical Higher School (German Democratic Republic, Leipzig, 1985). Since 1987 until 1989 he is Professor and Head of the Department of Mathematics in the North-Caucasian Institute of Mining and Metallurgy, North Ossetia, Russia, but from 1989 until now – founder and head of the Automated Data Processing Department in the same Institution. In the 1990s he was a visiting Lecturer in the Catalonia Technical University (Barcelona, Spain, 1990) and in the LG Research Centre (Seoul, Republic Korea, 1995). Since 1999 he is member of European Mathematical Society and since 2008 he is the Director of the Scientific-Research Institute of Applied and Theoretical Informatics (Vladikavkaz, North Ossetia, Russia). His research interests are focused on mathematical modeling, astronomy, physics, optimization theory and its’ applications, graphs theory, discrete programming, theory of games, taxonomy, solutions making theory, computer aided images processing, optimal program codes design. He is the author of 125 papers, 5 patents and 7 monographs.

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 16

Page 18: RECENT ADVANCES in ROBOTICS,Gabriel Tiberiu Dobrescu, Elisabeta Nicoleta Pascu, Mihai Ghinea, Adrian Popescu Non Linear Static and Dynamic Analysis of End Milling Cutter with Multiple

Authors Index

Albotă, E. 122, 189 Kumar, P. R. 73 Amza, C. 112 Kumar, R. V. 92 Avram, G.-C. 51, 63, 106 Loga, W. 45 Balan, E. 106 Malciu, R. 116 Benguluri, S. 230 Narayana, A. L. 92 Bhramara, P. 37 Negrea, P. 211 Bogdan, M.-L. 134, 218 Nicolescu, F. A. 51, 57, 63 Bolcu, D. 134 Nicolescu, F. A. 100 Boschetti, P. J. 143 Oprisoreanu, V. 122 Călbureanu, M. 116, 122, 189 Padmini, R. 221 Cárdenas, E. M. 143 Pascu, E. N. 69, 100 Codruta, M. A. 45 Pásztó, P. 128 Constantin, G. 112 Pop, N. 137 Corcau, J. I. 195, 201, 211 Popa, S. 51, 57, 100 Darwada, H. R. 230 Popa, V. 122, 189 Dinca, L. 195, 201, 211 Popescu, A. 69, 112 Dobrescu, G. T. 63, 69, 106 Preotu, O. 173, 207 Duchoň, F. 128 Ramana, M. V. 83 Dumitrache-Rujinski, A. 51 Rani, K. C. S. 73 Dumitru, N. 116 Rao, D. H. 83 Enciu, G. 112 Rao, G. K. M. 37, 73, 83 Fadei, E. G. 189 Rao, G. K. M. 92, 221, 230 Florea, V. 45 Rodina, J. 128 Gal, A. 137 Rodríguez, M. 143 Ghinea, Mihai 57, 69 Sandru, O. I. 17 Ghinea, Mihal. 106 Schiopu, P. 25 Gholamian, M. 37 Simniceanu, L. 134 González, P. J. 143 Tonţ, G. 25, 31 Grigorie, T. L. 195, 201, 211 Tudosie, A.-N. 177, 183, 195 Groppen, V. O. 149, 155, 161 Tudosie, A.-N. 201, 211 Groppen, V. O. 167 Vladareanu, L. 17, 137 Hanzel, J. 128 Vlădăreanu, V. 17, 25, 31 Ivan, M. 57, 63, 100 Vundavilli, P. R. 230 Krishna, V. S. 221

Recent Advances in Robotics, Aeronautical and Mechanical Engineering

ISBN: 978-1-61804-185-2 239