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A consortium of interested parties has conducted an experimental characterization of two Tau parallel kinematic machines which were built as a part of the EU-funded project, SMErobot1. Characteristics such as machine stiffness, work envelope, repeatability and accuracy were considered. This paper will present a brief history of the Tau parallel machine, the results of this testing and some comment on prospective application to the aerospace industry.

In the last couple of decades, countries have enacted new laws concerning environmental pollution caused by heavy-duty commercial and passenger vehicles. This is done mainly in an effort to reduce smog and health impacts caused by the different pollutions. One of the legislated pollutions, among a wide range of regulated pollutions, is nitrogen oxides (commonly abbreviated as NOx). The SCR (Selective Catalytic Reduction) was introduced in the automotive industry to reduce NOx emissions leaving the vehicle. The basic idea is to inject a urea solution (AdBlue™) in the exhaust gas before the gas enters the catalyst. The optimal working temperature for the catalyst is somewhere in the range of 300 to 400 °C. For the reactions to occur without a catalyst, the gas temperature has to be at least 800 °C. These temperatures only occur in the engine cylinder itself, during and after the combustion.

CO2 is a greenhouse gas that is believed to be one of the main contributors to global warming. Recent studies show that a combination of methanol as a renewable fuel and advanced combustion concepts could be a promising future solution to alleviate this problem. However, high unburned hydrocarbon (UHC) and carbon monoxide (CO) emissions can be stated as the main drawback in low load operations when using methanol under advanced combustion concepts. This issue can be mitigated by modifying the stratification of the local equivalence ratio to achieve a favorable level. The stratifications evolved, and the regimes that can simultaneously produce low emissions, and high combustion efficiency can be identified by sweeping the injection timing from homogeneous charge compression ignition (HCCI) to partially premixed combustion (PPC). Understanding how the stratification of the local equivalence ratio for methanol evolves during the sweep is essential to gain these benefits.

Methanol is not a fuel typically used in compression ignition engines due to the high resistance to auto-ignition. However, conventional diesel combustion and PPC offer high engine efficiency along with low HC and CO emissions, albeit with the trade-off of increased NOx and PM emissions. This trade-off balance is mitigated in the case of methanol and other alcohol fuels, as they bring oxygen in the combustion chamber. Thus methanol compression ignition holds the potential for a clean and effective alternative fuel proposition. Most existing research on methanol is on SI engines and very little exists in the literature regarding methanol auto-ignition engine concepts. In this study, the spray characteristics of methanol inside the optically accessible cylinder of a DI-HD engine are investigated. The liquid penetration length at various injection timings is documented, ranging from typical PPC range down to conventional diesel combustion.

The focus has recently been directed towards the engine out soot from Diesel engines. Running an engine in PPC (Partially Premixed Combustion) mode has a proven tendency of reducing these emissions significantly. In addition to combustion strategy, several studies have suggested that using alcohol fuels aid in reducing soot emissions to ultra-low levels. This study analyzes and compares the characteristics of PM emissions from naphtha gasoline PPC, ethanol PPC, methanol PPC and methanol diffusion combustion in terms of soot mass concentration, number concentration and particle size distribution in a single cylinder Scania D13 engine, while varying the intake O2. Intake temperature and injection pressure sweeps were also conducted. The fuels emitting the highest mass concentration of particles (Micro Soot Sensor) were gasoline and methanol followed by ethanol. The two alcohols tested emitted nucleation mode particles only, whereas gasoline emitted accumulation mode particles as well.

The effects of injection pressure and swirl ratio on the in-cylinder soot oxidation are studied using simultaneous PLIF imaging of OH and LII imaging of soot in an optical diesel engine. Images are acquired after the end of injection in the recirculation zone between two adjacent diesel jets. Scalars are extracted from the images and compared with trends in engine-out soot emissions. The soot emissions decrease monotonically with increasing injection pressure but show a non-linear dependence on swirl ratio. The total amount of OH in the images is negatively correlated with the soot emissions, as is the spatial proximity between the OH and soot regions. This indicates that OH is an important soot oxidizer and that it needs to be located close to the soot to perform this function. The total amount of soot in the images shows no apparent correlation with the soot emissions, indicating that the amount of soot formed is a poor predictor of the emission trends.

The engine concept partially premixed combustion (PPC) has proved higher gross indicated efficiency compared to conventional diesel combustion engines. The relatively simple implementation of the concept is an advantage, however, high gas exchange losses has made its use challenging in multi-cylinder heavy duty engines. With high rates of exhaust gas recirculation (EGR) to dilute the charge and hence limit the combustion rate, the resulting exhaust temperatures are low. The selected boost system must therefore be efficient which could lead to large, complex and costly solutions. In the presented work experiments and modelling were combined to evaluate different turbocharger configurations for the PPC concept. Experiments were performed on a multi-cylinder engine. The engine was modified to incorporate long route EGR and a single-stage turbocharger, however, with compressed air from the building being optionally supplied to the compressor.

In a previous study, in order to investigate the effect of charge stratification on combustion behavior such as combustion efficiency and combustion phasing which also largely affects the emissions, an experiment was conducted in a heavy-duty compression ignition (CI) metal engine. The engine behavior and emission characteristics were studied in the transition from HCCI mode to PPC mode by varying the start of injection (SOI) timing. To gain more detailed information of the mixing process, in-cylinder laser diagnostic measurements, namely fuel-tracer planar laser induced fluorescence (PLIF) imaging, were conducted in an optical version of the heavy-duty CI engine mentioned above. To the authors’ best knowledge, this is the first time to perform fuel-tracer PLIF measurements in an optical engine with a close to production bowl in piston combustion chamber, under transition conditions from HCCI to PPC mode.

Diesel engine manufacturers strive towards further efficiency improvements. Thus, reducing in-cylinder heat losses is becoming increasingly important. Understanding how location, thermal insulation, and engine operating conditions affect the heat transfer to the combustion chamber walls is fundamental for the future reduction of in-cylinder heat losses. This study investigates the effect of a 1mm-thick plasma-sprayed yttria-stabilized zirconia (YSZ) coating on a piston. Such a coated piston and a similar steel piston are compared to each other based on experimental data for the heat release, the heat transfer rate to the oil in the piston cooling gallery, the local instantaneous surface temperature, and the local instantaneous surface heat flux. The surface temperature was measured for different crank angle positions using phosphor thermometry.

Gas engines (fuelled with CNG, LNG or Biogas) for generation of power and heat are, to this date, taking up larger shares of the market with respect to diesel engines. In order to meet the limit imposed by the TA-Luft regulations on stationary engines, lean combustion represents a viable solution for achieving lower emissions as well as efficiency levels comparable with diesel engines. Leaner mixtures however affect the combustion stability as the flame propagation velocity and consequently heat release rate are slowed down. As a strategy to deliver higher ignition energy, an active pre-chamber may be used. This work focuses on assessing the performance of a pre-chamber combustion configuration in a stationary heavy-duty engine for power generation, operating at different loads, air-to-fuel ratios and spark timings.

There is growing global interest in using renewable alcohols to reduce the greenhouse gases and the reliance on conventional fossil fuels. Recent studies show that methanol combined with partially premixed combustion provide clear performance and emission benefits compared to conventional diesel diffusion combustion. Nonetheless, high unburned hydrocarbon (HC) and carbon monoxide (CO) emissions can be stated as the main PPC drawback in light load condition when using high octane fuel such as Methanol with single injection strategy. Thus, the present experimental study has been carried out to investigate the influence of multiple injection strategies on the performance and emissions with methanol fuel in partially premixed combustion. Specifically, the main objective is to reduce HC, CO and simultaneously increase the gross indicated efficiency compared to single injection strategy.

Post-injection strategies aimed at reducing engine-out emissions of unburned hydrocarbons (UHC) were investigated in an optical heavy-duty diesel engine operating at a low-load, low-temperature combustion (LTC) condition with high dilution (12.7% intake oxygen) where UHC emissions are problematic. Exhaust gas measurements showed that a carefully selected post injection reduced engine-out load-specific UHC emissions by 20% compared to operation with a single injection in the same load range. High-speed in-cylinder chemiluminescence imaging revealed that without a post injection, most of the chemiluminescence emission occurs close to the bowl wall, with no significant chemiluminescence signal within 27 mm of the injector. Previous studies have shown that over-leaning in this near-injector region after the end of injection causes the local equivalence ratio to fall below the ignitability limit.

This article deals with application of turbulent jet ignition technique to heavy duty multi-cylinder natural gas engine for mobile application. Pre-chamber spark plugs are identified as a promising means of achieving turbulent jet ignition as they require minimal engine modification with respect to component packaging in cylinder head and the ignition system. Detailed experiments were performed with a 6 cylinder 9.4 liter turbo-charged engine equipped with multi-point gas injection system to compare performance and emissions characteristics of operation with pre-chamber and conventional spark plug. The results indicate that ignition capability is significantly enhanced as flame development angle and combustion duration are reduced by upto 30 % compared to those with conventional spark plugs at certain operating points.

Mixing in wall-jets was investigated in an optical heavy-duty diesel engine with several injector configurations and injection pressures. Laser-induced fluorescence (LIF) was employed in non-reacting conditions in order to quantitatively measure local equivalence ratios in colliding wall-jets. A novel laser diagnostic technique, Structured Laser Illumination Planar Imaging (SLIPI), was successfully implemented in an optical engine and permits to differentiate LIF signal from multiply scattered light. It was used to quantitatively measure local equivalence ratio in colliding wall-jets under non-reacting conditions. Mixing phenomena in wall-jets were analyzed by comparing the equivalence ratio in the free part of the jet with that in the recirculation zone where two wall-jets collide. These results were then compared to φ predictions for free-jets. It was found that under the conditions tested, increased injection pressure did not increase mixing in the wall-jets.

Diesel engines are one of the most important power generating units these days. Increasing greenhouse gas emission level and the need for energy security has prompted increasing research into alternative fuels for diesel engines. Biodiesel is the most popular among the alternatives for diesel fuel as it is biodegradable and renewable and can be produced domestically from vegetable oils. In recent years, hydrotreated vegetable oil (HVO) has also gained popularity due to some of its advantages over biodiesel such as higher cetane number, lower deposit formation, storage stability, etc. HVO is a renewable, paraffinic biobased alternative fuel for diesel engines similar to biodiesel. Unlike biodiesel, the production process for HVO involves hydrogen as catalyst instead of methanol which removes oxygen content from vegetable oil.

Drilling is one of the most costly and labour-intensive operations in aircraft assembly. Rather than automating with expensive fixtures and precise machinery, our approach is to make use of standard low-cost robot equipment in combination with sensor feedback. The focus is to eliminate the sliding movement of the end-effector during the clamp-up, called the skating effect, and to keep the end-effector orthogonal to the surface, thus avoiding holes that are not perpendicular. To that end, force feedback is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The system, including the planning of force parameters for each hole to be drilled, was programmed in DELMIA. The drilling was accomplished with the aid of an extension to the ABB Rapid language called ExtRapid, which is an XML-like code that is interpreted by the force feedback controller downstream in the process.

The use of Selective Catalytic Reduction (SCR) is becoming increasingly more popular as a way of reducing NOx emissions from heavy duty vehicles while maintaining competitive operating costs. In order to make efficient use of these systems, it's important to have a complete system approach when it comes to calibration of the engine and aftertreatment system. This paper presents a simplified model of a heavy duty SCR catalyst, primarily intended for use in combination with an engine-out emissions model to perform model based offline optimization of the complete system. The traditional way of modelling catalysts using a dense discretization of the catalyst channels and non-linear differential equation solvers to solve the heat and mass balance equations, requires too much computational power in this application. The presented model is also useful in other applications such as model based control.

Variability in composite manufacture and the limitations in positional accuracy of common industrial robots have hampered automation of assembly tasks within aircraft manufacturing. One way to handle geometry variations and robot compliancy is to use force control. Force control technology utilizes a sensor mounted on the robot to feedback force data to the controller system so instead of being position driven, i.e. programmed to achieve a certain position with the tool, the robot can be programmed to achieve a certain force. This paper presents an experimental case where a compliant rib is aligned to multiple surfaces using force feedback and an industrial robot system from ABB. Two types of ribs where used, one full size carbon fiber rib, and one smaller metal replica for evaluation purposes. The alignment sequence consisted of several iterative steps and a search procedure was implemented within the robot control system.

This paper describes the development of a novel data model for storing and sharing data obtained from engine experiments, it then outlines a methodology for automatic model development and applies it to a state-of-the-art engine combustion model (including chemical kinetics) to reduce corresponding model parameter uncertainties with respect engine experiments. These challenges are met by adopting the latest developments in the semantic web to create a shared data model resource for the IC engine development community. The relevant data can be extracted and then used to set-up simulations for parameter estimation by passing it to the relevant application models. A methodology for incorporating experimental and model uncertainties into the model optimization procedure is presented.

Methanol as an alternative fuel in internal combustion engines has an advantage in decreasing emissions of greenhouse gases and soot. Hence, developing of a high performance internal combustion engine operating with methanol has attracted the attention in industry and academic research community. This paper presents a numerical study of methanol combustion at different start-of-injection (SOI) in a direct injection compression ignition (DICI) engine supported by experimental studies. The aim is to investigate the combustion behavior of methanol with single and double injection at close to top-dead-center (TDC) conditions. The experimental engine is a modified version of a heavy duty D13 Scania engine. URANS simulations are performed for various injection timings with delayed SOI towards TDC, aiming at analyzing the characteristics of partially premixed combustion (PPC).