Equivariant filtering framework for inertial-integrated navigation

This paper proposes an Equivariant Filtering (EqF) framework for the inertial-integrated state estimation. As the kinematic system of the inertial-integrated navigation can be naturally modeled on the matrix Lie group SE2(3), the symmetry of the Lie group can be exploited to design an equivariant filter which extends the invariant extended Kalman filtering on the group-affine system and overcomes the inconsitency issue of the traditional extend Kalman filter. We firstly formulate the inertial-integrated dynamics as the group-affine systems. Then, we prove the left equivariant properties of the inertial-integrated dynamics. Finally, we design an equivariant filtering framework on the earth-centered earth-fixed frame and the local geodetic navigation frame. The experiments show the superiority of the proposed filters when confronting large misalignment angles in Global Navigation Satellite Navigation (GNSS)/Inertial Navigation System (INS) loosely integrated navigation experiments.

Influence of the Kinematic System on the Geometrical and Dimensional Accuracy of Holes in Drilling

This article attempts to show how the kinematic system affects the geometrical and dimensional accuracy of through-holes in drilling. The hole cutting tests were performed using a universal turning center. The tool was a TiAlN-coated Ø 6 mm drill bit, while the workpiece was a C45 steel cylinder with a diameter of 30 mm and a length of 30 mm. Three kinematic systems were studied. The first consisted of a fixed workpiece and a rotating and linearly moving tool. In the second, the workpiece rotated, while the tool moved linearly. The third system comprised a rotating workpiece and a rotating and linearly moving tool, but they rotated in opposite directions. The geometrical and dimensional accuracy of the hole was assessed by analyzing the cylindricity, straightness, roundness, and diameter errors. The experiment was designed using the Taguchi orthogonal array method to determine the significance of the effects of the input parameters (cutting speed, feed per revolution, and type of kinematic system) on the accuracy errors. A multifactorial statistical analysis (ANOVA) was employed for this purpose. The study revealed that all the input parameters considered had a substantial influence on the hole quality in drilling.

Analyzing the Effects of the Kinematic System on the Quality of Holes Drilled in 42CrMo4 + QT Steel

This article discusses the relationship between the kinematic system used in drilling and the quality of through-holes. The drilling was done on a CTX Alpha 500 universal turning center using a TiAlN-coated 6.0 mm drill bit with internal cooling, mounted in a driven tool holder. The holes were cut in cylindrical 42CrMo4 + QT steel samples measuring 30 mm in diameter and 30 mm in length. Three types of hole-drilling kinematic systems were considered. The first consisted of a fixed workpiece and a tool performing rotary (primary) and linear motions. In the second system, the workpiece rotated (primary motion) while the tool moved linearly. In the third system, the workpiece and the tool rotated in opposite directions; the tool also moved linearly. The analysis was carried out for four output parameters characterizing the hole quality (i.e., cylindricity, straightness, roundness, and diameter errors). The experiment was designed using the Taguchi approach (orthogonal array). ANOVA multi-factor statistical analysis was used to determine the influence of the input parameters (cutting speed, feed per revolution and type of kinematic system) on the geometrical and dimensional errors of the hole. From the analysis, it is evident that the kinematic system had a significant effect on the hole roundness error.

The Use of the Fourier Series to Analyze the Shaping of Thermodynamic Processes in Heat Engines

The article presents the application of the Fourier series to theoretical considerations on the method of maximum temperature control in thermodynamic cycles of internal combustion engines equipped with an additional independent kinematic system. The analysis assumes that the processes are zero-dimensional and the gases consumed in the engine cycles are perfect, simplifying the considerations for temperature control as a function of the two variables, pressure and volume, of which the volume as a geometric quantity can be completely controlled. In view of this fact, a predetermined temperature curve was assumed, ultimately reducing the considerations of specific volume changes, that is to say a kinematic system that could implement these changes. Moreover, in the analysis of volume changes, a cycle not used so far in the description of internal combustion engines was used. In the next step, the cycle was modified using the popular Vibe function, which was replaced in the theoretical cycle by two isochoric and isothermal transformations. Heat exchange was completely omitted in the considerations, in that it is of secondary importance, ultimately bringing the temperature function to the function of one variable, the angle of rotation of the crankshaft. Then, the kinematics was divided into the kinematics of the crank-piston system and the additional system, which was approximated with five words from the Fourier series, which in the technique correspond, for example, to the system of oscillators. At the end of the article we have explained one of the ways of actual technical implementation using a single nonlinear oscillator, the so-called ACC system equivalent to a few words from the mentioned Fourier series.

General procedure for determining the geometric parameters of tools in the technological systems involving machining by cutting

This paper reports a study aiming at devising a common procedure for determining the geometric parameters of tools’ cutting part in the technological systems that involve machining by cutting. Underlying the development of this procedure is the generalized theory of determining geometric parameters on tools’ cutting blades. The analysis of determining the geometry of tool cutting edges in different coordinate systems has shown that the procedure used by a given theory depends on the type and design of tool cutting edges. In the process of cutting, the geometric parameters of tools change along the cutting edges while existing ones do not fully take into account this phenomenon. This is because geometric parameters are determined in the kinematic system of coordinates. Particularly important to meet these requirements is for the cutting process whose effectiveness depends significantly on the accuracy in selecting methods for determining tool operational parameters. In this regard, the current work has devised and proposed a general procedure for determining the geometry of tool cutting edges, directly during its application in the kinematic system. The procedure is based on the consideration of the resulting speed, in the form of the vector amount of the main movement and the amount of movement of feeds, which can consider feeds specified by the system’s equipment. This approach to the development of a general procedure ensures that the geometry of the cutting part of a tool of any design is determined along its cutting edges during operation. The devised procedure has significantly reduced the time of calculations and ensured the required geometric parameters of the cutting part of a groove cutter

Parametric Analysis of Autopilot Intelligent Robot (PIR) Using Multiple Surface Gradient Path MSGP

Robotic application is taking new dimensions around the globe, of which numerous problems are solved with embedded systems, this research introduces gradient vertices method from 3D geometric to perform data capturing using kinematic effect with aid of autopilot Intelligent Robotic (PIR). The research considered Multiple Surface Gradient Path MSGP using Toyota Camry 200x chases model using DC motor Pulse Wide Modulation (PMW). The discretion only Multiple Surface Gradients, distance values and angular pivots with respect to time. The PIR hardware “Raspberry Pi 3B” as the target board is interface with modular peripherals, using python programming language. Auto pilot is archived using different surface gradients and the digital images obtained during experience are stored for further analysis. The use of Tkinter GUI improved user experience in the extermination of the periodic oscillation, gradient values, proximate distance obtained by the PIR Final implementation. The deployment is completed by improvising a prototype model (PIR) suitable for Toyota Camry 200x. It is important to view it in the context of a larger community policing framework. PIR can be classified as intermission robot that can be used for different activities with the available feature kinematic system which make it relevant for multi-purpose activities.

Magnetic Tests of SNA - HP-59A Kinematic Connection Details in the RD-33 Engine

Aspects of assessing the technical condition of selected elements of the kinematic system in the renovation of RD-33 engines have been presented. In the beginning, typical operational problems have been discussed, and the test object was defined. Then, the theoretical foundations of three non-destructive testing methods based on magnetic field measurement were discussed. Next, the preliminary results of the research of a defective gear obtained by the magnetic metal memory method are presented. Finally, the conclusions have been made.