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Approximate dynamic programming in robust tracking control of wheeled mobile robot 轮式移动机器人鲁棒跟踪控制中的近似动态规划
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2009.132098
Z. Hendzel, M. Szuster
{"title":"Approximate dynamic programming in robust tracking control of wheeled mobile robot","authors":"Z. Hendzel, M. Szuster","doi":"10.24425/ame.2009.132098","DOIUrl":"https://doi.org/10.24425/ame.2009.132098","url":null,"abstract":"In this work, a novel approach to designing an on-line tracking controller for a nonholonomic wheeled mobile robot (WMR) is presented. The controller consists of nonlinear neural feedback compensator, PD control law and supervisory element, which assure stability of the system. Neural network for feedback compensation is learned through approximate dynamic programming (ADP). To obtain stability in the learning phase and robustness in face of disturbances, an additional control signal derived from Lyapunov stability theorem based on the variable structure systems theory is provided. Verification of the proposed control algorithm was realized on a wheeled mobile robot Pioneer–2DX, and confirmed the assumed behavior of the control system.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135724064","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Vibro- and sound protection in road machines by means of vibration absorbing 用吸振的方法保护筑路机械的振动和声音
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2008.131626
Z. Stotsko, B. Diveyev, O. Ljubas
{"title":"Vibro- and sound protection in road machines by means of vibration absorbing","authors":"Z. Stotsko, B. Diveyev, O. Ljubas","doi":"10.24425/ame.2008.131626","DOIUrl":"https://doi.org/10.24425/ame.2008.131626","url":null,"abstract":"In most cases, road machines emit both acoustic and vibration energy into the fluids or structures surrounding the machinery. This is dangerous for the construction strength of the machinery, and is harmful for human health. There are two general classes of tools used to assess and optimize acoustic performance of a vehicle: test based methods, and Computer-Aided Engineering based methods. The second one is discussed in this paper.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"10 24","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135544668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Project of planetary gear with the same geometry of a satellite wheel 与卫星轮具有相同几何形状的行星齿轮方案
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2008.131627
J. Ryś, T. Kasperek
{"title":"Project of planetary gear with the same geometry of a satellite wheel","authors":"J. Ryś, T. Kasperek","doi":"10.24425/ame.2008.131627","DOIUrl":"https://doi.org/10.24425/ame.2008.131627","url":null,"abstract":"","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"40 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135544857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Generation of a service loading with the desired probability distribution and autocorrelation for fatigue tests using MATLAB 使用MATLAB生成具有期望概率分布和自相关的疲劳试验服务载荷
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2007.131549
E. Macha, R. Pawliczek
{"title":"Generation of a service loading with the desired probability distribution and autocorrelation for fatigue tests using MATLAB","authors":"E. Macha, R. Pawliczek","doi":"10.24425/ame.2007.131549","DOIUrl":"https://doi.org/10.24425/ame.2007.131549","url":null,"abstract":"The aim of the paper is to present a procedure for generating service loading for fatigue tests of materials and structures. The generated loading characterizes desired functions of probability distribution and autocorrelation. The proposed numerical procedure uses MATLAB toolboxes and consists of three steps: (a) generation of a sequence of real numbers with the desired autocorrelation function and with any probability distribution function; (b) generation of loading history with the desired probability distribution function; (c) rearrangement of loading history (mentioned in item b) based on a sequence of real numbers with the desired correlation (mentioned in item a).","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135544895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Comprehensive analysis of tribological factor influence on stress-strain and thermal state of workpiece during titanium alloys machining 钛合金加工过程中摩擦学因素对工件应力应变和热状态影响的综合分析
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2021.137049
{"title":"Comprehensive analysis of tribological factor influence on stress-strain and thermal state of workpiece during titanium alloys machining","authors":"","doi":"10.24425/ame.2021.137049","DOIUrl":"https://doi.org/10.24425/ame.2021.137049","url":null,"abstract":"The article describes how different friction coefficients under certain cutting conditions and parameters affect the formation of the stress-strain and thermal states of the product when titanium alloy machining. A new research methodology is used for the study. Firstly, in the initial data for simulation, each time a different declared co-efficient of friction is proposed, and every such task of the cutting process modelling is solved for various cutting parameters. The second stage analyzes how these coeffi-cients influence the stress-strain and thermodynamic state of the workpiece and tool during cutting, as well as the tool wear dynamics. In the third stage of the study, ways for ensuring these analytically-grounded tribological cutting conditions are proposed. The analysis of different wear criteria in the simulation models of titanium alloys cutting is carried out. Experimental studies confirm simulation results.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"624 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135636113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Buckling of moderately thick annular plates subjected to torque 中等厚度环形板在扭矩作用下的屈曲
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2019.128445
Hamed Bagheri, Yaser Kiani, Mohammad Reza Eslami
{"title":"Buckling of moderately thick annular plates subjected to torque","authors":"Hamed Bagheri, Yaser Kiani, Mohammad Reza Eslami","doi":"10.24425/ame.2019.128445","DOIUrl":"https://doi.org/10.24425/ame.2019.128445","url":null,"abstract":"","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"3 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135544386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Resonance phenomenon in the single stage cycloidal gearbox. Analysis of vibrations at the output shaft as a function of the external sleeves stiffness 单级摆线齿轮箱的共振现象。分析输出轴的振动与外套筒刚度的关系
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2021.137050
Roman Król
{"title":"Resonance phenomenon in the single stage cycloidal gearbox. Analysis of vibrations at the output shaft as a function of the external sleeves stiffness","authors":"Roman Król","doi":"10.24425/ame.2021.137050","DOIUrl":"https://doi.org/10.24425/ame.2021.137050","url":null,"abstract":"In this paper a versatile analysis of the cycloidal gearbox vibrations and the resonance phenomenon was performed. The objective of this work was to show resonance phenomenon and vibrations study in the multibody dynamics model and in the finite element model of the cycloidal gearbox. The output torque was analyzed as a function of the external sleeves stiffness. The results from the multibody dynamics model were verified in the finite element model using natural frequency with load stiffening, direct frequency response and direct transient response analyses. It was shown that natural frequencies of the cycloidal gearbox undergo changes during motion of the mechanism. The gearbox passes through the thresholds of the increased vibration amplitudes, which lead to excessive wear of the external sleeves. The analysis in the multibody dynamics model showed, that the increase in the external sleeves stiffness increases frequency of the second-order fluctuation at the output shaft. Small stiffness of the external sleeves guarantees lower frequency of the second order vibrations and higher peak-to-peak values of the output torque. The performed research plays important role in the cycloidal gearbox design. This work shows gearbox dynamics problems which are associated with wear of the external sleeves.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"11 17","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135544624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Combination of feedback control and spring-damper to reduce the vibration of crane payload 采用反馈控制与弹簧阻尼器相结合的方法减小起重机有效载荷的振动
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2021.137046
Trong Kien Nguyen
{"title":"Combination of feedback control and spring-damper to reduce the vibration of crane payload","authors":"Trong Kien Nguyen","doi":"10.24425/ame.2021.137046","DOIUrl":"https://doi.org/10.24425/ame.2021.137046","url":null,"abstract":"Operating cranes is challenging because payloads can experience large and dangerous oscillations. Anti-sway control of crane payload can be approached by the active methods, such as feedback control, or passive methods. The feedback control uses the feedback measurement of swing vibration to produce the command sent to a motor. The feedback control shows good effectiveness, but conflict with the actions of the human operator is a challenge of this method. The passive method uses the spring-damper to dissipate energy. The passive method does not cause conflict with the human operator but has limited performance. This paper presents the combination of two methods to overcome the disadvantages of each separate one. The passive method is used to improve the efficiency of the feedback method to avoid conflicts with the human operator. The effectiveness of the combination is simulated in a 2D crane model.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"6 18","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135584643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Couple stress fluid past a sphere embedded in a porous medium 耦合应力流体通过嵌入在多孔介质中的球体
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/ame.2021.139314
{"title":"Couple stress fluid past a sphere embedded in a porous medium","authors":"","doi":"10.24425/ame.2021.139314","DOIUrl":"https://doi.org/10.24425/ame.2021.139314","url":null,"abstract":"This paper concerns the analytical investigation of the axisymmetric and steady flow of incompressible couple stress fluid through a rigid sphere embedded in a porous medium. In the porous region, the flow field is governed by Brinkman’s equation. Here we consider uniform flow at a distance from the sphere. The boundary conditions applied on the surface of the sphere are the slip condition and zero couple stress. Analytical solution of the problem in the terms of stream function is presented by modified Bessel functions. The drag experienced by an incompressible couple stress fluid on the sphere within the porous medium is calculated. The effects of the slip parameter, the couple stress parameter, and permeability on the drag are represented graphically. Special cases of viscous flow through a sphere are obtained and the results are compared with earlier published results.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"1978 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135637058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Strength tests of the polymers used in dental prosthetics 牙科修复用聚合物的强度测试
IF 0.7
Archive of Mechanical Engineering Pub Date : 2023-11-06 DOI: 10.24425/AME.2018.125440
A. Ryniewicz, T. Machniewicz, W. Ryniewicz, Ł. Bojko
{"title":"Strength tests of the polymers used in dental prosthetics","authors":"A. Ryniewicz, T. Machniewicz, W. Ryniewicz, Ł. Bojko","doi":"10.24425/AME.2018.125440","DOIUrl":"https://doi.org/10.24425/AME.2018.125440","url":null,"abstract":"The functionality of a prosthesis is determined by clinical procedures, the manufacturing technology applied, thematerial used and its strength parameters. The aim of the paper is to evaluate the static strength and fatigue strength of acrylic construction materials directly after the process of polymerisation and for aged materials. It has been confirmed that the deformation speed of the tested materials has an evident impact on their mechanical characteristics. With greater deformation speed, a consistent increase in the material elasticity was observed in static compression tests, which was accompanied by a reduction in engineering stresses at the final stage of deformation. The greatest fatigue strength was observed for Vertex. It was by about 33% greater than the strength of Villacryl – the material that has the lowest fatigue properties. The resistance of acrylic polymers to cyclic loading applied with the frequency of 1 Hz may become an indication for the selection of the material to be used in the clinical procedures in which a patient is provided with full dentures.","PeriodicalId":45083,"journal":{"name":"Archive of Mechanical Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.7,"publicationDate":"2023-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68944839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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