Minimum-time velocity profile planning for planar motion considering velocity, acceleration and jerk constraints

Author(s):  
Martina BenkoLoknar ◽  
Sao Blai ◽  
Gregor Klanar
2017 ◽  
Vol 9 (3) ◽  
pp. 283-288
Author(s):  
Tomas Eglynas ◽  
Marijonas Bogdevičius ◽  
Arūnas Andziulis ◽  
Mindaugas Jusis

Quay cranes are used to move containers from ship to store in minimum time so that the load reaches its destination without payload oscillation. During the operations, containers are suspended by cables and it’s free to swing by motion. This paper investigates the two different velocity profiling techniques used for quay crane control and cargo stabilization. A laboratory scaled model of a crane is used to experimentally research, where the trolley acceleration is used as input, for suppressing the container sway. The residual cargo oscillation problems using different velocity profiles are discussed.


Author(s):  
Anatoly Kusher

The reliability of water flow measurement in irrigational canals depends on the measurement method and design features of the flow-measuring structure and the upstream flow velocity profile. The flow velocity profile is a function of the channel geometry and wall roughness. The article presents the study results of the influence of the upstream flow velocity profile on the discharge measurement accuracy. For this, the physical and numerical modeling of two structures was carried out: a critical depth flume and a hydrometric overfall in a rectangular channel. According to the data of numerical simulation of the critical depth flume with a uniform and parabolic (1/7) velocity profile in the upstream channel, the values of water discharge differ very little from the experimental values in the laboratory model with a similar geometry (δ < 2 %). In contrast to the critical depth flume, a change in the velocity profile only due to an increase in the height of the bottom roughness by 3 mm causes a decrease of the overfall discharge coefficient by 4…5 %. According to the results of the numerical and physical modeling, it was found that an increase of backwater by hydrometric structure reduces the influence of the upstream flow velocity profile and increases the reliability of water flow measurements.


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