This paper studies the stress state of a threaded fastening by using Finite Element (FE) models, applied to surgical screws in cortical bone. There is a general interest in studying the stress states induced in the different elements of a joint caused by the thread contact. Analytical models were an initial approach, and later FE models allowed detailed studies of the complex phenomena related to these joints. Different studies have evaluated standard threaded joints in machinery and structures, being the thread symmetric. However, surgical screws employ asymmetric thread geometry, selected to improve the stress level generated in the bone. Despite the interest and widespread use, there is scarce documentation on the actual effect of this thread type. In this work, we discuss the results provided by FE models with detailed descriptions of the contacts comparing differences caused by the materials of the joint, the thread geometry and the thread’s three-dimensional helical effects. The complex contacts at the threaded surfaces cause intense demand on computational resources that often limits the studies including these joints. We analyze the results provided by one commercial software package to simplify the threaded joints. The comparison with detailed FE models allows a definition of the level of uncertainty and possible limitations of this type of simplifications, and helps in making suitable choices for complex applications.

Input shaping is an Optimal Control feedforward strategy whose ability to define how and when a flexible dynamical system defined by Ordinary Differential Equations (ODEs) and computer controlled would move into its operative space, without command induced unwanted dynamics, has been exhaustively demonstrated. This work examines the issue of Embedded Internet of Things (IoT) Input Shaping with regard to real time control of multibody oscillatory systems whose dynamics are better described by differential algebraic equations (DAEs). An overhead crane hanging a double link multibody payload has been appointed as a benchmark case; it is a multibody, multimode system. This might be worst scenario to implement Input Shaping. The reasons can be found in the wide array of constraints that arise. Firstly, the reliability of the multibody model was tested on a Functional Mock-Up Interface (FMI) with the two link payload suspended from the trolley by comparing the experimental video tapping signals in time domain faced with the signals extracted from the multibody model. The FFTs of the simulated and the experimental signal contain the same frequency harmonics only with somewhat different power due to the real world light damping in the joints. The application of this approach may be extended to other cases i.e., the usefulness of mobile hydraulic cranes is limited because the payload is supported by an overhead cable under tension that allows oscillation to occur during crane motion. If the payload size is not negligible small when compared with the cable length may introduce an additional oscillatory mode that creates a multibody double pendulum. To give the insight into the double pendulum dynamics by Lagrangian methods two slender rods as payloads are analyzed dealing with the overhead crane and a composite revolute-revolute joint is proposed to model the cable of the hydraulic crane, both assumptions facilitates an affordable analysis. This allows developing a general study of this type of multibody payloads dynamics including its normal modes, modes ratios plus ranges of frequencies expected. Input Shapers were calculated for those multimodes of vibration by convolving Specified Insensitivity (SI) shapers for each mode plus a novel Direct SI-SI shaper well suited to reduce the computational requirements, i.e., the number of the shaper taps, to carry out the convolution sum in real time by the IoT device based on a single microcontroller working as the command generator. Several comparisons are presented for the shaped and unshaped responses using both the multibody model, the experimental FMI set-up and finally a real world hydraulic crane under slewing motion commanded by an analog Joystick connected by two RF modules 802.15.4 to the IoT device that carry out the convolution sum in real time. Input Shaping improves the performances for all the cases.

The Furuta pendulum is a well-known benchmark in the field of underactuated mechanical systems due to its reduced number of control inputs compared to its degrees of freedom, and richly nonlinear behavior. This work addresses the challenge of accurately modeling and controlling such a system without relying on traditional linearization techniques. In contrast to the common approach based on Lagrangian analytical modeling and state–space linearization, we propose a methodology that integrates a high-fidelity multibody model developed in Simscape Multibody (MATLAB), capturing the complete nonlinear dynamics of the system. The multibody model includes all geometric, inertial, and joint parameters of the physical hardware and interfaces directly with Simulink, enabling realistic simulation and control integration. To validate the physical fidelity of the multibody model, we perform a frequency-domain analysis of the pendulum’s natural free response. The dominant vibration frequency extracted from the simulation is compared with the theoretical prediction, demonstrating accurate capture of the system’s inertial and dynamic properties. This validation strategy strengthens the reliability of the model as a digital twin. The classical analytical formulation is provided to validate the simulation model and serve as a comparative framework. This dual modeling strategy allows for benchmarking control strategies against a trustworthy nonlinear digital twin of the Furuta pendulum. Preliminary experimental results using a physical prototype validate the feasibility of the proposed approach and set the foundation for future work in advanced nonlinear control design using the multibody representation as a digital validation tool.

The well-regarded feedforward control strategy known as Input Shaping is aimed at improving the dynamic response of flexible mechanical systems by reducing overshoot and residual vibration amplitude. Its validity has been confirmed by numerous studies dealing with linear system dynamics. However, its application to nonlinear systems, particularly those influenced by tractive-elastic rolling contact friction, remains a challenging and less explored open research area. This paper investigates whether Input Shaping, without tractive rolling friction compensation, can effectively mitigate vibrations in a trolley-pipe benchmark transport system. In this system, the pipe is modeled as a rolling disk attached to the trolley by a spring at its center of mass, while the trolley itself is connected to a guiding body frame by an additional spring acting as a proportional control. The natural frequencies of the system are analytically estimated and numerically verified from a corresponding well suited multibody model. Thus tailored two-mode shapers are designed based on simultaneous constraints and convolution sum respectively. Through multibody simulations, this study evaluates the performance of Input Shaping under tractive-elastic rolling contact friction conditions. The findings highlight both the potential and limitations of this control method in addressing nonlinear mechanical systems influenced by such tractive-elastic rolling contact friction.

In this work, a computer vision algorithm for the detection and recognition of 2D kinematic diagrams, both from paper schemes and digital files, was developed. Furthermore, it runs even with hand-made diagrams, which can be correctly identified. The algorithm is mainly based on the use of the free computer vision library OpenCV, being able to identify each element of the kinematic diagram, its connection with the other elements and store its pixels, which will allow in future research the implementation of motion in the sketches themselves. Allowed elements are revolute, prismatic, fixed, cylindrical and rigid joints and rigid bars. The main applications of this work are focused on the teaching world, communication of ideas in a quickly and graphical way and for fast and preliminary designs of new mechanisms as people can draw the diagram in a Tablet or paper and simulate it in real time, avoiding the necessity to learn how to operate a specialized simulation software and the time it takes to prepare the virtual model and obtain its results.