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Path planning and re-planning for serial 6 degree of freedom (DOF) robotic systems is challenging due to complex kinematic structure and application conditions which affects the robot's tool frame position, orientation and singularity avoidance. These three characteristics represent the key elements for production planning and layout design of the automated manufacturing systems. The robot trajectory represents series of connected points in 3D space. Each point is defined with its position and orientation related to the robot's base frames or predefined user frame. The robot will move from point to point using the desired motion type (linear, arc, or joint). The trajectory planning requires first to check if robot can reach the selected part(s). This can be simply done by placing the part(s) inside the robot's work envelope. The robot's work envelope represents a set of all robots' reachable points without considering their orientation.

The ‘boundary of space’ model representing all possible positions which may be occupied by a mechanism during its normal range of motion (for all positions and orientations) is called the work envelope. In the robotic domain, it is also known as the robot operating envelope or workspace. Several researchers have investigated workspace boundaries for different degrees of freedom (DOF), joint types and kinematic structures utilizing many approaches. The work envelope provides essential boundary information, which is critical for safety and layout concerns, but the work envelope information does not by itself determine the reach feasibility of a desired configuration. The effect of orientation is not captured as well as the coupling related to operational parameters. Included in this are spatial occupancy concerns due to linking multiple kinematic chains, which is an issue with multi-tasking machine tools, and manufacturing cells.

When performing trajectory planning for robotic applications, there are many aspects to consider, such as the reach conditions, joint and end-effector velocities, accelerations and jerk conditions, etc. The reach conditions are dependent on the end-effector orientations and the robot kinematic structure. The reach condition feasibility is the first consideration to be addressed prior to optimizing a solution. The ‘functional’ work space or work window represents a region of feasible reach conditions, and is a sub-set of the work envelope. It is not intuitive to define. Consequently, 2D solution approaches are proposed. The 3D travel paths are decomposed to a 2D representation via radial projections. Forward kinematic representations are employed to define a 2D boundary curve for each desired end effector orientation.

Biomechanical surrogates are used in various forms to study head impact response in automotive applications and for assessing helmet performance. Surrogate headforms include those from the National Operating Committee on Standards for Athletic Equipment (NOCSAE) and the many variants of the Hybrid III. However, the response of these surrogates to loading at the chin and how that response may affect the loads transferred from the jaw to the rest of the head are unknown. To address part of that question, the current study compares the chin impact response performance of select human surrogates to that of the cadaver. A selection of Hybrid III and NOCSAE based surrogates with fixed and articulating jaws were tested under drop mass impact conditions that were used to describe post mortem human subject (PMHS) response to impacts at the chin (Craig et al., 2008). Results were compared to the PMHS response with cumulative variance technique (Rhule et al., 2002).

Shell Elements based Parametric Frame Modeling is a powerful CAE tool, which can generate robust frame design concept optimized for NVH and durability quickly when combined with Taguchi Design of Experiments. The scalability of this modeling method includes cross members length/location/section/shape, frame rail segments length/section and kick in/out/up/down angle, and access hole location & size. In the example of the D. O. E. study, more than fifteen parameters were identified and analyzed for frequency and weight. The upper and lower bounds were set for each design parameter based on package and manufacturing constraints. Sixteen Finite Element frame were generated by parametrically updating the base model, which shows this modeling method is comparatively convenient. Sensitivity of these sixteen parameters to the frequency and weight was summarized through statics, so the favorable design alternative can be achieved with the major parameters' combination.

A new inter-disciplinary degree program has been developed at Lawrence Technological University: the Master of Science in Mechatronic Systems Engineering Degree (MS/MSE). It is one of a few MS-programs in mechatronics in the U.S.A. today. This inter-disciplinary program reflects the main areas of ground vehicle mechatronic systems and robotics. This paper presents areas of scientific and technological principles which the Mechanical Engineering, Electrical and Computer Engineering, and Math and Computer Science Departments bring to Mechatronic Systems Engineering and the new degree program. New foundations that make the basis for the program are discussed. One of the biggest challenges was developing foundations for mechanical engineering in mechatronic systems design and teaching them to engineers who have different professional backgrounds. The authors first developed new approaches and principles to designing mechanical subsystems as components of mechatronic systems.

There has been a keen interest in recent times on implementation of lightweight materials in vehicles to bring down the unladen weight of a vehicle for enhancing fuel efficiency. Fiber-reinforced composites comprise a class of such materials. As sustainability is also a preoccupation of current product development engineers including vehicle designers, bio-composites based on natural fibers are receiving a special attention. Keeping these motivations of lower effective density, environment friendliness and occupational safety in mind, woven jute fabric based composites have been recently studied as potential alternatives to glass fiber composites for structural applications in automobiles. In the past, mechanical characterization of jute-polyester composites were restricted to obtaining their stress-strain behaviors under quasi-static conditions.

The purpose of the Institute for Manufacturing Research (IMR) is to enhance Wayne State University's existing technological strength in the areas of manufacturing research which have demonstrated potential benefits for the State's economy. IMR's faculty conduct basic and applied research in selected areas of manufacturing science. The research programs within the Institute are broadly interdisciplinary and industrially interactive, and are organized around the following areas: materials development, modification, and nondestructive evaluation; software technology for manufacturing and engineering; and product reliability and machine tool research. Faculty from eight departments within the Colleges of Science and Engineering participate in IMR.

Lean Six Sigma is an approach that is gaining momentum both in manufacturing and service industries. Design for Lean Six Sigma (DFLSS) is an outgrowth of the DFSS and Lean Six Sigma approaches. The essence of DFLSS is to ensure design quality and predictability during the early design phases and the approach employs a structured integrated product development methodology and a comprehensive set of robust tools to drive product quality, innovation, faster time to market, and lower product costs. When it comes to automotive Product Development, applying lean principles and DFSS together becomes more of a challenge within the existing PD system. While the benefits of DFLSS present an attractive proposition in a fiercely competitive market it brings its own challenges as to how to deploy it for maximum benefits. This paper examines the challenges, potential and opportunities for DFLSS in the automotive industry and presents a vision for integrating it in to the Product Development System.

Dr. Edwards Deming spirited organizations “If you can't define what you do as a process, you don't know what your job is” (Weinstein, 1999). Significant effort has been conducted to engineer, deploy and control a process to product development. This coverage reflects impact of product development process on developing and producing consumer products effectively and successfully for the future. Reflecting on the past and observing mistakes and lessons learned would be key to help our companies to engineer future or modify existing product development processes. This paper examines views, types and needs of product development process from a six sigma perspective to enable deliver of competitive products with cost and time in mind. Learning from the past enlightens us to identify opportunities that would drive evolution and trend of product development process into the future. A recommended view is presented that changes the way product development process is designed and implemented.

Microprocessors and microcontrollers are now widely used in automobiles. Microprocessor systems contain sources of interrupt and interrupt service routines, which are software components executed in response to the assertion of an interrupt in hardware. A major problem in designing the software of microprocessor systems is the analytical treatment of interrupt latency. Because multiple interrupt service routines are executed on the same CPU, they compete for the CPU and interfere with each other's latency requirements. Here, interrupt latency is defined as the delay between the assertion of the interrupt in hardware and the start of execution of the associated interrupt service routine. It is estimated that 80% of intermittent bugs in small microprocessor software loads are due to improper treatment of interrupts. Until this work, there is no analytic method for analyzing a particular system to determine if it may violate interrupt latency requirements.

In this paper, we present a project being conducted at Yalong Educational Equipment Company on control of educational robots using discrete event system theory. An educational robot is a programmable robot to be used by students for training and learning. To model a robot, we divide the robot into nine physical modules. Each module is modeled as an automaton. Parallel composition is used to obtain the entire model. The robot can be programmed to perform sequences of basic tasks. We investigate six basic tasks and use supervisors to control and achieve the tasks. Desired languages are obtained for all tasks and supervisory control theory is used to synthesize supervisors. To reduce computational complexity, modular/coordinated supervisors are used

Previous study suggested that female, thin, obese, and older occupants had a higher risk of death and serious injury in motor vehicle crashes. Human body finite element models were a valuable tool in the study of injury biomechanics. The mesh deformation method based on radial basis function(RBF) was an attractive alternative for morphing baseline model to target models. Generally, when a complex model contained many elements and nodes, it was impossible to use all surface nodes as landmarks in RBF interpolation process, due to its prohibitive computational cost. To improve the efficiency, the current technique was to averagely select a set of nodes as landmarks from all surface nodes. In fact, the location and the number of selected landmarks had an important effect on the accuracy of mesh deformation. Hence, how to select important nodes as landmarks was a significant issue. In the paper, an efficient peak point-selection RBF mesh deformation method was used to select landmarks.

A collaborative robot or cobot is a robot that can safely and effectively interact with human workers while performing industrial tasks. The ability to work alongside humans has increased the importance of collaborative robots in the automation industry, as this unique feature is a much needed property among robots nowadays. Rethink Robotics has pioneered this unique discipline by building many robots including the Baxter Robot which is exclusive not only because it has collaborative properties, but because it has two arms working together, each with 7 Degrees Of Freedom. The main goal of this research is to validate the kinematic equations for the Baxter collaborative robot and develop a unified reconfigurable kinematic model for the Left and Right arms so that the calculations can be simplified.

Nowadays, as an irreplaceable means alongside CAD and testing, CAE is more and more widely applied with advanced material modeling and simulation methods continuously being explored, so as to get more accurate result as testing. In vehicle product development process, door slam durability evaluation is an important measurement for body closure structure. So far numerous effort has been taken to develop more mature methods to well define door slam simulation in stress and fatigue life analysis. Overall all methods ever being applied can be summarized as two categories, linear stress based method and nonlinear stress based method. The methodologies, such as inertia relief method, direct transient response solution, or local strain approach, can be included in linear stress based method with linear material properties as symbol in CAE model. In local strain approach, contact surface could be defined in the necessary area with consideration for more realistic load transfer.

Vehicle weight-driven design comes amid rising higher fuel efficiency standards and must meet the criteria—pass proving ground (PG) test events that are equivalent to customer usage. Computer-aided engineering (CAE) fatigue analysis for PG is a successful push behind to digitally simulate vehicle durability performance with high fidelity. The need for vehicle weight reduction often arises in the vehicle development final phases when CAE methods, time, and tangible cost-effective opportunities are limited or nonexistent. In this research, a new CAE methodology is developed to identify opportunities for lightweight hole placement in the chassis structure and deliver a cost-effective lightweight solution with no additional impact on fatigue life. The successful application of this new methodology exhibits the effectiveness of the truck frame, which is the key chassis structure to support the body, suspension, and powertrain.