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    Wyświetlanie 1-5 z 5
    Tytuł:
    Experimental studies and modeling of four-wheeled mobile robot motion taking into account wheel slippage
    Autorzy:
    Jaskot, Anna
    Posiadała, Bogdan
    Powiązania:
    https://bibliotekanauki.pl/articles/2086885.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    motion dynamics
    wheel slippage
    wheeled mobile platform
    equations of motion
    dynamika ruchu
    poślizg kół
    kołowa platforma mobilna
    równania ruchu
    Opis:
    In the article the results of simulation and experimental studies of the movement of a four-wheeled mobile platform, taking into account wheel slip have been presented. The simulation results have been based on the dynamics of the four-wheel mobile platform. The dynamic model of the system motion takes into account the relationship between the active and passive forces accompanying the platform motion, especially during wheel slip. The formulated initial problem describing the motion of the system has been solved by the Runge-Kutta method of the fourth order. The proposed computational model including the platform dynamics model has been verified in experimental studies using the LEO Rover robot. The motion parameters obtained on the basis of the adopted computational model in the form of trajectories, velocities and accelerations have been compared with the results of experimental tests, and the results of this comparison have been included in the paper. The proposed computational model can be useful in various situations, e.g., real-time control, where models with a high degree of complexity are useless due to the computation time. The simulation results obtained on the basis of the proposed model are sufficiently compatible with the results of experimental tests of motion parameters obtained for the selected type of mobile robot.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 6; e139205, 1--7
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Ruch społeczny „Solidarność” – proces kolektywny w indywidualnych doświadczeniach biograficznych Łódzkich działaczy
    ‘Solidarity’ social movement, social movement dynamics, biography, biographical method, narrative interview
    Autorzy:
    Kopycka, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/2137350.pdf
    Data publikacji:
    2006
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    ‘Solidarity’ social movement
    social movement dynamics
    biography
    biographical method
    narrative interview
    ruch społeczny „Solidarność”
    dynamika ruchu społecznego
    biografia
    metoda biograficzna
    wywiad narracyjny
    Opis:
    The biographical experiences of Lódz 'Solidarity' activists make the core of the article. The analysis of narrative interviews with the social movement participants allowed for the establishment of characteristic sequence of events and ways of experiencing their engagement in 'Solidarity'. The interviews also delivered the framework for comparison of their life histories and creating a typology of experiences characteristic for the activists originating in both the working class - and intelligentsia - centered part of the movement. Presentation of the consecutive stages in the narrators' biographies as a structured process revealed correlations between the social movement dynamics and ways of experiencing own biographies by the activists.
    Przedmiotem artykułu są doświadczenia biograficzne działaczy łódzkiej „Solidarności”. Analiza wywiadów narracyjnych z uczestnikami ruchu społecznego pozwoliła ustalić charakterystyczne sekwencje doświadczeń i sposoby przeżywania własnej biografii związane z zaangażowaniem w „Solidarność”. Umożliwiło to porównanie poszczególnych historii życia i wyłonienie typów doświadczenia charakterystycznych zarówno dla działaczy nurtu robotniczego, jak i inteligenckiej części ruchu. Ujęcie poszczególnych etapów biografii narratorów w kategoriach struktur procesowych ukazało związki między dynamiką ruchu społecznego, a sposobem przeżywania własnej biografii przez jego uczestników.
    Źródło:
    Studia Socjologiczne; 2006, 4(183); 107-126
    0039-3371
    Pojawia się w:
    Studia Socjologiczne
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An example of a power-off maneuver of a vehicle without a straight line motion control
    Autorzy:
    Kisilowski, Jerzy
    Zalewski, Jarosław
    Powiązania:
    https://bibliotekanauki.pl/articles/1832920.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    vehicle dynamics
    power-off
    no motion control
    motion control
    dynamika pojazdu
    wyłączanie
    brak kontroli ruchu
    kontrola ruchu
    Opis:
    In this paper some selected results related to motor vehicle dynamics have been presented basing on the computer simulations of a sports two-seater performing a power-off straight line maneuver with different road conditions and the lack of a straightline motion control having been included. All simulations have been performed in the MSC Adams/Car environment and the adopted maneuver was performed at the instant speed of 100km/h-1. The selected phenomena have therefore been observed along the road long enough to relate them to different aspects of vehicle dynamics and the road traffic safety research. The adopted vehicle’s model moved along the flat and the randomly uneven road with the almost similar and the almost different profiles for the left and the right wheels. Additionally, two values of the coefficient determining the maxi-mum amplitude of road irregularities have been selected, i.e., 0.3 for the lower and 0.9 for the higher irregularities. This meant that the road conditions have been considered as one of the main factors possibly affecting disturbances of the motor vehicle’s motion. Such research seems valuable from the point of view of the road safety and the vehicles’ maintenance. A power-off straight maneuver is not very often performed during the normal road traffic and might seem useless. However, in this case it seemed essential to test the response of a vehicle’s model to such factors as, e.g., the uneven loading, suspension characteristics, etc. This in turn might prove valuable when considering, e.g., the additional concentration of a driver to overcome the external disturbances acting on a moving vehicle. The presented research is the second part of the paper (Kisilowski, 2019) where the power-off maneuver was considered but with the straightforward motion control. Here, the straight-line control has been switched off to examine an untypical situation where, for example a driver loses consciousness, and the vehicle moves freely along the road.
    Źródło:
    Archives of Transport; 2021, 58, 2; 63-80
    0866-9546
    2300-8830
    Pojawia się w:
    Archives of Transport
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Modeling and control of a skid-steering mobile platform with coupled side wheels
    Autorzy:
    Tchoń, K.
    Zadarnowska, K.
    Juszkiewicz, Ł.
    Arent, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/953057.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    wheeled mobile platform
    dynamics
    motion planning
    trajectory tracking
    koła
    platforma mobilna
    dynamika
    planowanie ruchu
    śledzenie trajektorii
    Opis:
    This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 807-818
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Selected aspects of motor vehicle dynamics on the example of a power-off straight line maneuver
    Autorzy:
    Kisilowski, Jerzy
    Zalewski, Jarosław
    Powiązania:
    https://bibliotekanauki.pl/articles/224116.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    motor vehicle dynamics
    power-off
    straight line maneuver
    traffic safety
    dynamika pojazdu samochodowego
    wyłączenie zasilania
    manewry po prostej
    bezpieczeństwo ruchu
    Opis:
    In this paper the selected phenomena related to motor vehicle’s motion have been considered basing on a computer simulation. The vehicle performed a power-off straight line maneuver with different road conditions being included. All simulations have been performed in the MSC Adams/Car environment based on the available sports two-seater vehicle model, realizing the adopted maneuver at the instant speed of 100km/h. This enabled observation of the selected phenomena along the road long enough to relate them to different aspects of vehicle dynamics research. As for the randomly uneven road, almost similar and almost different profiles have been assumed for the left and right wheels of the vehicle. Additionally, two values of the coefficient determining the maximum amplitude of road irregularities have been selected: 0.3 for lower and 0.9 for higher irregularities, so the road surface conditions along with the flat road have been considered as one of the factors causing disturbances of the motor vehicle motion. Such research seems valuable from the point of view of road traffic safety and vehicle maintenance. This specific example is a presentation of the possible research on vehicle dynamics as well as a potential background for further considerations including different types of vehicles along with almost different road profiles for the left and right wheels of the given vehicle model. A power-off straight maneuver is not performed very often in normal road traffic. However, such test could be valuable when analyzing influence of the selected motor vehicle parameters, such as uneven loading, suspension characteristics, etc. on such maintenance features as stability, steerability and the influence of external disturbances acting on the moving vehicle. Further research provides different maneuvers and different simulation conditions.
    Źródło:
    Archives of Transport; 2019, 50, 2; 57-76
    0866-9546
    2300-8830
    Pojawia się w:
    Archives of Transport
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-5 z 5

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