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Stochastic Movement Swarm Performing a Coverage Task with Physical Parameters 随机运动群执行具有物理参数的覆盖任务
Problemy Mechatroniki Pub Date : 2022-09-30 DOI: 10.5604/01.3001.0016.0047
K. Falkowski, Michał Duda
{"title":"Stochastic Movement Swarm Performing a Coverage Task with Physical Parameters","authors":"K. Falkowski, Michał Duda","doi":"10.5604/01.3001.0016.0047","DOIUrl":"https://doi.org/10.5604/01.3001.0016.0047","url":null,"abstract":"This paper describes an attempt of implementing physical parameters into a virtual swarm algorithm solution. It defines which physical parameters of the single object need to be known to properly transfer a virtual algorithm into a physical system. Considerations have been based on a stochastic movement swarm performing \u0000a coverage task. Time to finish the task and energy consumptions were measured for different numbers of drones in a swarm allowing to designate an optimal size of the swarm. Additional tests for changing variables allowed us to determine their impact on the swarm performance. The presented algorithm is a discrete-time solution and every test is divided into steps. Positions of the drones are calculated only in time corresponding to these steps. Their position is unknown between these steps and the algorithm does not check if the paths of two drones cross between subsequent positions. The lower the time interval, the more precise results, but simulating the test requires more computing power. Further work should consider the smallest possible time intervals or additional feature to check if the paths of the drones do not cross.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44271699","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
Stability of a Bomb with a Wind-Stabilised-Seeker 具有风稳定导引头的炸弹的稳定性
Problemy Mechatroniki Pub Date : 2022-09-30 DOI: 10.5604/01.3001.0016.0049
G. Kowaleczko, Tomasz Klemba, Mariusz Pietraszek
{"title":"Stability of a Bomb with a Wind-Stabilised-Seeker","authors":"G. Kowaleczko, Tomasz Klemba, Mariusz Pietraszek","doi":"10.5604/01.3001.0016.0049","DOIUrl":"https://doi.org/10.5604/01.3001.0016.0049","url":null,"abstract":"The primary purpose of this article is to consider the main factors affecting the stability of a bomb with a Wind-Stabilised-Seeker (WSS). The article contains a full mathematical description of the bomb-WSS system motion. It allows you to calculate the spatial motion of the bomb and the motion of WSS in relation to the bomb. The method of calculating the aerodynamic forces is also described. The sample simulation results were presented and discussed. The equations of motion of the system were determined. They constituted the basis for the development of a computer program to simulate the motion of the system. Aerodynamic forces and moments were calculated using the Prodas software and based on the results of the bomb tests in the wind tunnel. The mass and geometrical data of the system relate to the tested prototype of an aerial bomb. The result of the research is a comprehensive assessment of the influence of the geometric parameters of the mobile tracking system on the dynamic stability of the bomb-WSS system. This knowledge is necessary for proper design of control laws based on the signals registered by the WSS. The main parameter influencing the WSS-bomb stability is the aerodynamic focus position of the tracking system. It should be behind the WSS attachment point. \u0000The position of the WSS centre of mass in relation to the attachment point also has an adverse effect on its stability. The length of the stick connecting the WSS with the bomb is irrelevant.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47389243","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
Mini-Sumo Robot Design with Respect to the Control System 小型相扑机器人的控制系统设计
Problemy Mechatroniki Pub Date : 2022-09-30 DOI: 10.5604/01.3001.0016.0056
Maciej Zareba, W. Kaczmarek, Natalia Daniel
{"title":"Mini-Sumo Robot Design with Respect to the Control System","authors":"Maciej Zareba, W. Kaczmarek, Natalia Daniel","doi":"10.5604/01.3001.0016.0056","DOIUrl":"https://doi.org/10.5604/01.3001.0016.0056","url":null,"abstract":"This paper presents problems related to the design and construction of mini-sumo robots. The authors discuss the solutions used in the presented topic using the example of a developed robot. The presented design considers tournament requirements, and demonstrates the selection of robot components. Special attention was paid to the presentation of the developed schematics and PCB fabrication.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45020406","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
Utilisation of Games and Virtual Reality to Train Competences Relating to Industry 4.0 利用游戏和虚拟现实训练与工业4.0相关的能力
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9068
A. Grabowski, Mieszko Wodzynski
{"title":"Utilisation of Games and Virtual Reality to Train Competences Relating to Industry 4.0","authors":"A. Grabowski, Mieszko Wodzynski","doi":"10.5604/01.3001.0015.9068","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9068","url":null,"abstract":"Implementation of concepts of Industry 4.0 and cyber-physical production systems (CPPS) requires changes to be introduced to production processes and leads to the fact that employees are expected to acquire new competences and skills pertaining to their work tasks in the production industry. It is assumed that employees of factories of the future will have to execute more complicated tasks, such as the monitoring and adjustment of highly automated and complex processes, and supervision and efficient use of machinery, more frequently. Another issue is the utilisation of augmented reality (AR) systems to provide an employee with additional information. This is why the need arises to develop skills covering the management of high volumes of data and machine interaction, as they will be the basic abilities of persons working in the factories of the future. To master new skills and competences, VR training games can be used.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48340835","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
Determination of Firing Solution Settings for Engagement of UAVs by a Man-Portable Counter-UAV System 单兵便携式反无人机系统与无人机交战时射击解设置的确定
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9064
Ł. Szmit, Grzegorz Leśnik
{"title":"Determination of Firing Solution Settings for Engagement of UAVs by a Man-Portable Counter-UAV System","authors":"Ł. Szmit, Grzegorz Leśnik","doi":"10.5604/01.3001.0015.9064","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9064","url":null,"abstract":"The paper presents the operating principle of the Man-Portable Counter Miniature Unmanned Aerial Vehicles System (MPC-MUAVS), with particular reference to the development of its firing solution settings and the methodology and structure of development of the firing tables implemented in the ballistic calculator of the \u0000MPC-MUAVS. This ballistic calculator has been applied in the MPC-MUAVS targeting sight assembly, while the entire MPC-MUAVS is intended to counter UAVs within 50 m of the MPC-MUAVS operator. The MPC-MUAVS is being developed under project DOB-1P/02/18/2016, funded by the Polish National Centre for Research and Development.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47973539","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
Testing ToF Sensors for Use in Obstacle Detection Systems 用于障碍物探测系统的ToF传感器的测试
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9066
Grzegorz Szczepański, Aliaksandra Shmyk
{"title":"Testing ToF Sensors for Use in Obstacle Detection Systems","authors":"Grzegorz Szczepański, Aliaksandra Shmyk","doi":"10.5604/01.3001.0015.9066","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9066","url":null,"abstract":"ToF (Time of Flight) sensors have been gaining popularity in recent times as \u0000a cheap and accurate way to take distance measurements. They may prove to be a key component of obstacle detection systems in the near future. This paper presents a stepper motor system with two measurement modules containing ToF sensors. The results of distance measurements made with these modules relative to a flat surface for different sensor modes are presented. Standard deviations were determined for the measurement results and a polynomial fitting was performed using the linear least squares method. The results were used to select the sensor for further work in terms of its use in an obstacle detection system.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47582292","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
Test Bench Concept for Testing of Gripper Properties in a Robotic Palletizing Process 机器人码垛过程中夹具性能测试的试验台概念
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9065
J. Panasiuk, W. Kaczmarek, M. Siwek, Szymon Borys
{"title":"Test Bench Concept for Testing of Gripper Properties in a Robotic Palletizing Process","authors":"J. Panasiuk, W. Kaczmarek, M. Siwek, Szymon Borys","doi":"10.5604/01.3001.0015.9065","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9065","url":null,"abstract":"Palletizing and depalletizing processes require specialized equipment, such as grippers dedicated to the type and dimensions of the goods to be handled. The traditional approach used in the robotisation of palletizing workstations is therefore mainly based on the development of specialized grippers, whose design limits their use in other applications. The article presents a concept of a modular gripper system enabling palletization of goods in collective packaging, including cartons, shrink-wrap packs, and bags. The concept developed involves the construction of a gripper system based on common modules that provide for extensive parameterization of device operation. The authors also propose a test bench to test the properties of grippers in a robotic palletizing process.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46874733","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
Ability of Joining Composite Structures with Metal by Riveting 金属与复合材料结构的铆接能力
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9061
J. Godzimirski, Angelika Arkuszyńska
{"title":"Ability of Joining Composite Structures with Metal by Riveting","authors":"J. Godzimirski, Angelika Arkuszyńska","doi":"10.5604/01.3001.0015.9061","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9061","url":null,"abstract":"The technology of repairing the composite coverings of the MiG-29 airframe provides for the possibility of repairing with the use of metal battens, connected with the composite cover by riveting, with the use of metal washers protecting the composite against damage during rivet upsetting. Tests were carried out to check the possibility of replacing the composite covering repairs with solid rivets with blind rivets, which would eliminate the necessity for the troublesome disassembly and assembly of the damaged covering. The conducted research shows that the threaded blind titanium rivets meet the requirements to be substitutes for solid rivets. The performed numerical calculations show that in riveted joints, an important role in the load transfer is played by the friction forces between the joined elements, and the value of these forces depends on the pressure of the head and the tab. Titanium blind threaded rivets provide higher pressure than cold-headed ones.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43010623","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
Conceptual Design of a Reusable Submunition Dispenser for Unmanned Aerial Vehicles 一种可重复使用的无人机子弹药分配器的概念设计
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9062
M. Jasztal, Artur Kłosiński
{"title":"Conceptual Design of a Reusable Submunition Dispenser for Unmanned Aerial Vehicles","authors":"M. Jasztal, Artur Kłosiński","doi":"10.5604/01.3001.0015.9062","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9062","url":null,"abstract":"The paper describes a concept for developing a dedicated combat asset for performing effective fragmentation attack on surface targets and having dimensions and weight suited to being carried by an unmanned aerial vehicle (UAV) with a maximum payload of 150 kg. The designed combat asset, i.e. cluster bomblets ejected from a reusable submunition dispenser, will be intended for destroying enemy personnel, unarmoured ground targets, lightly armoured equipment, ground support equipment, and aircraft and field ammunition depots. The introduction of the paper analyzed the existing submunition dispenser and cluster bomblet solutions. The key aspects of the paper include the calculation of the effective blast radius of the designed cluster bomblet and the analysis of the trajectory of a bomb dropped from horizontal flight. A bombing analysis was carried out, taking into account the influence of the atmosphere and drop control conditions on bombing accuracy and proper fragment coverage of the bombed area. \u0000A preliminary concept of the airdrop control system was developed, which could enable effective bombing with a series of cluster bomblets. As part of the work, element models and CAD assembly models of the dispenser and cluster bomblet structures were fabricated.\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41971144","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
A Concept to Carry Out a Torsion Test on Components Made of 20CrNiMo2-2 Steel Using Additive Techniques 用增材法对20CrNiMo2-2钢构件进行扭转试验的构想
Problemy Mechatroniki Pub Date : 2022-06-30 DOI: 10.5604/01.3001.0015.9069
K. Grzelak, J. Kluczyński, Bartłomiej Sarzyński
{"title":"A Concept to Carry Out a Torsion Test on Components Made of 20CrNiMo2-2 Steel Using Additive Techniques","authors":"K. Grzelak, J. Kluczyński, Bartłomiej Sarzyński","doi":"10.5604/01.3001.0015.9069","DOIUrl":"https://doi.org/10.5604/01.3001.0015.9069","url":null,"abstract":"In recent years, additive manufacturing (AM) technologies, have been one of the fastest developing methods of production of various components. As far as building material is concerned, they allow for using not only polymers, but also composites or metals. Products fabricated using said technologies are used in various areas of industries, for instance in medicine, architecture, entertainment, and in particular in the construction of parts and components of machinery and equipment. To recognize and determine the products’ strength properties in a more comprehensive manner, 3D printing products used in mechanical applications are subject to various tests, e.g. static tensile test. This paper contains research about static torsion test on cylindrical samples made of high grade 20CrNiMo2-2 steel using the selective laser melting (SLM). Such an approach allowed to observe the material behaviour and to determine specific values of strength properties, such as the maximum tangential stresses in the material and bulk modulus of elasticity (shear modulus). The determination of such parameters allowed to compare them with the results of the tests carried out on components manufactured using other methods (e.g. a cold drawn solid bar sample).\u0000\u0000","PeriodicalId":52820,"journal":{"name":"Problemy Mechatroniki","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44703223","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
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