Page 71 - ASME DSCC 2015 Program

Technical Program

A linear Time-Variant (lTV) Ionic-Polymer-Metal-Composite (IPMC) High-fidelity Modelling of an Electric Vehicle
electrical Model With effects of capacitors and resistors Contributed regular paper. DSCC2015-9743
Contributed regular paper. DSCC2015-9648 Shinhoon Kim, University of Waterloo, Niagara Falls, ON, Canada,
Yi-chu Chang, Miller-Eads Automation, Indianapolis, IN, United States, John McPhee, nasser Azad, Waterloo University, Waterloo, ON, Canada
Won-jong Kim, Texas A&M University, College Station, TX, United States
The development and validation of a high-fidelity dynamics model of an
For the development and application of various robots, researchers have electric vehicle is presented. The developed model is comprised of two
been looking for adequate materials for external structures and actuators. subsystems: i) the vehicle dynamics model, and ii) the electrical powertrain
Ionic polymer metal composite (IPMC), is a type of ionic electroactive poly- subsystem consists of the alternating-current (AC) induction motor, the
mer (EAP), and this material can exhibit large deflection with low external 3-phase pulse-width-modulation (PWM) inverter, and the motor controllers.
voltages (~5 V). This smart material can work in an aquatic environment At each stage of the development, the developed models are verified by
without the impact from the aquatic pressure, so a swimming robot is one of studying their simulation results. Also, vehicle testing is performed using a
popular applications of IPMC. Recently, several models in various methods reference electric vehicle and experimental powertrain data is measured
have been found to simulate output deflection. For example, some typical from the vehicle’s electrical powertrain controller area network (CAN) bus.
models based on cantilever beams or system identification tools have The experimental motor torque-speed curves are used to tune the AC
been used to provide models of IPMC systems. In this paper, however, an electric motor model parameters. Once the individual components are
electrical model with equivalent passive elements based on existing internal developed and validated, the high-fidelity electric vehicle system model
properties is introduced in order to model the system directly. On the other is created by assembling the MapleSim vehicle dynamics model and the
hand, the surface metallic electrodes and the internal Nafion® membrane electrical powertrain subsystem. The simulation results, such as the vehicle’s
can be modeled as equivalent resistors according to the properties. Finally, longitudinal speed and developed motor torque and currents, are presented
a novel linear time-variant (LTV) modeling method that is different from and studied to verify that the electric vehicle system can operate under dif-
conventional models is introduced and applied to an IPMC electrical model, ferent driving scenarios. The high-fidelity electric vehicle model will be used
built on the basis of the internal environment such as surface resistance, in future work to test and validate new power management controllers.
thickness, and water distribution related to the unique working principle of
Mathematical Modeling of Cardiopulmonary Resuscitation
IPMC. Eventually, most of the equivalent elements will change with time in
Contributed regular paper. DSCC2015-9978
operation, so this electrical model will be revised and describe the entire
Ali Jalali, Children’s Hospital of Philadelphia/ Villanova University, Devon,
system more accurately.
PA, United States, Robert A. Berg, Department of Anesthesiology and
Stick-Slip Interactions of the Soft-Solid Contact: An Integrated luGre/ Critical Care Medicine, Philadelphia, PA, United States, Vinay nadkarni,
Beam network Model Approach Children’s Hospital of Philadelphia, Philadelphia, PA, United States,
Contributed regular paper. DSCC2015-10002 C. nataraj, Villanova University, Villanova, PA, United States
Mitja Trkov, Rutgers University, MAE Department, Piscataway, NJ, United The cardiopulmonary resuscitation procedure (CPR) is a widely used proce-
States, Haijun Han, Yanjie liu, Harbin Institute of Technology, Harbin, dure for resuscitating cardiac arrest patients. Many physiological aspects of
Heilongjiang, China, Jingang Yi, Rutgers, The State University of New the procedure are not yet well understood. The first step for understanding
Jersey, Piscataway, NJ, United States and modeling such a complicated procedure is to develop an accurate
Contact model of the soft-solid interactions plays an important role for model of mechanical properties of the chest during CPR. In this paper we
robotic and mechatronic systems design. We present a new model of the propose a novel nonlinear model of the chest that captures the complex
soft-solid contact that integrates the LuGre dynamic friction model with the behavior of the chest during CPR. The proposed model consists of nonlinear
beam network model. The LuGre dynamic friction model uses the bristle elasticity and nonlinear damping along with frequency dependent hystere-
deformation to capture the friction characteristics and dynamics while the sis. We use an optimization technique to estimate the model coefficients for
beam network model represents the elastic contact interactions. The new force-compression data collected from careful experiments conducted on
model is applied to a fingertip-like stick-slip interaction application. We swine. The results show excellent agreement.
present the model prediction and validation results with the experiments.
The comparison results demonstrate the effectiveness of the modeling
development.

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