Wyniki wyszukiwania - BazTech

1

Room dynamics – a new architectural concept

Bilski Maciej, Komorowska Julia

Przestrzeń i Forma

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2025

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nr 62

7--28

EN

A room, although apparently static, is in fact a complex, multidimensional structure, changing due to various factors. This has a direct impact on the atmosphere and perception of a place and its effect on the user. This article aims to provide a definition of ‘room dynamics’, related to the emotional and energetic aspects of a place. The term refers to the interaction between the passive or active user, the interior and its components. The introduction of this concept allows for a better definition and understanding of the connections that occur between man and space. The scientific literature on environmental psychology and architecture was analysed to identify the key elements of space that are indicative of the ‘’livability‘’ of a room and their impact on human psychological well-being. The review indicates the importance of incorporating psychology into the design process to create spaces that encourage interpersonal harmony and a positive atmosphere.

PL

Pomieszczenie, choć pozornie statyczne, w rzeczywistości jest złożoną, wielowymiarową strukturą, ulegającą zmianom pod wpływem różnych czynników. Ma to bezpośredni wpływ na atmosferę i odbiór danego miejsca oraz jego oddziaływanie na użytkownika. Celem artykułu jest przedstawienie definicji „dynamiki pomieszczenia” dotyczącej emocjonalnego i energetycznego wymiaru miejsca. Pojęcie odnosi się do wzajemnego oddziaływania na siebie jednostek jakimi są bierny lub aktywny użytkownik oraz wnętrze i jego elementy składowe. Wprowadzenie tego terminu pozwala na lepsze określenie i zrozumienie relacji jakie zachodzą pomiędzy człowiekiem a przestrzenią. Analizie poddano literaturę naukową dotyczącą psychologii środowiskowej i architektury, aby zidentyfikować kluczowe elementy przestrzeni świadczące o „żywotności” pomieszczenia oraz ich wpływu na dobrostan psychiczny człowieka. Przegląd wskazuje jak ważne jest uwzględnienie psychologii w procesie projektowym, by tworzyć przestrzenie sprzyjające harmonii międzyludzkiej i przyjaznej atmosferze.

2

Study of the dynamics of magnetic particles in rotating magnetic field: A 3D finite element analysis

Ku Jiangang, Yu Xuyan, Xia Jun, Wang Qian, Wang Zhaolian, Lei Zhongyun

Physicochemical Problems of Mineral Processing

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2025

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Vol. 61, iss. 1

art. no. 199981

EN

The analysis of magnetic particle dynamics in a rotating magnetic field and the exploration of the magnetic agglomeration mechanism are crucial for effectively reducing agglomeration in strong magnetic minerals and improving sorting efficiency. The forces acting on magnetic particles in a rotating magnetic field were analyzed in this study. A 3D model was built to simulate the complex interaction between two magnetic particles in a rotating magnetic field using COMSOL Multiphysics finite element simulation software. It shows that the number of periods of change in the spiral period, velocity, and acceleration remains consistent under different conditions. Additionally, their period numbers are positively correlated with magnetic field rotational speed, medium viscosity, and the initial particle spacing, and negatively correlated with magnetic field strength. Under various conditions, the larger the area of the velocity-closed surface in the same cycle, the larger the helical diameter of the particle trajectory. The initial acceleration of the particles exhibits a positive correlation with the strength of the magnetic field, a negative correlation with the viscosity of the medium and the initial distance, and no significant relationship with the rotational speed of the magnetic field. For further research on the dynamics of magnetic particles and the refinement of the mechanism of magnetic agglomeration, the results have an important theoretical reference value.

3

Preparation and corrosion resistance analysis of composite polyurethane wind turbine blade materials

Xie Pengkang, Jiang Zhenglong

Materials Science Poland

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2025

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Vol. 43, No. 2

23--39

EN

To enhance the rain erosion resistance of wind turbine blade leading-edge protection materials, a series of modified polyurethane (PU) composites were developed by optimizing the synthesis process of PU prepolymers – specifically by tuning the isocyanate (NCO) content, selecting polycaprolactone diols (PCL) with different molecular weights, and introducing an organic titanium catalyst (2210) and hydroxy-terminated polydimethylsiloxane (HO-PDMS). The effects of these components on the mechanical properties, rain erosion resistance, and thermal stability were systematically investigated. Results showed that optimizing the NCO content balanced strength and toughness, achieving a tensile strength of 25.0 MPa at 6% NCO and peak hardness (94.2 Shore A) at 9% NCO. Higher molecular weight PCL (2,000 g/mol) significantly enhanced tensile strength (27.72 MPa) and elongation at break (395.2%) due to improved microphase separation. The addition of 0.03 wt% catalyst 2210 reduced demolding time to 49 min and improved mechanical properties. PU containing 7 wt% HO-PDMS (Mn = 1,000 g/mol, sample SPU7) exhibited optimal rain erosion life (31.6 h), superior thermal stability, and high storage modulus. However, excessive HO-PDMS (e.g., SPU9) led to interfacial defects. This study provides a promising strategy for developing long-lasting, high-reliability protective materials for wind turbine blades.

4

The influence of worn and nominal rail profiles on railway vehicle motion and dynamics

Zboiński Krzysztof, Kukulski Jacek, Gołofit-Stawińska Milena, Woźnica Piotr

Archives of Civil Engineering

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2025

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Vol. 71, nr 2

177--192

EN

In this study the rail wear influence on safety of rail vehicle motion is assessed. The profile measurements for the nominal rail head and for the slightly worn and heavily worn rail heads were performed. Then, these measured real values were entered into a computer program designed to study the motion (dynamics) of rail vehicles. The studied model of passenger vehicle moved in simulations along a track consisting of straight and curved sections with transition curve between them at two velocities. After obtaining the simulation results, they were compared for different stages of the rail wear process based on profile measurement results and the suitability of the track was assessed, too. The aim of present paper was to show that extension of the traditional approach with the simulation studies of vehicle motion and dynamics leads to different and much more precise information about the need of the rails replacement. The proposed idea and approach in the current work is original and not used in practice by the track infrastructure operators.

PL

W pracy oceniono wpływ zużycia szyn na bezpieczeństwo ruchu pojazdów szynowych. Wykonano pomiary profili dla nominalnej główki szyny oraz dla lekko i mocno zużytej główki szyny. Następnie te zmierzone wartości rzeczywiste wprowadzono do programu komputerowego przeznaczonego do badania ruchu (dynamiki) pojazdów szynowych. Badany model pojazdu pasażerskiego poruszał się w symulacjach po torze składającym się z odcinków prostych i zakrzywionych z krzywą przejściową między nimi przy dwóch prędkościach. Po uzyskaniu wyników symulacji porównano je dla różnych etapów procesu zużywania się szyn na podstawie wyników pomiarów profilu oraz oceniono przydatność toru. Celem niniejszego artykułu było wykazanie, że rozszerzenie tradycyjnego podejścia o badania symulacyjne ruchu i dynamiki pojazdów prowadzi do uzyskania odmiennej i znacznie dokładniejszej informacji o potrzebie wymiany szyn. Zaproponowana koncepcja i podejście jest oryginalne i nie jest stosowane w praktyce przez zarządców infrastruktury szynowej. Można go zatem traktować jako nowość i pewien wkład autorów w problematykę i metodykę utrzymania torów.

5

Analysis of the spatial-economic and socio-professional dynamics of taxi-tricycle drivers in Lome

Vimenyo Messan, Agbogan Agogno

Transport Problems

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2024

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T. 19, z. 2

81--94

EN

African cities’ fast rate of population increase from 4 to 6% per year and the decline of organized public transport systems are the origin of the rapid development of non-conventional means of transport [2]. The city of Lomé, since its creation in 1897, has experienced growing demography and spatial extension apart from its socio-collective and mobility infrastructure [5]. Faced with the inability of public transport services to meet the demand, we are witnessing the emergence of informal transport solutions such as taxi-motorbikes and taxi-tricycles in response, not only to the demand but also to youth unemployment and the economic crisis. This article focuses on actors in the taxi-tricycle sector. It analyzes the spatial economic and socio-professional dynamics of taxi-tricycle drivers in Lomé. The scientific interest of this article is dual. Firstly, it makes it possible to map the spatial dynamics of taxi-tricycles in Lomé and, secondly, it identifies the problems related to the propagation of the phenomenon of urban taxi-tricycle transport which, until now, has not been apprehended by Togolese researchers. The methodology focuses on the analyses of data (primary and secondary) collected through a literature search, observations, and a survey. A sample of 47 individuals was selected, made up of 40 taxi-tricycle drivers and seven association leaders. The results show that the diffusion of taxi-tricycles is supported by the logic of marginality and informality. The sector contributes somewhat to solving the problems of mobility and unemployment as well as the increase in municipal revenues. Given the difficulties raised by this study, it is imperative that the sector be regulated by the State.

6

The dynamic behavior of the multi-frequency vibrating screening

Siczek Krzysztof, Woźniak Marek, Kuchar Maciej, Rylski Adam, Modrzewski Remigiusz, Obraniak Andrzej, Ławińska Katarzyna, Wachulak Malwina, Świątecki Radosław

Technologia i Jakość Wyrobów

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2024

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R. 69

67--98

EN

The article aimed to compare the results of the experimental and the simulation research on the dynamic behaviour of the developed multi-frequency vibrating screen prototype. A simulation model of the screen and a test stand for trajectory research have been developed. Simulations of the screen motion were carried out and the results obtained from measurements on the test stand were compared. It was noticed that for the angular ratio of the rotational speeds equal to 1 under their reverse synchronization for the two rotary vibrators exciting the analyzed screen the best conditions were obtained for the good segregation of the granular layer on the screen.

7

Dynamic Model and PD Control with Forces Compensation of Dual-Stage Gough-Stewart Platform

Phan Khoi Bui, Ha Hung Huy, Hoang Chinh Quang, Nguyen Quan Dinh, Ha Hai Thanh

Journal of Machine Engineering

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2024

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Vol. 24, No. 4

75--92

EN

This paper investigates a dual-stage Gough-Stewart platform. The lower platform is responsible for simulating the oscillations of moving vehicles such as cars, ships, and airplanes. The upper platform is connected to devices that require either balance stabilization or motion stabilization according to specific requirements. The dynamic model of the robot system is derived in a general form based on the Lagrange equations of motion with Lagrange multipliers. Using these equations in a compact form, a PD controller with forces compensation in task space is designed for the robot system. Oscillation generation and balance stabilization are computed and simulated using the kinematic and dynamic parameters of two Bosch Rexroth robots. The computation and simulation results demonstrate the dynamic model's accuracy and the controller's effectiveness.

8

Simulation and computer modeling of bridge structures dynamics using ANSYS

Stakhova Anzhelika, Bekö Adrián

Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska

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2024

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T. 14, nr 1

53--56

EN

This study focuses on utilizing computer modeling and simulation techniques, specifically the ANSYS software, to analyze the dynamics of bridge structures. The primary objective was to study the vibrations of a riverbed metal bridge structure and determine their characteristics. The research involved theoretical dynamic calculations considering the design features of the bridge components and the materials used in their construction. The obtained results enabled the determination of resonance frequencies for the vibration modes. By utilizing the ANSYS software, a three-dimensional virtual model of the bridge structure was created, allowing for a detailed analysis of its dynamic behavior. The first three vibration modes of the riverbed metal bridge structure were calculated, and numerical results were obtained for six modes. The findings of this research have practical significance as they provide informed decision-making support during the construction, maintenance, and modernization of bridge structures. The study of bridge dynamics using advanced technologies contributes to enhancing the safety, reliability, and longevity of these vital infrastructure assets.

PL

Niniejsze badanie koncentruje się na wykorzystaniu technik modelowania komputerowego i symulacji, w szczególności oprogramowania ANSYS, do analizy dynamiki konstrukcji mostowych. Głównym celem było zbadanie drgań metalowej konstrukcji mostu w korycie rzeki i określenie ich charakterystyki. Badania obejmowały teoretyczne obliczenia dynamiczne uwzględniające cechy konstrukcyjne elementów mostu oraz materiały użyte do ich budowy. Uzyskane wyniki umożliwiły wyznaczenie częstotliwości rezonansowych dla postaci drgań. Wykorzystując oprogramowanie ANSYS stworzono trójwymiarowy wirtualny model konstrukcji mostu, pozwalający na szczegółową analizę jego dynamicznego zachowania. Obliczono trzy pierwsze postacie drgań metalowej konstrukcji mostu koryta rzeki i uzyskano wyniki numeryczne dla sześciu postaci. Wyniki tych badań mają znaczenie praktyczne, ponieważ zapewniają świadome wsparcie w podejmowaniu decyzji podczas budowy, utrzymania i modernizacji obiektów mostowych. Badanie dynamiki mostów przy użyciu zaawansowanych technologii przyczynia się do poprawy bezpieczeństwa, niezawodności i trwałości tych kluczowych elementów infrastruktury.

9

Stabilization of Iron Content in Drinking Water after Sampling – Study of Tap Water in Donetsk Region, Ukraine

Zbykovskyy Yevgen, Shvets Ihor, Kaulin Viacheslav, Shvets Iryna

Ecological Engineering & Environmental Technology

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2024

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Vol. 25, iss. 12

269--277

EN

Ukraine traditionally suffers from acute shortage of quality drinking water, and this problem has intensified recently due to military operations on its territory. The lack of water laboratories in the combat area made it impossible to monitor the quality of drinking water. Due to the pollution of water resources and the destruction of water supply systems, the population is forced to use water unsuitable for drinking. One of the important indicators of pollution is the high iron content in drinking water, which exceeds the maximum permissible standards in many regions of Ukraine. To analyze the iron content in water, the spectrophotometric method with 1,10-phenanthroline was chosen, which is simplest, less labor-intensive and energy-consuming. If it is impossible to carry out the analysis at the point of water sampling, the result obtained has a high error due to a decrease in the concentration of iron in the water over time. The reason for this effect is the rapid transition of iron from soluble to insoluble form. The aim of the research is to study the influence of temperature and acidity on the dynamics of iron concentration in drinking water and to develop recommendations for analyzing water for iron content in laboratory conditions. It has been proven that drinking water must be acidified to a level of pH = 1 immediately after water sampling. In the case of analyzing previously unacidified water, it should be heated to a temperature of 40 °C or higher in the presence of hydrochloric acid. It was established that the amount of total iron in the analyzed water exceeds the amount of dissolved iron by 6.4 times. The correspondence of drinking water with the requirements of the standard for iron content can only be established by determining the content of total iron in all its species.

10

Dynamics of Loose Materials and Oscillations of Cylindrical Perforated Sifting Surfaces with Volumetric Riffles

Kharchenko Serhii, Samborski Sylwester, Kharchenko Farida, Korzec-Strzałka Izabela, Stelmakh Andrii Andrii

Advances in Science and Technology. Research Journal

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2024

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Vol. 18, no. 8

238--255

EN

The application of cylindrical perforated sifting surfaces with volumetric riffles in vibrocentrifugal machines for separation of loose materials requires the development of methodologies for studying the dynamics of particles in working zones and ensuring structural reliability. The analogy with hydrodynamic models became the basis for mathematical modeling of the movement of loose materials along the sifting surface. The movement of loose material was considered as the movement of a pseudo-liquid medium, which has characteristic parameters such as viscosity, density, porosity, and layer height. The use of volumetric riffle-activators on a perforated sifting surface intensifies the processes of loose medium separating, however, it requires studying their dynamics and reliability of structures. The obtained mathematical expressions for the velocity and flow rate of the medium take into account the design and kinematic parameters of sifting surface, riffle-activators and properties of loose material. To test the obtained mathematical expressions, studies were conducted on sifting surfaces with rectangular holes with riffles of various shapes and sizes. The study also analysed the degree of properties influence of loose materials, using corn and sunflower seed mixtures as an example, on their dynamic indicators. The dynamics of loose medium on cylindrical perforated surfaces with riffle-activators is one of the main tasks for calculating the productivity and quality of the sieve separation process. Obtained appropriate dependencies of technological indicators of perforated vibrating surfaces allowed to establish ranges of variation of their rational ranges of design parameters, including the parameters of riffle-activators. The natural frequencies and shapes have been determined on the basis of numerical and experimental methods, which make it possible to assess the possibility of resonant modes during the operation of cylindrical sifting surfaces. Oscillations depending on its structural and kinematic parameters and properties of loose materials have been studied, which will ensure the reliability and technological durability of the structure of riffled sifting surfaces.

11

Flexure-based dynamometer for vector-valued milling force measurement

Ramsauer Christoph, Leitner David, Habersohn Christoph, Schmitz Tony, Yamazaki Kazuo, Bleicher Friedrich

Journal of Machine Engineering

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2023

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Vol. 23, No. 1

47--56

EN

Variation in cutting forces with cutting parameter selection, tool geometry, and wear status plays an important role for milling process evaluation and modeling. While piezoelectric force measurement is commercially available, it is often considered a precise but expensive method. This paper presents a novel solution for vector-valued cutting force measurement. The table-mounted, flexure-based kinematics provide three degrees of freedom that are used to measure the in-process milling force vector components in the working plane by low-cost optical sensors. Based on analytical models and FEM analysis, an appropriate design was derived. The assembly and testing of the developed dynamometer are presented. A test setup based on a machining center was used for the system evaluation and the data are compared to the forces measured by a commercially available, piezoelectric cutting force dynamometer.

12

Spatial and temporal analysis of landscape dynamics in the Kostanay region under an-thropogenic impacts

Ozgeldinova Zhanar, Mukayev Zhandos, Zhanguzhina Altyn, Bektemirowa Assel, Ulykpanova Meruyert

Archives of Environmental Protection

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2023

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Vol. 49, no. 4

80--94

EN

The aim of the work is to develop a method of landscape dynamics under anthropogenic impact. The developed methodology is tested on the territory of Kostanay region, which is one of the main regions of mining industry development, with a focus on iron ore mining and crop production. Space images and field survey results are used as input materials. In general, the work consists of the following six stages: the first stage includes the selection and processing of space images, the second stage includes the calculation of indices based on data from different channels of space images, the third stage includes field work aimed at collecting information for verification of the obtained results on the basis of RS data, the fourth stage includes the calculation of range values, the fifth stage comprises verification of the obtained indices, and the final sixth stage deals with calculation of the integral index of landscape degradation degree and analysis of landscape dynamics under anthropogenic impacts. The calculation of the integral indicator of the degree of degradation of the natural environment of the Kostanay region, based on the degradation of each indicator in the conditions of anthropogenic impact, allowed for identification of landscapes with different degrees of degradation (from weak to very strong). The research confirmed that landscapes with a high degree of degradation under anthropogenic impact are confined to semi-desert landscapes in the south of the study region. The degradation of these landscapes is associated not only with anthropogenic impacts but also with natural and climatic features that influence the development of landscape pollution processes. On the contrary, landscapes with a weak degree of degradation correspond to the forest-steppe and steppe zones, characterized by a high level of economic development and resistance to anthropogenic impacts. The verification of the obtained indicators by the values of the remaining 25% of field points determines the reliability of the obtained results, ranging from 87% to 92%, confirming the correct choice of methods and techniques for obtaining the results, especially the choice of field methods and vegetation and non-vegetation indices for assessing the selected indicators. Subsequently, based on the verified map of degradation of the natural environment, created through space monitoring for a certain period, it is possible to forecast the functioning of the natural environment in the conditions of anthropogenic impact.

13

Comparative analysis of dynamic load models generated by runners on footbridges

Pańtak Marek

Archives of Civil Engineering

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2023

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Vol. 69, nr 1

147--162

EN

Footbridges, like all building structures, must be designed in a way that ensures their safe and comfortable use. Steel footbridges characterised by low vibration damping often turn out to be a structure susceptible to the dynamic influence of users during various forms of their activity. For these structures, the impact of running users may be a key type of dynamic load for the verification of the serviceability limit state due to vibrations. In the literature, there are several proposals for models of dynamic load generated by runners (models of ground reaction forces - GRF). The paper presents the characteristics, analyses and comparisons of selected GRF load models. The analyses were performed using the GRF recorded during the laboratory tests of runners (tests planned and carried out by the author) and the GRF determined using various load models. In order to illustrate the accuracy of the estimation of the dynamic response of the structure, depending on the GRF model used, dynamic field tests and dynamic numerical analyses of the selected steel footbridge were carried out. The obtained results were analysed and compared.

PL

W artykule przedstawiono charakterystyki i analizy porównawcze wybranych modeli GRF. Analizy przeprowadzono z wykorzystaniem GRF zarejestrowanych podczas badań laboratoryjnych osób biegnących (badania własne autora) oraz GRF wyznaczonych z wykorzystaniem różnych modeli. W celu zobrazowania dokładności oszacowania odpowiedzi dynamicznej konstrukcji, w zależności od zastosowanego modelu GRF, przeprowadzono dynamiczne badania terenowe oraz dynamiczne analizy numeryczne stalowej kładki dla pieszych podatnej na oddziaływanie osób biegnących. Przeprowadzone analizy pozwoliły ustalić poprawność odwzorowania przebiegów GRF oraz dokładność wyznaczania odpowiedzi dynamicznej konstrukcji narażonych na dynamiczne oddziaływanie osób biegnących. W artykule przedstawiono własne zalecenia dotyczące modelowania oddziaływania osób biegnących na kładki dla pieszych oraz własne zalecenia dotyczące doboru parametrów wybranych modeli GRF opracowane na podstawie własnych badań sił reakcji podłoża generowanych podczas biegu. Zalecenia te pozwalają zwiększyć dokładność odwzorowania przebiegów GRF oraz dokładność oszacowania odpowiedzi dynamicznej konstrukcji narażonych na dynamiczne oddziaływanie osób biegnących. W szczególności: zaproponowano rozróżnianie technik biegu w celu dokładniejszego odwzorowania oddziaływań dynamicznych osób biegnących na konstrukcje, przedstawiono wartości współczynników Fouriera i przesunięć fazowych dla różnych technik biegu na potrzeby modelu bazującego na szeregu Fouriera, przedstawiono zalecenia dotyczące doboru wartości czasu kontaktu stopy z podłożem tcr dla różnych technik biegu na potrzeby modelu półsinusoidalnego (ang.: half-sine model), przedstawiono zalecenia dotyczące maksymalnych amplitud GRF dla różnych technik biegu oraz scharakteryzowano własną propozycję odwzorowania przebiegów GRF za pomocą funkcji Gaussa.

14

Dynamical modelling of boom tower crane rigging systems: model selection for construction

Johns Brandon, Abdi Elahe, Arashpour Mehrdad

Archives of Civil and Mechanical Engineering

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2023

|

Vol. 23, no. 3

art. no. e162, 2023

EN

Accurate dynamical models are imperative to the development of accurate monitoring and control systems, which are foundational to safety in construction and infrastructure projects. However, the highly coupled non-linear dynamics of crane systems requires the application of many simplifying assumptions to the dynamical crane model. To achieve accurate control, simplifications should yield minimal error in modelled behaviour for maximal reduction in model complexity. However, limited information is available on the situational suitability of different combinations of simplifications to construction tower crane models. This paper informs designers of the optimal dynamical models to represent boom tower cranes, with respect to the crane characteristics and selection criteria. The optimal models are determined though the comparison of ten 2D and 3D dynamical models in representation of three variations of boom tower crane that are commonly deployed on construction sites. The comparison includes analysis of over 100 simulations and experimentation. The value of the presented optimal model selection framework is in facilitating systems designers to develop accurate crane monitoring and control systems.

15

New crane bumper design with an energy absorption device system

Haniszewski Tomasz, Margielewicz Jerzy, Gąska Damian, Opasiak Tadeusz

Transport Problems

|

2022

|

T. 17, z. 3

5--16

EN

This article presents research carried out using physical data from the experimental construction of an overhead crane. This article aims to determine the dynamic behaviour of the cart-pendulum system when the hoisting mechanism hits the new bumper design at the end of the girder support structure with selected speed and bumper material to the length of the wire rope. This research shows the influence of the horizontal speed of the hoisting mechanism on the bumper force during a collision with a standard buffer and its modifications. The presented model can be the basis for modelling more complex cases, and its assumed role (i.e. the ability to determine the angle of deflection of the rope during an impact) has been confirmed and is possible to use in a specific case of an overhead crane on an industrial scale. Preliminary analysis of the construction of the bumper considered reveals its positive features, aiming, among other goals, to reduce the acceleration and force acting on the crane cart in emergency situations.

16

Rejestracja obrazów a kalibracja kinematyki manipulatorów

Orozco Roberto, Ratajczak Adam

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

21-30

PL

Referat podejmuje próbę zaadaptowania wariacyjnych metod rejestracji obrazów do kalibracji kinematyki robotów manipulacyjnych. Rozpatrzono możliwość wykorzystania dyfeomorficznego dopasowania punktów charakterystycznych (ang. Diffeomorphic Landmark Matching) jako narzędzia do obliczania przekształceń dla szczególnej metody kalibracji, mianowicie kalibracji przez dyfeomorfizmy. Sformułowano problem rejestracji obrazów oraz przedstawiono idee związane z kalibracją prze dyfeomorfizmy. Efektywność takiego podejścia została zweryfikowana badaniami symulacyjnymi dla modelu kinematyki podwójnego wahadła.

EN

The paper addresses an attempt to adapt variational methods of the image registration to the calibration of manipulator kinematics. In particular, it considers an application of Diffeomorphic Landmark Matching as a tool for computing transformations for a specific calibration method, namely the calibration by diffeomorphisms. Image registration formalism as well as the ideas underlying the calibration method has been presented. The results of bonding these two theories have been evaluated by means of simulations.

17

Odporna kinematyka odwrotna w konfiguracjach osobliwych

Dulęba Ignacy

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

5-10

PL

W referacie przedstawiono zasady konstrukcji odpornych algorytmów kinematyki odwrotnej w konfiguracjach osobliwych i ich otoczeniu, uzasadniające także klasyczny algorytm odpornej odwrotności. Zaproponowano sposób addytywny i multiplikatywny wprowadzania poprawki do macierzy źle uwarunkowanej, by przywrócić jej dobre uwarunkowanie.

EN

In this paper additive and multiplicative methods of making inverse kinematics robust at (or around) singular configurations were presented. The methods are provable good and as special case cover also the literature robust inverse kinematics method. A clear advantage of robust methods is their independence on the cornak of singularities and simplicity in implementation.

18

Identyfikacja modelu robota mobilnego z użyciem adaptacyjnego obserwatora ESO

Patelski Radosław, Pazderski Dariusz

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 1

11-20

PL

W pracy rozważa się problem identyfikacji parametrów modelu dynamiki dwukołowego robota mobilnego z napędem różnicowym. Model dynamiki robota sformułowany został przy założeniu, że prędkości kół robota są mierzalnymi sygnałami wyjściowymi, natomiast prądy silników napędzających robota są sygnałami wejściowymi. W celu identyfikacji nieznanych parametrów robota wykorzystano zaproponowany niedawno adaptacyjny obserwator stanu rozszerzonego (PIESO) sformułowany poprzez połączenie klasycznego obserwatora stanu rozszerzonego (ESO) z gradientowym prawem adaptacji. Skuteczność proponowanego podejścia potwierdzono badaniami symulacyjnymi i eksperymentalnymi.

EN

In this paper a problem of identification of parameters of a two-wheeled mobile robot equipped with differential drive is considered. Model of the robot dynamics is formulated under an assumption that velocities of wheels are measurable outputs of the system, while the motor currents are input signals. In order to identify unknown parameters, a recent adaptive parameter identifying extended state observer (PIESO) algorithm is employed, which combines a classic ESO observer with a gradient adaptation law. The effectiveness of the proposed approach is validated by numerical and experimental trials.

19

Ocena własności dynamicznych silnika z zapłonem samoczynnym na podstawie zmian wartości wskaźnika działania

Rudnicki Jacek

Journal of Polish CIMEEAC

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2022

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Vol. 17, no 1

20--33

PL

W artykule przedstawiono koncepcję metody pozwalającej na ocenę działania silnika pracującego na charakterystyce regulatorowej w nagłej zmiany obciążenia i związanej z tym akceleracji/deceleracji. Do analizy przebiegu zmian podstawowych własności użytkowych silnika w tym czasie wykorzystane zostało wartościujące (ilościowe) ujęcie działania interpretowanego jako pewna wielkość fizyczna. Podejście takie umożliwia jednoczesne uwzględnienie wykonywania określonej pracy (podejście energetyczne) oraz czasu, w którym ta praca jest wykonana.

20

Dynamics of the conveyor speed stabilization system at variable loads

Polishchuk Leonid К., Khmara Oleh V., Piontkevych Oleh V., Adler Oksana O., Tungatarova Aigul, Kozbakova Ainur

Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska

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2022

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T. 12, nr 2

60--63

EN

The dynamic processes of the system of stabilization of the speed of the conveyor belt with a built-in hydraulic drive on the basis of an improved mathematical model, which takes into account the physical phenomena occurring in the hydraulic system during the action of alternating load. The influence of the main parameters of the hydraulic system and the magnitude of the load on the course of dynamic processes is analyzed and recommendations for their selection are formulated. The proposed scheme of the built-in hydraulic drive of a conveyor belt with system of stabilization of speed of movement automatically provides its uninterrupted work. The use of an additional hydraulic pump allowed to stabilize the speed of the conveyor belt to 7.8%, provided that the load on the working link is 2.3 times.

PL

Rozważono procesy dynamiczne układu stabilizacji prędkości taśmy przenośnika z wbudowanym napędem hydraulicznym w oparciu o udoskonalony model matematyczny uwzględniający zjawiska fizyczne zachodzące w układzie hydraulicznym podczas działania obciążenia zmiennego. Przeanalizowano wpływ głównych parametrów układu hydraulicznego i wielkości obciążenia na przebieg procesów dynamicznych oraz sformułowano zalecenia dotyczące ich doboru. Zaproponowany schemat wbudowanego napędu hydraulicznego przenośnika taśmowego z systemem stabilizacji prędkości ruchu automatycznie zapewnia jego nieprzerwaną pracę. Zastosowanie dodatkowej pompy hydraulicznej pozwoliło ustabilizować prędkość taśmy przenośnika na poziomie 7,8% przy założeniu, że obciążenie ogniwa roboczego jest 2,3 razy większe.