This paper presents a study on the effect of the ratio of biodiesel and injection timing on the performance of diesel engines and their emissions. The research engine is a cylinder engine AVL-5402, simulated by software AVL-Boost. The simulated fuel includes fossil diesel and biodiesel blended with a replacement rate from 0% to 50%, with a simulation mode of 2200 (rev/min), at a rate of a 25%, 50% and 75% load. In this speed range, the engine has the lowest fuel consumption. The parameters to be evaluated are power, fuel consumption and emissions, based on the proportions of blended biodiesel. The results show that there is a relationship between the proportion of blended biodiesel, injection timing and the parameters of the engine. Specifically, the ratio of the biodiesel blend increases, injection timing tends to move closer to the top dead center (TDC), the tendency reduce engine power, fuel consumption increases, the emissions of CO and soot reduces, while NOx increases.
Actuator fau lts of robot man ipulators may occur during their lifet ime after long time in operation. There are several kinds of actuator failures such as locked joints, free-swinging joints, and loss of actuator torque effectiveness. The main goals of this paper are (i) to classify the loss of torque effectiveness, called torque degradation, into three divergent cases: Boundary Degradation of Torque (BDT), Boundary Degradation of Torque Rate (BDTR), and Proportional Degradation of Torque (PDT); and (ii) to analyze their effect on behavior of a typical industrial robot. The possible failures might degrade the whole system performance or in some certain cases leading to unavoidable damages. In normal operation, we do not have a controller designed specifically for these faults. In order to have a better understanding on how the mentioned problems affect robot operations, with an assumption that the knowledge of robot parameters are known, a closed-loop control law is used to demonstrate the control ability in dealing with these cases. By taking advantage of MATLAB/Simscape Multibody, the quasi-physical model of robot is employed instead of expensive prototypes and experiments. Simulat ion results show that the joint responses according to different types of failures. In many cases, the robot cannot track the reference trajectories properly.
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