scholarly journals Investigation of the accuracy of the manipulator of the robotic complex constructed on the basis of cycloidal transmission

2021 ◽  
Vol 4 (1(60)) ◽  
pp. 6-14
Author(s):  
Serhii Strutynskyi ◽  
Roman Semenchuk
Keyword(s):  
High Precision ◽  
Software Package ◽  
Quantitative Assessment ◽  
Robotic Systems ◽  
Superhard Materials ◽  
Drive Unit ◽  
Drive Systems ◽  
Definition Of ◽  
The Mathematical Model ◽  
Modern Technologies

The object of research is modern robotic systems used in hotspots. In their arsenal, such mobile works are equipped with manipulators with high-precision hinges, which provide accurate positioning of the gripper (object of manipulation). Considering ground-based robotic complexes with a wheel or caterpillar base, the implementation of the process of manipulation on a stationary basis, a number of problem areas were identified that affect the accuracy of positioning. In the course of research and analysis of modern robotic complexes, their circuit and design of components and mechanisms that provide the necessary qualities and parameters. The problem of developing high-precision hinges is central to the creation of efficient ground-based robotic systems. The methodology of kinematic research of rotary hinges of the manipulator for the ground robotic complex is stated. The analysis of influence of deformations of material of impellers of not involute transfer on accuracy of positioning of a final subject is carried out. A kinetostatic analysis of the manipulator circuit was performed and the maximum moments acting in the hinged units on the drive unit were determined, which allowed to make a quantitative assessment using the Solidworks software package. The mathematical model of construction of transfer and definition of accuracy of a rotary knot for a ground robotic complex, with use of cycloidal transfer without intermediate rolling bodies is investigated and developed. Mathematical modeling and taking into account the features of mechanical processes occurring in the manipulator, allows to increase the technical level of robotic complexes. Ways of improvement are defined for maintenance of a progressive design of the manipulator that not only will satisfy necessary technical characteristics, but also will allow to simplify manufacturing technology. Modern technologies and materials (stereolithography, carbon fiber, superhard materials) make it possible to implement advanced designs of spatial drive systems. Therefore, work in this direction is relevant, as robotic mechanical complexes for special purposes are widely used when performing work in emergencies.

CONCEPT OF THE IMPROVEMENT OF A KEY PUBLIC SPACE (USING THE EXAMPLE OF «ALLEY OF ARCHITECTS», VORONEZH)

2020 ◽  
pp. 97-109
Author(s):  
С. Л. Подвальный ◽  
О. А. Сотникова ◽  
Я. А. Золотухина
Keyword(s):  
Urban Environment ◽  
Public Space ◽  
Large Scale ◽  
Economic Value ◽  
Ecological Condition ◽  
Territory Design ◽  
Definition Of ◽  
The City ◽  
Modern Technologies ◽  
Intensive Growth

Постановка задачи. В настоящее время формирование современной комфортной городской среды приобретает особое социально-экономическое значение и выдвигается в число приоритетных государственных масштабных программ. В связи с этим необходимо разработать концепцию благоустройства ключевого общественного пространства, а именно: определить основные и сопутствующие функции данной территории, создать эскизное предложение проекта благоустройства с учетом всех необходимых норм и стандартов, внедрить современные технологии. Результаты. Выполнен эскизный дизайн-проект «Аллеи архитекторов» по ул. Орджоникидзе г. Воронеж, включающий в себя основные элементы по зонированию территории, проектированию акцентных объектов и внедрению инновационных технологий «умного города», позволяющих повысить уровень комфорта горожан. Выводы. Благоустройство населенных мест приобретает особое значение в условиях дискомфорта среды. С выполнением комплекса мероприятий, направленных на благоустройство, и с внедрением современных технологий значительно улучшается экологическое состояние, внешний облик города. Оздоровление и модернизация среды, которая окружает человека в городе, благотворно влияет на психофизическое состояние, что особенно важно в период интенсивного роста городов. Statement of the problem. Currently the formation of the modern comfortable urban environment is gaining a special social and economic value and moving forward in the priorities of state large-scale programs. The purpose of development of the concept of improvement of public space is definition of the main and accompanying functions of this territory, design of the outline offer of the project of improvement considering all necessary norms and standards and implementation of modern technologies. Results. The conceptual project of “Alley of Architects” includes the basic elements of territory zoning, design of accent objects and implementation of technologies of a “smart-city”. These elements allow one to increase the level of comfort of inhabitants. Conclusions. Improvement of the inhabited places is of particular importance in the conditions of discomfort of the environment. Carrying out a complex of the actions directed to gardening and improvement, introducing modern technologies, the ecological condition, the physical appearance of the city considerably improves. Improvement and modernization of the environment which surrounds the person in the city influences a psychophysical state well that especially important during intensive growth of the cities.

Influence of Tooth Errors and Truing Principles of Grinding Wheel Abrasion for Machining Arc Enveloping Worm

2013 ◽  
Vol 652-654 ◽  
pp. 2153-2158
Author(s):  
Wu Ji Jiang ◽  
Jing Wei
Keyword(s):  
Mathematical Model ◽  
Case Studies ◽  
High Precision ◽  
High Performance ◽  
New Method ◽  
Grinding Wheel ◽  
Grinding Process ◽  
The Mathematical Model

Controlling the tooth errors induced by the variation of diameter of grinding wheel is the key problem in the process of ZC1 worm grinding. In this paper, the influence of tooth errors by d1, m and z1 as the grinding wheel diameter changes are analyzed based on the mathematical model of the grinding process. A new mathematical model and truing principle for the grinding wheel of ZC1 worm is presented. The shape grinding wheel truing of ZC1 worm is carried out according to the model. The validity and feasibility of the mathematical model is proved by case studies. The mathematical model presented in this paper provides a new method for reducing the tooth errors of ZC1 worm and it can meet the high-performance and high-precision requirements of ZC1 worm grinding.

scholarly journals Solar barycentric dynamics from a new solar-planetary ephemeris

2018 ◽  
Vol 615 ◽  
pp. A153 ◽  
Author(s):  
Rodolfo G. Cionco ◽  
Dmitry A. Pavlov
Keyword(s):  
High Precision ◽  
Orbital Motion ◽  
Giant Planets ◽  
Reference Plane ◽  
The Sun ◽  
The Future ◽  
Dynamical Parameters ◽  
Definition Of ◽  
Invariable Plane ◽  
Planetary Theories

Aims. The barycentric dynamics of the Sun has increasingly been attracting the attention of researchers from several fields, due to the idea that interactions between the Sun’s orbital motion and solar internal functioning could be possible. Existing high-precision ephemerides that have been used for that purpose do not include the effects of trans-Neptunian bodies, which cause a significant offset in the definition of the solar system’s barycentre. In addition, the majority of the dynamical parameters of the solar barycentric orbit are not routinely calculated according to these ephemerides or are not publicly available. Methods. We developed a special version of the IAA RAS lunar–solar–planetary ephemerides, EPM2017H, to cover the whole Holocene and 1 kyr into the future. We studied the basic and derived (e.g., orbital torque) barycentric dynamical quantities of the Sun for that time span. A harmonic analysis (which involves an application of VSOP2013 and TOP2013 planetary theories) was performed on these parameters to obtain a physics-based interpretation of the main periodicities present in the solar barycentric movement. Results. We present a high-precision solar barycentric orbit and derived dynamical parameters (using the solar system’s invariable plane as the reference plane), widely accessible for the whole Holocene and 1 kyr in the future. Several particularities and barycentric phenomena are presented and explained on dynamical bases. A comparison with the Jet Propulsion Laboratory DE431 ephemeris, whose main differences arise from the modelling of trans-Neptunian bodies, shows significant discrepancies in several parameters (i.e., not only limited to angular elements) related to the solar barycentric dynamics. In addition, we identify the main periodicities of the Sun’s barycentric movement and the main giant planets perturbations related to them.

scholarly journals Modelling of hydrodynamic cavitation for treatment of wastewater in a Venturi tube

2020 ◽  
Vol 14 (1) ◽  
pp. 61-66
Author(s):  
Betti Bolló
Keyword(s):  
Software Package ◽  
Venturi Tube ◽  
Hydrodynamic Cavitation ◽  
Ansys Fluent ◽  
High Effectiveness ◽  
Commercial Software Package ◽  
Promising Application ◽  
Low Costs ◽  
Modern Technologies ◽  
Degradation Of Pollutants

Treatment of municipal effluents has long been a challenge for modern technologies combining high effectiveness of degradation of pollutants with low costs of the process. Hydrodynamic cavitation is a promising application in wastewater treatment due to its simple reactor design. In this work, for a system available in the laboratory a hydrodynamic reactor is designed based on literature recommendations. On the designed Venturi tube, two-dimensional numerical simulations were investigated by the means of CFD computations using the commercial software package, Ansys Fluent. The resulting cavitation bubbles were analysed at different inlet pressures.

scholarly journals On application of high-precision instrumentation and numerical methods in hull manufacturing

2019 ◽  
pp. 76-81
Author(s):  
Aleksey Belozerov ◽  
Mikhail Bondar ◽  
Aleksader Rodionov
Keyword(s):  
Numerical Methods ◽  
High Precision ◽  
Software Package ◽  
Calculation Procedure ◽  
Ansys Software ◽  
Transverse Strains

This paper presents calculation procedure for welding-induced transverse strains of hull plating and floors in ANSYS software package. The results have been confirmed by an experiment performed in real factory conditions.

scholarly journals ShakeMaps during the Emilia sequence

2012 ◽  
Vol 55 (4) ◽  
Author(s):  
Valentino Lauciani ◽  
Licia Faenza ◽  
Alberto Michelini
Keyword(s):  
Software Package ◽  
Civil Defense ◽  
Peak Ground Velocity ◽  
Accurate Information ◽  
Ground Acceleration ◽  
Ground Shaking ◽  
Peak Ground Motion ◽  
Emilia Romagna Region ◽  
Fully Automatic ◽  
Definition Of

<p>ShakeMap is a software package that can be used to generate maps of ground shaking for various peak ground motion (PGM) parameters, including peak ground acceleration (PGA), peak ground velocity, and spectral acceleration response at 0.3 s, 1.0 s and 3.0 s, and instrumentally derived intensities. ShakeMap has been implemented in Italy at the Istituto Nazionale di Geofisica e Vulcanologia (INGV; National Institute of Geophysics and Volcanology) since 2006 (http://shakemap.rm.ingv.it), with the primary aim being to help the Dipartimento della Protezione Civile (DPC; Civil Protection Department) civil defense agency in the definition of rapid and accurate information on where earthquake damage is located, to correctly direct rescue teams and to organize emergency responses. Based on the ShakeMap software package [Wald et al. 1999, Worden et al. 2010], which was developed by the U.S. Geological Survey (USGS), the INGV is constructing shake maps for Ml ≥3.0, with the adoption of a fully automatic procedure based on manually revised locations and magnitudes [Michelini et al. 2008]. The focus of this study is the description of the progressive generation of these shake maps for the sequence that struck the Emilia-Romagna Region in May 2012. […]</p><br />

scholarly journals MODELLING OF ELECTROMECHANICAL DRIVE SYSTEMS WITH THE USE OF MODAL CONDENSATION

Transport ◽  
2005 ◽  
Vol 20 (1) ◽  
pp. 23-31 ◽  
Author(s):  
Damian Gasiorek ◽  
Arkadiusz Mežyk ◽  
Eugeniusz Switoński
Keyword(s):  
Dynamic Model ◽  
Software Package ◽  
Electromechanical Model ◽  
Electromechanical Drive ◽  
Mechanical Subsystem ◽  
Drive Systems ◽  
Dynamic Phenomena

This paper presents a method of developing a dynamic model enabling the study of the effect of the flexibility of the housing on dynamic phenomena in electromechanical drive systems. The research was performed on the basis of an electromechanical model with feedback between the mechanical subsystem (toothed gear with housing) and the electrical subsystem using a software package developed by the author in MATLAB environment.

scholarly journals BIOLOGICAL AGE AS A METHOD FOR ESTIMATING HEALTH LEVEL UNDER ENVIRONMENTAL RISKS (LITERATURE REVIEW)

2019 ◽  
Vol 98 (7) ◽  
pp. 761-765 ◽  
Author(s):  
N. I. Prokhorov ◽  
V. I. Dontsov ◽  
Vyacheslav N. Krutko ◽  
T. M. Khodykina
Keyword(s):  
Human Body ◽  
Quantitative Assessment ◽  
Modern Human ◽  
The Body ◽  
Biological Age ◽  
Whole Body ◽  
New Methods ◽  
Biomarkers Of Aging ◽  
Age Related ◽  
Definition Of

The widespread formation of unfavorable environmental, the swiftness of modern life with large information and psycho-emotional loads and extremely natural and climatic cataclysms, as well as harmful addictions and wrong way of life of modern human, lead to the development of stress and disruption of the mechanisms of adaptation of the human body and its accelerated wear. This stimulates the development of research on the creation of new methods of integrated assessment of health and quantitative assessment of the aging processes of the body systems and the whole body, as well as the possibilities of new methods of risk assessment of climatic and environmentally related pathological and age-related diseases. The aim of the work was to consider the methodology of quantitative assessment of individual health and the rate of aging of the human body on the basis of the system index of Biological age (BA); description of its essence and structure, requirements for tests - biomarkers of aging used as the index of BA, definition of possibilities and scope of application of the BA method in modern practice of Biomedicine. The use of modern methods of scientific analysis - a systematic approach to the analysis of the processes of human aging and determine its quantitative side - the value of BA, allows a reasonable approach to the choice of the number of BM, to take into account their information content and precision, and the cost of diagnostics and availability for different users, to take into account the specific objectives of the researcher. The use of the index-partial BA allows individual approaching the choice of biomarkers and create personalized panels for the definition of BA programs for the prevention of aging in personalized preventive medicine. The complexity of the content and calculation of indices of BA requires automation and the use of methods of modern computer science and computer calculations and programs. For this purpose, we have created special computer software for diagnosing aging by calculating the BA indices with the possibility of choosing BM and automatic calculation of indicators and conclusions.

scholarly journals Identification of Neural Network Model of Robot to Solve the Optimal Control Problem

2021 ◽  
Vol 20 (6) ◽  
pp. 1254-1278
Author(s):  
Elizaveta Shmalko ◽  
Yuri Rumyantsev ◽  
Ruslan Baynazarov ◽  
Konstantin Yamshanov
Keyword(s):  
Neural Network ◽  
Machine Learning ◽  
Mathematical Model ◽  
Optimal Control ◽  
Neural Network Model ◽  
Software Package ◽  
Control Object ◽  
Robotic Systems ◽  
Object Model ◽  
Modern Machine

To calculate the optimal control, a satisfactory mathematical model of the control object is required. Further, when implementing the calculated controls on a real object, the same model can be used in robot navigation to predict its position and correct sensor data, therefore, it is important that the model adequately reflects the dynamics of the object. Model derivation is often time-consuming and sometimes even impossible using traditional methods. In view of the increasing diversity and extremely complex nature of control objects, including the variety of modern robotic systems, the identification problem is becoming increasingly important, which allows you to build a mathematical model of the control object, having input and output data about the system. The identification of a nonlinear system is of particular interest, since most real systems have nonlinear dynamics. And if earlier the identification of the system model consisted in the selection of the optimal parameters for the selected structure, then the emergence of modern machine learning methods opens up broader prospects and allows you to automate the identification process itself. In this paper, a wheeled robot with a differential drive in the Gazebo simulation environment, which is currently the most popular software package for the development and simulation of robotic systems, is considered as a control object. The mathematical model of the robot is unknown in advance. The main problem is that the existing mathematical models do not correspond to the real dynamics of the robot in the simulator. The paper considers the solution to the problem of identifying a mathematical model of a control object using machine learning technique of the neural networks. A new mixed approach is proposed. It is based on the use of well-known simple models of the object and identification of unaccounted dynamic properties of the object using a neural network based on a training sample. To generate training data, a software package was written that automates the collection process using two ROS nodes. To train the neural network, the PyTorch framework was used and an open source software package was created. Further, the identified object model is used to calculate the optimal control. The results of the computational experiment demonstrate the adequacy and performance of the resulting model. The presented approach based on a combination of a well-known mathematical model and an additional identified neural network model allows using the advantages of the accumulated physical apparatus and increasing its efficiency and accuracy through the use of modern machine learning tools.

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