Method of analysis of the current state of inertial characteristics of an autonomous mobile robot of variable configuration

2021 ◽  
Vol 1 (2 (6)) ◽  
Author(s):  
Nicolay Koshevoy ◽  
Natalja Ashepkova ◽  
Andrii Luchko
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Design Stage ◽  
Successful Implementation ◽  
Extreme Conditions ◽  
Autonomous Mobile Robot ◽  
Relative Movement ◽  
Current State ◽  
Variable Configuration ◽  
The Mathematical Model

The features of the dynamics of an autonomous mobile robot (AMR) of variable configuration with the relative movement of attachments are considered. Analysis of the current state of inertial characteristics during AMR operation will ensure stable movement along a given trajectory, successful implementation of technological operations by attachments, and preservation of the robot's functionality when operating under undetermined or extreme conditions. At the design stage, the analysis of the inertial characteristics of the AMR will make it possible to refine the parameters of the mathematical model, improve the algorithms for adaptive control and correct the commands for the actuators. Figs.: 2. Tabl.: 2. Bibliogr.: 10 titles. Keywords: autonomous mobile robot, inertial characteristics.

FEATURES OF APPLICATION OF SMALL RECONNAISSANCE ROBOT

2019 ◽  
pp. 29-38 ◽  
Author(s):  
R. Zinko ◽  
P. Kazan ◽  
D. Khaustov ◽  
O. Bilyk
Keyword(s):  
Mathematical Model ◽  
Armed Forces ◽  
Climatic Conditions ◽  
Design Stage ◽  
Experimental Sample ◽  
Single Trial ◽  
Test Cycle ◽  
Military Equipment ◽  
The Mathematical Model ◽  
Human Losses

A small intelligence robot (SSR) is a special military intelligence means. It is used to obtain information about the enemy - the collection of intelligence, the search for targets and target indication, observation of the situation, etc. The use of a small intelligence robot is assumed in various natural and climatic conditions: in temperate terrain, on soils with low bearing capacity, at low temperatures, in the desert, on sandy and marshy soils, on rocky soils, in elevated temperature and dustiness of air, and also in conditions highlands In the article an overview of modern developments of remotely controlled robotic military complexes, principles of their construction and perspective directions of development in the armed forces are reviewed. The issues of robotization of existing weapons and military equipment are considered. Every sample of a SSR used in combat action must possess all combat characteristics at once in an optimal ratio between them, ensuring its maximum effectiveness. Ignoring any of the properties or enhancing one property at the expense of others will not enable the full realization of the small surveillance robot. It is reasonable to select the relevant properties at the design stage, using the possibilities of mathematical modeling. The set of tactical and technical characteristics of the SSR allowed forming this. Its characteristics determine the scope and possibilities of application. The mathematical model of the SSR motion is written in the Matlab Simulink environment. Recorded mathematical model of SSR motion, formed single test cycle and input data allowed to conduct computer simulation of motion in possible conditions of operation of small surveillance robot.The single trial cycle presented contains a set of individual sites and reproduces the testing test cycle of a real polygon. On the basis of the developed tactical and technical characteristics of the SSR, the experimental sample was made. An example of the use of SSR for the intelligence of the settlement and at keeping the node of barriers has been provided. The efficiency of performing intelligence units’ tasks and reducing the risk of human losses are shown.

Mathematical Model for the Influence of Machine Tool Parts Deformation on Machining Accuracy

2014 ◽  
Vol 556-562 ◽  
pp. 1354-1357
Author(s):  
Li Gong Cui ◽  
Gui Qiang Liang ◽  
Fang Shao
Keyword(s):  
Mathematical Model ◽  
Mathematical Method ◽  
Machine Tool ◽  
Cutting Tool ◽  
Lower Surface ◽  
Design Stage ◽  
Machining Accuracy ◽  
Cutting Point ◽  
The Mathematical Model

This paper presents a mathematical method to analyze the influence of each machine tool part deformation on the machining accuracy. Taking a 3-axis machine tool as an example, this paper divides the machine tool into the cutting tool sub-system and workpiece sub-system. Taking the deformation of lower surface of the machine bed as the research target, the mathematical model of the deformation on the displacement of the cutting point was established. In order to distribute the stiffness of each part, the contribution degree of each part on the machining accuracy was analyzed. Using this mathematical model, the stiffness of each part can be distributed at the design stage of the machine tool, and the machining accuracy of the machine tool can be improved economically.

scholarly journals Belt conveyor failure simulation at the design stage with transverse displacements of the belt

2020 ◽  
Vol 168 ◽  
pp. 00056
Author(s):  
Vitalii Monastyrskyi ◽  
Serhii Monastyrskyi ◽  
Denis Nomerovskyi ◽  
Borys Mostovyi
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Fourier Transform ◽  
Adaptive Control ◽  
Design Stage ◽  
Belt Conveyor ◽  
Failure Simulation ◽  
The Fourier Transform ◽  
External Forces ◽  
The Mathematical Model

To find possible conveyor failures at the design stage means to determine a transverse belt displacement and compare the obtained data with the permissible ones. The dynamic problem of the belt movement on the conveyor has been defined. Resistance and external forces, limits of the belt displacement have been determined. The transverse belt displacement can be described by partial differential equations. To solve the problem, the Fourier transform has been used. Change patterns in the transverse belt conveyor displacement dependent on conveyor’s parameters, type of load, and skewing of the idlers along the conveyor have been obtained. The results agree with experimental data. The method of adaptive control of the transverse belt displacement has been described. The essence of this method is to adapt the model of the moving belt in the conveying trough to changed conditions and to reveal the uncertainty of the control with the known parameters of the mathematical model.

scholarly journals The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Krzysztof Kurc ◽  
Dariusz Szybicki ◽  
Andrzej Burghardt ◽  
Magdalena Muszyńska
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Virtual Prototyping ◽  
Design Stage ◽  
Kinematics And Dynamics ◽  
Underwater Robot ◽  
Design Tools ◽  
Dynamic Parameters ◽  
Mechatronic Design

Abstract The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

A Theoretical Investigation into Phase Change Clothing Benefits for Firefighters under Extreme Conditions

2009 ◽  
Vol 4 (3) ◽  
Author(s):  
Geoffry N. Mercer ◽  
Harvinder S Sidhu
Keyword(s):  
Mathematical Model ◽  
Thermal Properties ◽  
Phase Change ◽  
Protective Clothing ◽  
The Body ◽  
Extreme Conditions ◽  
Heat Absorption ◽  
Fire Exposure ◽  
Subcutaneous Layer ◽  
The Mathematical Model

We investigate the thermal performance of protective clothing that has an embedded phase change layer. Heat absorption due to phase change within the material is used to limit the thermal penetration of heat into the material and hence to the firefighter. The distribution of temperature within the fabric and skin during the exposure to an extreme firefighting situation is determined. To determine the protective nature of the clothing, we also include a model of the skin as three layers with differing thermal properties namely the epidermis, dermis and the subcutaneous layer. In our model, we have also incorporated the air gap between the garment and the body. The mathematical model is used to predict the duration of fire exposure during which the garment is able to protect the firefighter from getting first and second degree burns.

scholarly journals Nurbs modeling for design waterline based on the variation of sectional area curve

2021 ◽  
Vol 3 (SI2) ◽  
pp. SI37-SI46
Author(s):  
Hoa Thị Ngọc Nguyễn ◽  
Ngoc Bich Vu ◽  
Tat-Hien Le
Keyword(s):  
Mathematical Model ◽  
Quadratic Function ◽  
Design Stage ◽  
Sectional Area ◽  
Hull Form ◽  
B Spline ◽  
Preliminary Design Stage ◽  
Form Design ◽  
Hull Form Design ◽  
The Mathematical Model

Hull form design from parent ships transforms the ship's parameters based on the variation of theoretical sectional area curve of the Lackenby method. The correction and modification of the theoretical sectional area curve is essentially the change of ship displacement, hull form coefficients, and the longitudinal center of buoyancy from the parent ships. In the preliminary design stage, the hull form design approach from parent ships minimizes the risks compared to the new design while still retaining hydrostatic and hydrodynamics' advantages. However, the Lackenby method of ship hull form variation uses a linear or quadratic function to shift the sectional area curves, regardless of the ship's hull form faring, especially the curvature's discontinuity the bow, stern, and midship. Therefore, the computer graphic algorithm based on the B-spline function is studied and applied; simultaneously, the mathematical model for the designed waterline is built in the form of a continuous curve instead of the B-spline segments. In this study, the mathematical model for the coastal container ship's design water line is constructed, ensuring continuity and fairing throughout the continuous B-spline curve. The geometry continuity evaluation results are expressed through the parameter curve's curvature and resistance component calculations' performance by computational analysis.

CURRENT STATE AND PROBLEMS CONCERNING LOCALISATION TECHNOLOGIES OF OIL PIPELINES FOR THEIRS REPAIR WITH TERMINATION OF OPERATING

2018 ◽  
pp. 170-178
Author(s):  
Y. G. Melnychenko ◽  
G. G. Melnychenko ◽  
T. Y. Dodyk
Keyword(s):  
Mathematical Model ◽  
Critical Analysis ◽  
Transient Flow ◽  
Flow Calculation ◽  
Oil Pipeline ◽  
Current Technology ◽  
Advantages And Disadvantages ◽  
Current State ◽  
Oil Pipelines ◽  
The Mathematical Model

The critical analysis of current technology of onshore oil pipeline sections releasing from product for theirs repair are undertaken. Its shortcomings are established. The overview of modern plugging devices for oil pipelines sections localization while being repaired is provided, in particular the advantages and disadvantages of each considered one were analyzed. On the basis of this review an optimal plugging pig construction for oil pipeline sections isolation is proposed.The advantages and disadvantages of the proposed device are given. The necessity of simulation of plugging pigs motion in the pipeline is proved. The mathematical model of the plugging device movement along the main oil pipelines is formulated. The methodology of transient flow calculation during plugging pigs motion and stopping in the oil pipeline was proposed.

Design a New Worm-Type Mechanism of Mobile Robot Applicable in Colonoscopy

2015 ◽  
Vol 799-800 ◽  
pp. 1011-1015
Author(s):  
Jae Hyun Park ◽  
In Ho Kim ◽  
Woong Hee Cho ◽  
Jung Wan Park ◽  
Hyun Seok Yang
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Mechanical Design ◽  
Human Colon ◽  
Experimental Result ◽  
Linear Motion ◽  
Wide Diameter ◽  
The Mathematical Model ◽  
Varying Environment ◽  
Diameter Change

This paper presents a new mechanical design of mobile robot which can travel in the condition of continuous varying environment, such as colon of human body. Especially, the human colon environment contains an intense diameter change. The suggested mechanical design is capable to adapt in wide diameter changing system by generating two basic motions, rotational and linear motion, with a single actuator. Prototypes is fabricated, and tested result is presented in this paper. Also, experimental result is compared with the mathematical model of the mechanism to verify the feasibility of the proposed mechanism.

Modeling and Simulation of Omni-Directional Mobile Robot with Mecanum Wheel

2014 ◽  
Vol 624 ◽  
pp. 417-423 ◽  
Author(s):  
Xu Xin Wu ◽  
Xu Long Zhang ◽  
Huai Dong Zhou ◽  
Wu Sheng Chou
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Kinetic Characteristic ◽  
Directional Movement ◽  
Movement Characteristic ◽  
Modeling Theory ◽  
Mecanum Wheel ◽  
The Stability ◽  
Prototype Software ◽  
The Mathematical Model

In this paper, an omni-directional mobile robot with mecanum wheel was designed. Based on mathematical modeling theory and the virtual prototype software called Adams, the mathematical model of mobile robot was built and the kinetic characteristic was simulated. So we can ensure that the mobile robot with mecanum wheel has omni-directional movement characteristic. The reliability of the mathematical model has been verified through the comparision of the the mathematical calculation and simulation result. At the same time a new method was put forward to ensure all the mobile platform wheels can fully contact with the ground when running on the uneven road surface. Then the stability of the motion control system has also been improved.

scholarly journals Development of the mathematical model for the process of oil raw materials pressing

2018 ◽  
Vol 7 (2.13) ◽  
pp. 145
Author(s):  
Ainura Kairbayeva ◽  
Vitalii Vasilenko ◽  
Seit Dzhinguilbayev ◽  
Lyazzat Baibolova ◽  
Larisa Frolova
Keyword(s):  
Mathematical Model ◽  
Chemical Interaction ◽  
Raw Materials ◽  
Screw Press ◽  
Design Stage ◽  
Design Parameters ◽  
Single Screw ◽  
Porous Skeleton ◽  
The Mathematical Model ◽  
Oil Filtration

The mathematical model for the process of oily raw materials pressing with single-screw oil press has been developed, which makes it possible to calculate the main design parameters of an oil press for extracting oil from oil crop seeds.This model of pressing describes the process of moving meal in the pressure zone and expression of oil in the pressing cage of the screw press, taking into account the following assumptions: porous skeleton and oil have the same density, they have no chemical interaction, the process of oil filtration occurs under isothermal conditions with laminar conditions of motion.The developed mathematical model corresponds to physical meaning of the occurring phenomena and can be used to analyze the work of active presses, and at the design stage. 

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