Wyniki wyszukiwania - BazTech

1

To the comparative evaluation of three-unit lorry convoys of the different component systems by maneuverability

Sakhno Volodymyr, Poliakov Viktor, Lyashuk Oleg, Murovanyi Igor, Stelmashchuk Valeriy, Onyschuk Vasyl, Tson Oleg, Rozhko Natalia

Zeszyty Naukowe. Transport / Politechnika Śląska

|

2023

|

z. 121

189--201

EN

The article deals with the maneuverability of three-link road trains with various layout schemes. If a train has more than three links, difficulties arise in that the study of the movement of such a multi-link vehicle is significantly complicated due to the need to take into account the influence of a significant number of factors on the nature of the movement of all links. The interaction of neighboring units in the movement of a train is eventually distributed to the entire vehicle and causes certain deviations of the components of the train (modules) from the direction of movement specified by the driving link (tractor). Considering that a road train as a motor vehicle is a means of increased danger, when solving problems about the possibility of operating three- and multi-link road trains, it is one of the first to take steps towards theoretical studies of their maneuverability, the results of which will be the basis for answering many technical, organizational, and legal questions. Analysis of the calculation results showed that in the established circular path with the selected gear ratios of the control drives, none of the road trains met the requirements of DIRECTIVE 2002/7 / EC. From this, it follows that for three-link road trains, a fundamentally different control drive is needed, which can be a double control drive.

2

Matlab Class for Rapid Visualization of Missile-Target Engagement Scenarios

Bużantowicz Witold

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa

|

2023

|

Vol. 14, Nr 4 (54)

23--36

EN

In this paper, the authorial Matlab Battlespace Visualization Class (MBVC) is proposed to plan, design, and compose the preliminary version of the desired computer animation, which can then be used both as a background for the discussion of the final composition and as an individual project for public presentation, providing a visual reference for missile-target engagement simulations. As a design tool, the MBVC allows us the combination of the advanced mathematical models of missile guidance loop elements (implemented in the discrete form as program scripts) with the capabilities offered by open, powerful, and flexible 3D graphical engine. As a visualization tool, the MBVC allows the designers to present their research findings in both an illustrative and informative way, providing a visual reference for the computer simulation. The class is freely available for scientific, engineering or educational use

PL

W artykule przedstawiono autorską klasę Matlab Battlespace Visualization Class (MBVC). Klasa przeznaczona jest do wspomagania projektowania przestrzennych scen wizualizacji i animacji komputerowej, które w dalszej kolejności mogą znaleźć zastosowanie zarówno jako tło do dyskusji nad finalną kompozycją, jak i indywidualny projekt do publicznej prezentacji, zapewniając wizualne odniesienie do wyników symulacji scenariuszy walk powietrznych. MBVC jako narzędzie projektowe umożliwia łączenie zaawansowanych modeli matematycznych elementów obwodu naprowadzania rakiet (zaimplementowanych w postaci dyskretnej w formie skryptów programowych) z możliwościami oferowanymi przez otwarty, wydajny i elastyczny silnik graficzny 3D. Jako narzędzie do wizualizacji MBVC dostarcza projektantom narzędzia niezbędne do przedstawienia wyników badań zarówno w ilustracyjny, jak i informacyjny sposób. Klasa jest bezpłatnie udostępniona do zastosowań naukowych, inżynierskich i edukacyjnych.

3

Method of movement control of unmanned vehicles according to specified trajectory of movement and safety considetations

Pila Jan, Martinec František

Przegląd Komunikacyjny

|

2022

|

R. 77, nr 1

12--16

EN

The article is aimed to the possible trajectory of unmanned aerial vehicles in built-up agglomerations. It points out problems relating to safety, selection of flight corridors and description of the method of movement control of unmanned aerial vehicle according to specified trajectory of its movement. Design proposal of UAV reference trajectory memory block and methods of solving safety and reliability in agglomerations are presented in the article.

PL

Artykuł ma na celu poznanie możliwej trajektorii bezzałogowych statków powietrznych w aglomeracjach zabudowanych. Wskazuje na problemy związane z bezpieczeństwem, wyborem korytarzy lotu oraz opisem sposobu sterowania ruchem bezzałogowego statku powietrznego według określonej trajektorii jego ruchu. W artykule przedstawiono propozycję projektową bloku pamięci trajektorii referencyjnych UAV oraz metody rozwiązywania kwestii bezpieczeństwa i niezawodności w aglomeracjach.

4

Pomiary trajektorii iskry długiej w przestrzeni trójwymiarowej

Molasy Michał, Szewczyk Marcin

Przegląd Elektrotechniczny

|

2022

|

R. 98, nr 10

181--184

PL

W artykule przedstawiono zagadnienia związane z pomiarami laboratoryjnymi trajektorii iskry długiej dla udarów piorunowych i łączeniowych o biegunowości dodatniej i ujemnej. Przedstawiono układ eksperymentalny umożliwiający wykonanie pomiarów iskry długiej w układach wysokonapięciowych kula-płyta oraz kula-kula, jak również w układach modelowych odzwierciedlających zjawisko przeskoku wzdłuż łańcucha izolatorowego. Opisana metoda badawcza może być również wykorzystana do prowadzenia pomiarów w układach wieloelektrodowych. Przedstawiony układ pomiarowy i sposób wykonania pomiarów iskry długiej umożliwiają wyznaczenie parametrów trajektorii wyładowań, co może zostać użyte do opracowania i weryfikacji modeli symulacyjnych wyładowań iskrowych z wykorzystaniem modelowania fraktalnego.

EN

The article presents aspects related to laboratory measurements of a long spark trajectory for lightning and switching strokes with positive and negative polarity. The paper presents an experimental setup that enables long spark measurements in conventional sphere-plate and spheresphere high-voltage systems, as well as in model systems reflecting the phenomenon of a discharge along the insulator chain. The described method can also be used to conduct measurements in multi-electrode systems. The presented measuring system and the method of long spark measurements make it feasible to determine the parameters of the discharge trajectory, which can be used to develop and validate the simulation models of spark discharges with the use of fractal modeling.

5

Propozycja stosowania tabel poprawek nastaw artylerii naziemnej na różnicę wysokości celu i stanowiska ogniowego

Mendel Marcin, Kuśnierz Tadeusz

Problemy Techniki Uzbrojenia

|

2022

|

R. 51, z. 160

43--59

PL

W artykule przedstawiono propozycję poprawiania nastaw celownika dział artylerii naziemnej z powodu różnicy wysokości nad poziomem morza celu C i stanowiska ogniowego SO. Opisano podstawowe zasady zestawiania głównych tabel strzelniczych i pomocniczych tabel poprawek celownika na różnicę wysokości celu i stanowiska ogniowego, zasady korzystania z tych tabel oraz konsekwencje obowiązującego dotychczas sposobu stosowania tabel poprawek. Obowiązująca od dziesiątek lat w artylerii naziemnej WP interpretacja tabel poprawek celownika na różnicę wysokości celu i stanowiska ogniowego prowadzi w konsekwencji do błędnego ich stosowania. Ten błąd jest powielany od szkolenia funkcyjnych, poprzez obowiązujące instrukcje i metodyki, aż do praktycznego stosowania.

EN

The paper deals with a proposal for correction of settings of field artillery sights caused by different altitudes above the sea level of a target C and a firing site SO. The basic principles are described for preparation and use of main firing tables and additional tables, considering the difference of altitudes between the target and the firing site, together with consequences of using the existing methodology of application of the corrective tables. An interpretation of the sight corrective tables which has been used for many decades in the field artillery of the Polish army causes that they are used in a wrong way. This error is repeatedly present in the training of servicemen, in biding instructions and methodologies, and in practical applications, as well.

6

Algorytm skalowania prędkości dla trajektorii w przestrzeni zadań

Wojtyra Marek, Woliński Łukasz

Prace Naukowe Politechniki Warszawskiej. Elektronika

|

2022

|

z. 197, t. 2

213-222

PL

Artykuł przedstawia nowy algorytm skalowania trajektorii, umożliwiający planowanie ruchu w przestrzeni zadań, pozwalający na uwzględnienie fizycznych możliwości manipulatora w postaci ograniczeń nakładanych na prędkości i przyspieszenia w przestrzeni złączowej. W odróżnieniu od klasycznego algorytmu skalowania, który jednolicie skaluje całą trajektorię i musi być wykonany przed rozpoczęciem ruchu, proponowany algorytm może być realizowany online, a skalowanie jest stosowane tylko do części planowanej trajektorii. W proponowanym podejściu ruch jest analizowany w przyjętym horyzoncie predykcji. Klasyczne podejście do skalowania zostało zmodyfikowane w taki sposób, że skalowanie jest wykonywane tylko wtedy, gdy w horyzoncie predykcji wykryte zostanie naruszenie ograniczeń nałożonych na prędkości lub przyspieszenia złączowe. W artykule omówiono podstawy działania algorytmu, a następnie przedstawiono jego szczegóły. Przedstawiono przykład skalowania trajektorii dotyczący manipulatora o dwóch stopniach swobody poruszającego się w pobliżu konfiguracji osobliwej.

EN

A new trajectory scaling algorithm is presented. The algorithm allows for planning a task space trajectory while considering the manipulator’s physical capabilities in terms of limits for joint space velocities and accelerations. Contrary to the classic scaling algorithm which scale the whole trajectory uniformly and has to be executed before the motion starts, the proposed algorithm can be executed online, and the scaling is applied only to the part of the planned trajectory. In the proposed approach, the planned motion is analyzed in a specified prediction horizon. Theoretical basics of the classic trajectory scaling method are adapted in such a way that the scaling is performed only when the analysis detects a violation of joint velocity or acceleration constraints at the prediction horizon. In this paper, the underlying ideas are introduced and discussed, then the core formulae of the algorithms are detailed. An example of scaling a trajectory of a 2-DOF manipulator in the vicinity of a boundary singularity is presented.

7

Rozwiązanie initial 4d trajectory management jako szansa na rozwój technologiczny w lotnictwie

Nawrocka Nadia, Kunecka Zuzanna

Journal of TransLogistics

|

2020

|

Vol. 6, nr 1

161--168

PL

Tematem artykułu jest perspektywa wprowadzania nowoczesnej technologii 4D. Na początku zostanie przedstawiona idea programu SESAR ze szczególnym uwzględnieniem rozwiązania i4D. W dalszej części zostaną rozważone wyzwania stawiane tej technologii, potrzeby, na które jest ona odpowiedzią. Następnie przeanalizowane zostaną testy badające funkcjonalność operacyjną w każdej dziedzinie i pod każdym względem, a także przybliżony pierwszy lot z zastosowaniem czterowymiarowego zarządzania trajektorią lotu. Artykuł zawiera wnioski dotyczące strategii wprowadzania technologii i4D oraz subiektywną ocenę autorek artykułu na szansę wprowadzenia tego rozwiązania.

EN

The topic of the article is the perspective of introducing modern 4D technology. At the beginning, the idea of SESAR will be presented with particular emphasis on i4D solution. In the next part of the article we will consider the challenges posed by this technology, the needs to which it is an answer. Next, the tests will be analyzed to examine the operational functionality in every field and in every aspect, and first flight using the four-dimensional flight trajectory management will be taken into consederation. The article contains conclusions on the strategy of introducing i4D technology and subjective evaluation of the authors of the article on the chance of introducing this solution.

8

Mobility of the metrobus. Ways of improvement

Bundza Oleh Z., Sakhno Volodymyr P., Poliakov Viktor M., Yashchenko Dmytro M.

Archiwum Motoryzacji

|

2020

|

Vol. 89, nr 3

61--73

EN

In this article it is offered the ways to improve the maneuverability of three-link metrobuses by choosing a rational layout scheme and design parameters of its trailer units. Considering that the movement of the metrobus is carried out on direct routes, that is, the maneuverability of the metrobus is appropriate to determine by the overall traffic lane (OTL) size. OTL equal to the difference of the radii of rotation of the points of the train, the farthest and closest to the center, that is, the difference of the overall radii of rotation - the outer (Rz = 12.5 m) and internal (Rv = 5.3 m). The methodology for calculating OTL is based on determining the angles of assembly of the road train links and the offset of the driven links trajectories relative to the trajectory of the master. Maneuverability indicators of the three-link metrobus are defined on elastic in the lateral direction wheels. Studies were performed for one-way rotation and ISO maneuvering with the obtained trajectories of links and the overall traffic lane of a metrobus with guided and unmanaged trailer links.

9

A new strongly predefined time sliding mode controller for a class of cascade high-order nonlinear systems

Abadi Ali Soltani Sharif, Hosseinabadi Pooyan Alinaghi, Mekhilef Saad, Ordys Andrzej

Archives of Control Sciences

|

2020

|

Vol. 30, No. 3

599--620

EN

Many real-time systems can be described as cascade space-state models of different orders. In this paper, a new predefined controller is designed using a Strongly Predefined Time Sliding Mode Control (SPSMC) scheme for a cascade high-order nonlinear system. The proposed control scheme based-on SMC methodology is designed such that the system states reach zero within a determined time prior to performing numerical simulation. Moreover, Fixed Time Sliding Mode Control (FSMC) and Terminal Sliding Mode Control (TSMC) schemes are presented and simulated to provide a comparison with the proposed predefined time scheme. The numerical simulation is performed in Simulink/MATLAB for the proposed SPSMC and the other two existing methods on two examples: second and of third order to demonstrate the effectiveness of the proposed SPSMC method. The trajectory tracking of the ship course system is addressed a san example of a second-order system. Synchronization of two chaotic systems, Genesio Tesi and Coullet, is considered as an example of a third-order system. Also, by using two performance criteria, a thorough comparison is made between the proposed predefined time scheme, SPSMC, and the two no predefined time schemes, FSMC and TSMC.

10

Mobile Robot Simulation Framework

Ciurej Maciej

Pomiary Automatyka Robotyka

|

2019

|

R. 23, nr 4

25--30

EN

This paper presents a programming framework for simulation of the mobile robot. Model of Khepera III robot with IR proximity sensors was considered as a base model for tests of proposed system. Architecture of designed software was presented with the use of UML class diagram.

PL

W artykule zaprezentowano szkielet oprogramowania do symulacji kołowego robota mobilnego. Jako przykład rzeczywistego robota przedstawiono robot Khepera III z czujnikami IR do wykrywania i omijania przeszkód. Zaprezentowany szkielet jest niezależny od fizycznej reprezentacji robota mobilnego.

11

Study on feature extraction and dynamic properties of bubbles in a liquid-phase flow field

Peng Deqiang, Dong Xianshu, Fan Yuping, Ma Xiaomin

Physicochemical Problems of Mineral Processing

|

2019

|

Vol. 55, iss. 1

268--277

EN

To study the dynamic properties of bubbles generated at different air pressures in a liquid-phase flow field, this paper adopted high-speed camera technology and image processing techniques to extract and calculate the features of bubbles. The results showed that in a deionized water field, the bubbles generated at the air pressure of 0.1 MPa had an average diameter of 4.50 mm, and the bubbles generated at the air pressures of 0.2 MPa and 0.3 MPa had average diameters of 5.74 mm and 5.76 mm respectively; notwithstanding the insignificant differences in average data, the probability distribution of bubble diameter had significant differences with different pressures. During the rise of bubbles, their motion trajectory witnessed an increased amplitude of swing with the increase of air pressure; the bubbles generated at different air pressures did not show any significant differences in rising velocities though.

12

Testing trajectory of road trains with program complexes

Nurmuhumatovich Jamshid Abnunazarov, Mikusova Miroslava

Archiwum Motoryzacji

|

2019

|

Vol. 83, nr 1

103--112

EN

The article provides information about using software for determination off tracking and trajectory movement of trucks. It describes experiment of determination of trajectory movement of trucks, using GPS system, to assess the compliance of similar models of the movement of road trains in computer-aided road design systems. Experimental study was conducted using truck KAMAZ 54115 and semi-trailer M 9397 in real road conditions. There are presented and compared results of the study of movement trajectories of road trains with results obtained of the Auto TURN software package application. As a conclusion the use of AutoTURN software package is validated for determining dynamic dimension of cars and for modelling trajectory of movement, not only for road trains, but also for all types of vehicles in the area of their design.

13

Trajectory-based multimodal transport management for resilient transportation

Engler E., Gewies S., Banyś P., Grunewald E.

Transport Problems

|

2018

|

T. 13, z. 1

81--96

EN

The transport of goods and persons with two or more transport carriers (road, rail, air, inland waterway, or sea) results in multipartite transport chains whose profitability depends on the cost-effectiveness of the transport carriers involved as well as on the capability of multimodal transport management. Currently, differences with regard to the technical equipment used and infrastructural facilities available as well as administrative and public organizational structures in place are the major obstacles to comprehensive multimodal transport management within and beyond European Union borders. Though information and communication technologies (ICT) have entered into all traffic and transport systems, the levels of ICT penetration achieved in controlling, monitoring, and managing of system operation and processes are currently quite different [1-5]. One of the reasons for that is the lack of homogenous ICT standards and, as a result, the technological barriers for interconnectivity between different systems, processes, applications, and stakeholders [2]. The proposed trajectory-based concept is considered as suitable approach to perform the smart and adaptable planning, operation, and management of systems with dissimilar structures, a wide diversity of actors, and distributed responsibilities. It is therefore expected that it will be especially well suited to facilitate multimodal transport management for future Intelligent Transport Systems (ITS). Based on the “transport trajectory” formulation introduced here, it will be shown that a trajectory-based status description is generally possible for all transport-relevant components and processes. The expected benefit of the trajectory-based transport management is illustrated by means of selected transportation scenarios.

14

Aerial Target Flight Path Modeling using B-Spline Curves

Bużantowicz W., Bezubik B.

Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa

|

2018

|

Vol. 9, Nr 4 (34)

21--32

EN

A method is presented for generating the flight path of an aerial target using B-spline curves developed for studying the combat effectiveness of anti-aircraft missiles and air defense systems. A procedure is described for determining the kinematic quantities (velocity, accelerations, angles of spatial orientation) that characterize the motion of an object along a set trajectory. Exemplary simulation results are included.

PL

W artykule przedstawiono sposób generowania trajektorii lotu celu powietrznego z wykorzystaniem krzywych B-sklejanych, opracowany na potrzeby badań skuteczności bojowej rakiet przeciwlotniczych i zestawów rakietowych obrony powietrznej. Opisano procedurę wyznaczania wielkości kinematycznych (prędkości, przyspieszeń, kątów orientacji przestrzennej), charakteryzujących ruch obiektu po zadanej trajektorii. Zamieszczono przykładowe wyniki badań symulacyjnych.

15

The influence of inertia weight on the Particle Swarm Optimization algorithm

Cekus D., Skrobek D.

Journal of Applied Mathematics and Computational Mechanics

|

2018

|

Vol. 17, nr 4

5--11

EN

The paper presents the use of the Particle Swarm Optimization (PSO) algorithm to find the shortest trajectory connecting two defined points while avoiding obstacles. The influence of the inertia weight and the number of population adopted in the first iteration of the PSO algorithm was examined for the length of the sought trajectory. Simulation results showed that the proposed method achieved significant improvement compared to the linearly decreasing method technique that is widely used in literature.

16

Trajektorie transformacji energetyki – horyzont 2050 . Nieautoryzowany zapis wybranych fragmentów dyskusji Seminarium Energetycznego Collegium Civitas, 18 czerwca 2019 roku

Wiśniewski G.

Energetyka – Społeczeństwo – Polityka

|

2018

|

nr 2(8)

110--116

EN

We present the shortage of the discussion during the Collegium Civitas Energy Seminar on June 18th 2019. The topic of the Seminar: „The Trajectories of Energy Sector Transformation – Horizon Year 2050”.

17

Analiza uwarunkowań zapewnienia prawidłowej trajektorii w zrobotyzowanych aplikacjach spawania łukowego MIG/MAG

Cegielski P.

Przegląd Spawalnictwa

|

2017

|

R. 89, nr 1

5--12

PL

Robotyzacja spawania, w przeciwieństwie do mechanizacji i prostej automatyzacji, pozwala na niemal dowolne kształtowanie trajektorii, po jakiej poruszać się będzie narzędzie, np. spawalniczy uchwyt elektrodowy, nawet w połączeniu z równoczesnymi ruchami odpowiednio zsynchronizowanego pozycjonera czy toru, poruszającego robot. Przyczyną błędów i niezgodności spawalniczych mogą być problemy z prawidłowym odtwarzaniem zadanej trajektorii przez nieprawidłowo zaprogramowany bądź wyeksploatowany robot. W artykule przedstawiono ogólne zagadnienia sterowania oraz autorską metodykę określania błędów pozycjonowania robota spawalniczego wraz z analizą przyczyn i konsekwencji nieprawidłowej pracy napędów.

EN

The welding process with the use of industrial robot, comparing to mechanized processes, allows for almost arbitrary trajectory forming of the movement of a tool being used, such as e.g. welding electrode holder. This can be combined with the simultaneous movements of synchronized positioner or on the robot moving rail. Possible welding imperfections that might occur can result either of the improper following up the programmed trajectory or robot inaccuracy. Some general issues of a robot control as well as author’s methodology of the identification of robot positioning errors are described in this paper. An analysis and results of improper action of power transmissions used is also presented.

18

Modelling oil spill around Bay of Samsun, Turkey, with the use of OILMAP and ADIOS software systems

Toz A. C.

Polish Maritime Research

|

2017

|

nr 3

115--125

EN

Bay of Samsun is one of the most important oil transport gateways in Black Sea. The region is surrounded with the coasts which have various levels of environmental sensitivity. The purpose of this study is to investigate the oil spill and predict the future accidents likely to be encountered around the Bay of Samsun. To be well informed about fate, this study makes the best possible use of two trajectory models. One of them, ADIOS (Automated Data Inquiry for Oil Spills), has been applied to natural degradation calculations, and the other one, OILMAP (oil spill model and response system), has been used for surface spread simulation. Hence in order to identify the risky areas three scenarios have been developed. Their results reveal that in case of oil spills, with average environmental conditions, there is a risk of contamination for the city of Samsun. Although the area under the risk is the same, contamination density is totally different depending upon the quantity and the type of spilt oil. The results gained through these efforts are hoped to be useful for many organizations dealing with oil spill response operations and contribute to an effective coordination among the relevant institutions.

19

The Influence of the Duty Cycle Trajectory Length on the Energy Consumption of an Anthropomorphic Manipulator

Cekus D., Skrobek D.

Machine Dynamics Research

|

2017

|

Vol. 41, No. 4

17--27

EN

The work presents the use of one of the heuristic algorithms - the Particle Swarm Optimization method - to determine the optimal trajectory of end-effector of an anthropomorphic manipulator. The task was to calculate the shortest 3D path connecting three defined points avoiding fixed obstacles. An indirect method was used to search for trajectory with extra points generated randomly. The trajectory was defined as a spline. The influence of stop criterion, the number of auxiliary points between defined points on the action of the algorithm and the study results has been analyzed. For found out trajectory the electricity consumption required to execute a duty cycle of an anthropomorphic manipulator has been determined.

20

Initial state evaluation algorithm using fuzzy Bellman method

Gruszecki J., Basmadji F. L.

Journal of KONES

|

2017

|

Vol. 24, No. 1

159--169

EN

The problem of UAV control along a predefined trajectory is a well know problem and there are several methods that could accomplish this task. However, adding final conditions that the UAV have to meet at the end of the trajectory makes this problem more difficult. In this article, the authors present a fuzzy based method that is not time consuming and can solve this problem. The algorithm for flying at low altitudes are aimed to ensure the maximum safety of the flight by considering only the acceleration values that are possible to achieve by the object. In particular, the article presents: flight trajectory over mountainous terrain, the structure of altitude control system, the structure of normal acceleration control system, exemplary calculations and an object with velocity equals, membership functions of angle of attack, solutions' illustration, flight path angle and pitch angle along the trajectory, the demanded and actual normal acceleration along the trajectory and flying object trajectory.