scholarly journals MATHEMATICAL MODEL FOR ASSESSMENT OF ROBOTIC SYSTEMS CAPACITY TO COMBAT THE ENEMY BASED ON THE EQUATIONS OF HIGHLY ORGANIZED MILITARY ENGAGEMENT DYNAMICS

2021 ◽  
pp. 23-33
Author(s):  
V.V. Sviridov ◽  
◽  
V.M. Lazarev ◽  
Keyword(s):  
Mathematical Model ◽  
Markov Process ◽  
Analytical Model ◽  
Robotic Systems ◽  
Military Engagement

The paper presents an analytical model for solving the problem of predicting an average number of hit and unaffected enemy forces and robotic systems group based on a mathematical model of highly or-ganized combat. The dynamics of the battle is described as a random Markov process that allows us to determine the average number of the parties for any given time.

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.

A Study of Transient Response of Flexible Rotors in High Speed Turbomachinery

1992 ◽  
Author(s):  
V. Pavelic ◽  
R. S. Amano
Keyword(s):  
Mathematical Model ◽  
Computer Program ◽  
Analytical Model ◽  
High Speed ◽  
Angular Speed ◽  
Journal Bearings ◽  
Hydrodynamic Characteristics ◽  
Flexible Assembly ◽  
Lagrange’S Equation ◽  
Equations Of Motions

In many applications the design operating range of the turbomachinery may be well above the rotor first critical speed which leads to the problem of insuring that the turbomachinery performs with a stable, low-level amplitude of vibration. Under certain conditions of high speed and loading the rotor system can start orbiting in its bearing at a rate which is less than the rotor angular speed, and this phenomena is commonly known as whirling or whipping action. This whipping action may produce additional undesirable dynamic loads on the overall flexible assembly and eventually destroy the rotor. Some of this action is also transient in nature. Whirling is a self-exited vibration caused mainly by the fluid bearings and by the internal friction damping of the rotor. To understand this occurrence, a general dynamic mathematical model was derived considering also the complete viscous characteristic of hydrodynamic journal bearings. The general equations of motions of the system are obtained from Lagrange’s equation of motion. The system kinetic, potential, and dissipation functions are determined based on the generalized coordinates of the system. The journal displacements are related to the overall dynamics of the rotor using deformable bearings. The loads acting at the journals of the shaft are integrated from the fluid film pressure distribution in the journal bearings using mobility method. A unique mathematical model is formulated and solved. This model includes the elastic and inertial properties of the flexible rotor, the elastic, damping and inertial properties of supports and the hydrodynamic characteristics of the journal bearings. The equations of motions result in a system of nonlinear second order differential equations which are solved by using finite difference method. The solution of the equations of motions is used to plot maps of motion of journal centers. A computer program was implemented to aid in the solution of the system of equations and to verify analytical model. The computer program used test data available in literature and the results were compared to be very good. The analytical model and results obtained in this study can be of great help to designers of high speed turbomachinery.

scholarly journals Suppression of Ground Borne Vibration Induced by High-Speed Lines

2018 ◽  
Vol 152 ◽  
pp. 02001
Author(s):  
Ali Mohamed Rathiu ◽  
Mohammad Hosseini Fouladi ◽  
Satesh Narayana Namasivayam ◽  
Hasina Mamtaz
Keyword(s):  
Mathematical Model ◽  
Analytical Model ◽  
High Speed ◽  
Moving Load ◽  
Ground Vibration ◽  
Harmonic Excitation ◽  
Vibration Response ◽  
Vibration Velocity ◽  
Velocity Response ◽  
The Mathematical Model

Vibration of high-speed lines leads to annoyance of public and lowering real estate values near the railway lines. This hinders the development of railway infrastructures in urbanised areas. This paper investigates the vibration response of an isolated rail embankment system and modifies the component to better attenuate ground vibration. Mainly velocity response is used to compare the responses and the applied force is of 20 kN at excitation frequencies of 5.6 Hz and 8.3 Hz. Focus was made on ground-borne vibration and between the frequency range of 0 and 250 Hz. 3D Numerical model was made using SolidWork software and frequency response was produced using Harmonic Analysis module from ANSYS Workbench software. For analytical modelling MATLAB was used along with Simulink to verify the mathematical model. This paper also compares the vibration velocity decibels (VdB) of analytical two-degree of freedom model mathematical model with literature data. Harmonic excitation is used on the track to simulate the moving load of train. The results showed that modified analytical model gives the velocity response of 75 VdB at the maximum peak. Changes brought to the mass and spacing of the sleeper and to the thickness and the corresponding stiffness for the ballast does not result in significant vibration response. Limitations of two-degree analytical model is suspected to be the cause of this inactivity. But resonance vibration can be reduced with the aid of damping coefficient of rail pad. Statistical analysis methods t-test and ANOVA single factor test was used verify the values with 95% confidence.

Motion Control of an Electromechanical Micro Robot

2020 ◽  
Vol 63 (6) ◽  
pp. 57-65
Author(s):  
Ruzil Safiullin ◽  
Keyword(s):  
Mathematical Model ◽  
Theoretical Analysis ◽  
Motion Control ◽  
Elastic Element ◽  
Human Life ◽  
Robotic Systems ◽  
System Of Equations ◽  
Functional Modules ◽  
Innovative Technologies ◽  
Micro Robot

Currently, the development of innovative technologies in the field of electromechanics are microelectrome-chanical systems. They are widely used both in various industries and in domestic conditions of human life. An algorithm and a mathematical model of the design of an electromechanical composite microrobot have been developed. A system of equations of mechanics and electrodynamics was used to describe its metrological char-acteristics. By solving this system of equations, a theoretical analysis of the operation of its engine with a spiral secondary elastic element is carried out. Using the mechatronic approach, the buoyancy and coordination of its functional modules are studied. The results of this article will be useful for engineers involved in the design and operation of micro robots using robotic systems in the fields of biotechnology and biomechanics.

A Model for Flow Distribution in Manifolds

1971 ◽  
Vol 93 (1) ◽  
pp. 7-12 ◽  
Author(s):  
R. A. Bajura
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Analytical Model ◽  
Distribution Systems ◽  
Numerical Solutions ◽  
Flow Behavior ◽  
Flow Distribution ◽  
Analytical Investigation ◽  
Momentum Balance ◽  
Distribution Equation

An analytical investigation of the performance of flow distribution systems was conducted for both intake and exhaust manifolds. Primary emphasis was placed on configurations in which the lateral tubes formed sharp-edged junctions at right angles to the manifold axis. A mathematical model describing the flow behavior at a discreet branch point was formulated in terms of a momentum balance along the manifold. The model was extended to the case of continuous discharge or intake for a uniformly porous manifold. Numerical solutions of the governing flow distribution equation were obtained and compared with experimental data. Dimensionless parameters characterizing the performance of manifolds were formulated from the analytical model.

scholarly journals Generalized graphic-analytical model for evaluation of the fatality / structural collapse production mechanism on a building affected by an explosion

2022 ◽  
Vol 354 ◽  
pp. 00033
Author(s):  
Gabriel Vasilescu ◽  
Attila Kovacs ◽  
Ciprian Jitea ◽  
Doru Anghelache ◽  
Florian Stoian
Keyword(s):  
Mathematical Model ◽  
Risk Assessment ◽  
Protected Areas ◽  
Analytical Model ◽  
Explosive Charge ◽  
Quantitative Risk Assessment ◽  
Production Mechanism ◽  
Structural Collapse ◽  
Analysis And Evaluation ◽  
Occupational Risks

The paper highlights the generalized grapho-analytical model of analysis and evaluation of the mechanism of occurrence of the event scenario for the production of fatality/structural collapse in the case of a building affected by explosion. This mathematical model is based on research results in the field of civil explosives for the technological/occupational risks estimation and assessment, as well as threats to the security of protected areas that may be vulnerable through acts of malice. The process of quantitative risk assessment associated with explosion phenomena as a result of the detonation of an explosive charge, allows estimating result indicators based on the use of algorithms and models specific to associated hazards, in order to model the effects and consequences of event scenarios.

scholarly journals An Analysis and Testing of Functional Availability Military Vehicles, in the Aspect of Reliability

2019 ◽  
Vol 49 (1) ◽  
pp. 405-423
Author(s):  
Kamil Przybysz
Keyword(s):  
Mathematical Model ◽  
Markov Process ◽  
Model Based ◽  
Military Vehicles ◽  
Different Types ◽  
The Military ◽  
Exploitation Intensity ◽  
The Way

Abstract The paper pertains to matters related to the quantification of functional availability of military vehicles, with reference to exploitation intensity and reliability aspects. The conducted exploitation research paved the way for elaborating methods of determining functional availability for military vehicles, in particular focusing on exploitation intensity and reliability. The essential research was conducted using the developed mathematical model based on the probabilistic, stochastic Markov process, which allowed modelling the process of changes in the exploitation states of military vehicles. In the course of the research, which enabled the authors to estimate the functional availability value, four-layered probes of the military vehicles were used (different types and makes), from the second exploitation phase, with varied mileage from the beginning of the exploitation and average mileage per year.

scholarly journals Enhancement the performance of an electro-optic switch by analysis the effect of tensile stress, axial and radial strain

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Sadeq Adnan Hbeeb
Keyword(s):  
Mathematical Model ◽  
Performance Evaluation ◽  
Tensile Stress ◽  
Analytical Model ◽  
Optical Communication ◽  
Communication System ◽  
Radial Strain ◽  
Optical Communication System ◽  
Electro Optic ◽  
Active Switch

This research presents a technique of an electro optic effect for suggestion model and it optimizes implementation of an electro optics switch using Mat lab simulation program (10). this technique includes design a mathematical model for analysis the effect of tensile stress(y), axial (z)and radial (x)strain on the performance evaluation of an electro optic switch also, it analysis an effect the change of length L and width w of arm of switch. Finally, an active switch optimizes, using the analytical model and considers important device in the modern optical communication system.

An Analytical Model of Phase Changing Chemically Reacting Mixture Flows

2003 ◽  
Author(s):  
George S. Dulikravich ◽  
Marcelo J. Colac¸o
Keyword(s):  
Mathematical Model ◽  
Analytical Model ◽  
Chemical Reactions ◽  
Continuum Mechanics ◽  
Multiphase Flows ◽  
Phase Changes ◽  
Chemically Reacting

A complete and consistent mathematical model of multiphase flows allowing for chemical reactions and/or phase changes has been derived from basic continuum mechanics principles. Comparison of elements of this model with models published by other sources has been elaborated. A set of analytic relations linking mixture and fluid components has been derived. Conclusions about closure of the system have been drawn based on these derivations.

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