Nonlinear approaches in engineering applications : Automotive applications of engineering problems

Reza N. Jazar · Liming Dai Editors

Nonlinear

Approaches in

Engineering

Applications

Automotive Applications of Engineering

Problems

Nonlinear Approaches in Engineering Applications

Reza N. Jazar • Liming Dai

Editors

Nonlinear Approaches in

Engineering Applications

Automotive Applications of Engineering

Problems

123

Editors

Reza N. Jazar

Xiamen University of Technology

Xiamen, China

School of Engineering, RMIT University

Bundoora, VIC, Australia

Liming Dai

Xiamen University of Technology

Xiamen, China

University of Regina

Industrial Systems Engineering

REGINA, SK, Canada

ISBN 978-3-030-18962-4 ISBN 978-3-030-18963-1 (eBook)

https://doi.org/10.1007/978-3-030-18963-1

© Springer Nature Switzerland AG 2020

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Masterpiece happens before 20 and after 80.

Everything in between is practice.

Dedicated to Mojgan and Xinming

Preface

This book is the sixth volume in the series of “Nonlinear Approaches in Engineering

Applications,” organized by the editors. This series are collecting individual appli￾cation on engineering problems in which the nonlinearity is quite important. Those

systems have been introduced and modeled mathematically, and the nonlinearity

in their equations has been used to make the system optimized, stable, analyzed,

etc. This book is also a collection of ten different important problems set in

two groups: Practical System Applications and Analytical System Applications.

Both groups are more or less focussed on applications of engineering problems.

Chapter 1 is on the laziness of vehicle to investigate how much vehicle behavior

in transient periods deviates from their steady-state behavior. Other chapters of the

Practical System Applications in the first group are on autonomous vehicles, drilling

dynamics and friction, micro-/nanorobotics, and modeling of sea level fluctuations.

The second group on Analytical System Applications begins with an extensive

article on how to model and simulate dynamic systems, methods of solutions, and

different classical behaviors. It follows up with a chapter on large deformation in

curvilinear coordinate systems and big data analysis, and the last two chapters are

on genetic algorithm and programing.

The nonlinear analysis, techniques, and applications have been developed in

the past two to three centuries when the linear mathematical modeling of natural

dynamical phenomena appeared not to be exact enough for some practical appli￾cations. The positive aspects of linear approximation of dynamic phenomena are

simplicity and solvability. Linear approximation of a system provides us with the

simplest model acting as the base and standard for which other nonlinear models

should approach when the nonlinearities become very small. Solvability is another

characteristic of all linear systems. These two characteristics provide us with a great

ability and desire to model dynamic systems linearly. However, there exist many

systems that their linear model and solution cannot provide exact enough approxi￾mation of the real system behavior. For such systems, considering the nonlinearities

of the phenomena is unavoidable. Although the nonlinear approximation of a system

provides us with a better and more accurate model, it also provides us with several

complications. Unsolvability is one of them that makes us to search for indirect

ix

x Preface

methods to gain some information of the possible solutions. Due to the nonlinearity

and complexity of the nonlinear systems, usually, it is very difficult or impossible

to derive the analytical and closed-loop solutions for the systems. In solving or

simulating the nonlinear systems, we have to rely on approximate or numerical

methods, which may only provide approximate results for the systems while errors

are unavoidable during the processes of generating the approximate results.

Level of the Book

This book aims at engineers, scientists, researchers, and engineering and physics

students of graduate levels, together with the interested individuals in engineering,

physics, and mathematics. This chapter book focuses on the application of the

nonlinear approaches representing a wide spectrum of disciplines of engineering

and science. Throughout the book, great emphases are placed on engineering

applications, physical meaning of the nonlinear systems, and methodologies of

the approaches in analyzing and solving for the systems. The topics that have

been selected are of high interest in engineering and physics. An attempt has

been made to expose the engineers and researchers to a broad range of practical

topics and approaches. The topics contained in the present book are of specific

interest to engineers who are seeking expertise in vehicle- and automotive-related

technologies as well as engines and alternative fuels, mathematical modeling of

complex systems, biomechanical engineering approaches to robotics and artificial

muscles, nonclassical engineering problems, and modern mathematical treatments

of nonlinear equations.

The primary audience of this book are the researchers, graduate students, and

engineers in mechanical engineering, engineering mechanics, electrical engineer￾ing, civil engineering, aerospace engineering, mathematics, and science disciplines.

In particular, the book can be used for training the graduate students as well as

senior undergraduate students to enhance their knowledge by taking a graduate or

advanced undergraduate course in the areas of nonlinear science, dynamics and

vibration of discrete and continuous system, structure dynamics, and engineering

applications of nonlinear science. It can also be utilized as a guide to the readers’

fulfilment in practices. The covered topics are also of interest to engineers who are

seeking to expand their expertise in these areas.

Organization of the Book

The main structure of the book consists of two parts, Practical System Applications

and Analytical System Applications, including ten chapters. Each of the chapters

covers an independent topic along the line of nonlinear approach and engineering

applications of nonlinear science. The main concepts in nonlinear science and

Preface xi

engineering applications are explained fully with necessary derivatives in details.

The book and each of the chapters are intended to be organized as essentially self￾contained. All the necessary concepts, proofs, mathematical background, solutions,

methodologies, and references are supplied except for some fundamental knowledge

well-known in the general fields of engineering and physics. The readers may

therefore gain the main concepts of each chapter with as less as possible the need

to refer to the concepts of the other chapters and references. The readers may hence

start to read one or more chapters of the book for their own interests.

Method of Presentation

The scope of each chapter is clearly outlined, and the governing equations are

derived with an adequate explanation of the procedures. The covered topics are

logically and completely presented without unnecessary overemphasis. The topics

are presented in a book form rather than in the style of a handbook. Tables,

charts, equations, and references are used in abundance. Proofs and derivations

are emphasized in such a way that they can be straightforwardly followed by the

readers with fundamental knowledge of engineering science and university physics.

The physical model and final results provided in the chapters are accompanied with

necessary illustrations and interpretations. Specific information that is required in

carrying out the detailed theoretical concepts and modeling processes has been

stressed.

Prerequisites

The present book is primarily intended for the researchers, engineers, and graduate

students, so the assumption is that the readers are familiar with the fundamentals

of dynamics, calculus, and differential equations associated with dynamics in engi￾neering and physics, as well as a basic knowledge of linear algebra and numerical

methods. The presented topics are given in a way to establish as conceptual

framework that enables the readers to pursue further advances in the field. Although

the governing equations and modeling methodologies will be derived with adequate

explanations of the procedures, it is assumed that the readers have a working

knowledge of dynamics, university mathematics, and physics together with theory

of linear elasticity.

Bundoora, VIC, Australia Reza N. Jazar

Regina, SK, Canada Liming Dai

Acknowledgments

This book is made available under the close and effective collaborations of all the

enthusiastic chapter contributors who have the expertise and experience in various

disciplines of nonlinear science and engineering applications. They deserve sincere

gratitude for the motivation of creating such a book, for the encouragement in

completing the book, for the scientific and professional attitude in constructing each

of the chapters of the book, and for the continuous efforts toward improving the

quality of the book. Without the collaboration and consistent efforts of the chapter

contributors, the completion of this book would have been impossible. What we

have at the end is a book that we have every reason to be proud of.

It has been gratifying to work with the staff of Springer-Verlag through the

development of this book. The assistance provided by the staff members has been

valuable and efficient. We thank Spinger-Verlag for their production of an elegant

book.

Reza N. Jazar

Liming Dai

xiii

Contents

Part I Practical System Applications

1 Vehicles Are Lazy: On Predicting Vehicle Transient Dynamics

by Steady-State Responses................................................. 3

Sina Milani, Hormoz Marzbani, Ali Khazaei, and Reza N. Jazar

2 Artificial Intelligence and Internet of Things for Autonomous

Vehicles ...................................................................... 39

Hamid Khayyam, Bahman Javadi, Mahdi Jalili, and Reza N. Jazar

3 Nonlinear Drilling Dynamics with Considerations of Stochastic

Friction and Axial and Tangential Coupling ............................ 69

Jialin Tian, Yinglin Yang, Liming Dai, and Lin Yang

4 Nonlinear Modeling Application to Micro-/Nanorobotics ............. 113

Ali Ghanbari and Mohsen Bahrami

5 The Nonlinear Pattern of Sea Levels: A Case Study of North

America ...................................................................... 141

Alberto Boretti

Part II Analytical System Applications

6 Illustrated Guidelines for Modelling and Dynamic Simulation

of Linear and Non-linear Deterministic Engineering Systems ........ 171

Pavel M. Trivailo, Hamid Khayyam, and Reza N. Jazar

7 On the Description of Large Deformation in Curvilinear

Coordinate Systems: Application to Thick-Walled Cylinders ......... 273

Monir Takla

8 Big Data Modeling Approaches for Engineering Applications ........ 307

Bryn Crawford, Hamid Khayyam, Abbas S. Milani,

and Reza N. Jazar

xv

xvi Contents

9 Genetic Programming Approaches in Design and Optimization

of Mechanical Engineering Applications................................. 367

Hamid Khayyam, Ali Jamali, Hirad Assimi, and Reza N. Jazar

10 Optimization of Dynamic Response of Cantilever Beam

by Genetic Algorithm ...................................................... 403

Javad Zolfaghari

Index ............................................................................... 449

List of Figures

Fig. 1.1 Definition of side-slip angles and tire coordinate frame .......... 5

Fig. 1.2 Bicycle model and vehicle body coordinate frame ................ 6

Fig. 1.3 Location of ICR in vehicle body frame ............................ 12

Fig. 1.4 Location of ICR in global frame ................................... 13

Fig. 1.5 Steering and velocity inputs for maneuver 1 ...................... 17

Fig. 1.6 QSS versus transient response of vy for increasing vx at

constant δ ............................................................ 18

Fig. 1.7 QSS versus transient response of r for increasing vx at

constant δ ............................................................ 18

Fig. 1.8 QSS versus transient response of ay for increasing vx at

constant δ ............................................................ 19

Fig. 1.9 Steering and velocity inputs for maneuver 2 ...................... 20

Fig. 1.10 QSS versus transient response of vy for increasing δ at

constant vx .......................................................... 20

Fig. 1.11 QSS versus transient response of r for increasing δ at

constant vx .......................................................... 20

Fig. 1.12 QSS versus transient response of ay for increasing δ at

constant vx .......................................................... 21

Fig. 1.13 Steady-state surface map of vy ..................................... 22

Fig. 1.14 Steady-state surface map of r ...................................... 22

Fig. 1.15 Steady-state surface map of ay ..................................... 23

Fig. 1.16 Steady-state surface maps for special maneuver of turning

into a road ........................................................... 24

Fig. 1.17 ICR map (loci of possible steady-state ICRs in body

coordinate) .......................................................... 25

Fig. 1.18 Variation of the tangent point at different velocities .............. 25

Fig. 1.19 Variation of ICR in body coordinate: effect of vx

magnitude at constant δ ............................................ 26

Fig. 1.20 Variation of ICR in body coordinate: effect of vx /t rate

at constant δ ......................................................... 27

xvii

xviii List of Figures

Fig. 1.21 Variation of ICR in body coordinate: effect of δ

magnitude at constant vx ........................................... 27

Fig. 1.22 Variation of ICR in body coordinate: effect of δ/t rate

at constant vx ....................................................... 28

Fig. 1.23 Example of the Euler spiral ........................................ 30

Fig. 1.24 Actual path of motion versus the reference road profile for

road 1 ................................................................ 32

Fig. 1.25 Actual path of motion versus the reference road profile for

road 2 ................................................................ 33

Fig. 1.26 Detailed view of the side-slip angle while maneuvering on

the road .............................................................. 35

Fig. 1.27 Effect of vx on side-slip angle β and ICR deviation .............. 35

Fig. 2.1 The fourth industrial revolution..................................... 41

Fig. 2.2 The vision error rate (%) from human and AI algorithm [7] ...... 42

Fig. 2.3 A schematic evolutionary diagram of Artificial

Intelligence (AI) ..................................................... 43

Fig. 2.4 Artificial intelligence approaches/apparatuses ..................... 43

Fig. 2.5 A sample unsupervised and supervised learning methods:

(a) clustering, (b) regression, and (c) classification ............... 44

Fig. 2.6 A simple reinforcement learning framework....................... 45

Fig. 2.7 The journey of automation to fully autonomous vehicle .......... 47

Fig. 2.8 The complexity situation awareness of autonomous vehicle

caused by using multi-sensors ..................................... 50

Fig. 2.9 Six degrees of freedom of vehicle dynamics....................... 51

Fig. 2.10 Bicycle model [21] .................................................. 52

Fig. 2.11 An artificial intelligence model for autonomous vehicle

including data collection, planning, and act........................ 55

Fig. 2.12 Machine-to-Machine (M2M) and Internet of Things (IoT)

connectivity for AVs ................................................ 59

Fig. 2.13 Typical components of an IoT platform ............................ 60

Fig. 2.14 Interaction model for IoT-based ecosystem for an

autonomous vehicle ................................................. 62

Fig. 2.15 Edge computing for IoT-based autonomous vehicles

ecosystem ............................................................ 63

Fig. 2.16 Edge computing for IoT connectivity in AVs ...................... 64

Fig. 2.17 AI-based autonomous vehicles using edge computing ............ 66

Fig. 3.1 Drill string vibration model in horizontal wells.................... 72

Fig. 3.2 Vibration displacement of different nodes ......................... 75

Fig. 3.3 Vibration speed of different nodes.................................. 75

Fig. 3.4 Spectral map of vibration displacement ............................ 76

Fig. 3.5 Longitudinal vibration model of drill string ....................... 77

Fig. 3.6 Impact of the length of drill string on its bottom dynamic

stiffness .............................................................. 81

Fig. 3.7 Impact of outside radius on its bottom dynamic stiffness ......... 82

List of Figures xix

Fig. 3.8 Impact of inside radius on its bottom dynamic stiffness........... 82

Fig. 3.9 Impact of the damping coefficient on its bottom dynamic

stiffness .............................................................. 83

Fig. 3.10 Impact of the Poisson’s ratio of drill string on its bottom

dynamic stiffness .................................................... 85

Fig. 3.11 Force analysis of drill string ........................................ 85

Fig. 3.12 Discrete method and model of dynamics solution ................. 90

Fig. 3.13 Simulation of the bore friction coefficient ......................... 92

Fig. 3.14 Vibration displacement test values of the example and

experimental test. (a) The vibration displacement of

example. (b) The enlarge figure of comparison result ............. 92

Fig. 3.15 Vibration velocity of test point 1. (a) The vibration velocity

of random friction. (b) The vibration velocity of constant

friction ............................................................... 93

Fig. 3.16 Vibration velocity of experiment test ............................... 93

Fig. 3.17 Drilling efficiency ................................................... 94

Fig. 3.18 Mean square value of drilling efficiency ........................... 94

Fig. 3.19 Mean square value of drilling efficiency in experiment test ....... 95

Fig. 3.20 Frequency spectrum analysis result of the vibration

velocity of drill string ............................................... 95

Fig. 3.21 Frequency spectrum analysis result of vibration velocity in

experiment test ...................................................... 96

Fig. 3.22 Phase diagram of test point 1 ....................................... 96

Fig. 3.23 Poincare plot of test point 1 ......................................... 97

Fig. 3.24 Force condition of drill string ....................................... 98

Fig. 3.25 Geometric model of PDC drill bit cutter ........................... 101

Fig. 3.26 Cutter of PDC drill bit .............................................. 102

Fig. 3.27 Wear of PDC cutters ................................................ 103

Fig. 3.28 Angular velocity of drill string ..................................... 106

Fig. 3.29 Rotational angular displacement.................................... 107

Fig. 3.30 Relationship between the top rake and effective cutting

edge length........................................................... 108

Fig. 3.31 Relationship between the top rake and cutting arc length ......... 108

Fig. 3.32 Relationship between the top rake and cutting area ............... 109

Fig. 3.33 Distance between wear part and drill bit center.................... 110

Fig. 3.34 Results comparison of cutter wear with torture load or not ....... 110

Fig. 4.1 (a) Global and local coordinates shown for the cilium and

location vector r of a point s along the cilium. (b) Internal

forces and moment at a cross section s ............................. 117

Fig. 4.2 Swimming microrobot model with global and local

coordinates........................................................... 120