Wszystkie pola: skid - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Any-angle Global Path Planning for Skid-Steered Mobile Robots on Heterogeneous Terrain
Autorzy:: Jaroszek, P.
Powiązania:: https://bibliotekanauki.pl/articles/384522.pdf
Data publikacji:: 2016
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: spath planning
skid-steered mobile robot
Theta*
any-angle path planning
A*
Opis:: The paper is concerned with selection of the algorithm of path planning for a skid-steered mobile robot operating on heterogeneous terrain. Methods of path searching were reviewed and their applicability to particular kinematic structure of a robot was assessed. The Theta* graph search algorithm was selected, because of its property of returning any-angle paths. Because in this method variable terrain type is not considered, necessary changes in algorithm structure were proposed to check homogeneity of the terrain. In order to enable choice of arbitrary optimization criterion, the model of cost dependent on terrain properties was introduced, which includes both longitudinal motion and turning. Operation of the modified algorithm with the introduced cost model was verified by means of simulation against A* reference algorithm often used in path planning tasks.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 2; 50-56
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Assessment of skid resistance of asphalt mixtures in laboratory conditions
Autorzy:: Gardziejczyk, W.
Wasilewska, M.
Powiązania:: https://bibliotekanauki.pl/articles/230616.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: kruszywo
nawierzchnia drogi
BPN
odporność na poślizg
PSV
mieszanka asfaltowa
aggregate
road surface
skid resistance
asphalt mixture
Opis:: The aggregate applied for the wearing course has a significant influence on skid resistance of road surfaces. However, it is difficult to evaluate the behaviour of road surface in use on the basis of the Polished Stone Value (PSV) determined for the aggregate according to the so called ‘British method’. The British method, which is currently used in many countries, does not allow to determine the influence of neither the grain size of the aggregate nor the type of the wearing course on skid resistance of road surface. The present paper suggests a method for evaluation of the British Pendulum Number (BPN) for road surfaces in laboratory conditions. The authors assumed the BPN for polished slabs, made from asphalt mixtures, as the criterion. The index was measured with the British Pendulum Tester. The simulation of the process was conducted on research stand (called slab polisher) built at Bialystok University of Technology (BUT). The results of laboratory tests indicate that surfaces from asphalt concrete (AC) have slightly higher values of BPN in comparison with the values determined for surfaces made from stone mastic asphalt (SMA).
Źródło:: Archives of Civil Engineering; 2012, 58, 4; 521-534
1230-2945
Pojawia się w:: Archives of Civil Engineering
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Modeling and Control of a 4-wheel Skid-steering Mobile Robot
Autorzy:: Kozłowski, K.
Pazderski, D.
Powiązania:: https://bibliotekanauki.pl/articles/907961.pdf
Data publikacji:: 2004
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: robot mobilny
backstepping
analiza Lyapunova
mobile robots
skid-steering vehicles
time-varying control laws
Lyapunov analysis
Opis:: A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 477-496
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Modelling of mobile vehicle skid in traction movement mode
Modeljuvannja procesy zanosy mobilnih masin v tjagovomu rezimi ruhu
Autorzy:: Klets, D.
Powiązania:: https://bibliotekanauki.pl/articles/76622.pdf
Data publikacji:: 2013
Wydawca:: Komisja Motoryzacji i Energetyki Rolnictwa
Tematy:: mobile vehicle
skid
stability
traction movement
nonlinear model
drift
acceleration
mathematical model
Źródło:: Motrol. Motoryzacja i Energetyka Rolnictwa; 2013, 15, 7
1730-8658
Pojawia się w:: Motrol. Motoryzacja i Energetyka Rolnictwa
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
Autorzy:: Michałek, M.
Dutkiewicz, P.
Kiełczewski, M.
Pazderski, D.
Powiązania:: https://bibliotekanauki.pl/articles/929982.pdf
Data publikacji:: 2009
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: robot mobilny
śledzenie trajektorii
pole wektorowe
differentially driven mobile robot
skid-slip compensation
trajectory tracking
vector fields
Opis:: The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 547-559
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Differences in Roughness Parameter Values from Skid and Skidless Contact Stylus Profilometers
Autorzy:: Grochalski, Karol
Mendak, Michał
Jakubowicz, Michał
Gapiński, Bartosz
Swojak, Natalia
Wieczorowski, Michał
Krawczyk, Aleksandra
Powiązania:: https://bibliotekanauki.pl/articles/2024198.pdf
Data publikacji:: 2021
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: contact profilometer
portable profilometer
roughness parameters
skid devices
skidless devices
profilometr kontaktowy
profilometr przenośny
parametry chropowatości
urządzenia poślizgowe
urządzenia bezpoślizgowe
Opis:: Contact stylus profilometry is the leading surface texture measuring method in many manufacturing industries. For years it has been unmatched in terms of accuracy and reliability. Advancements in technology have led to the improvements in the profilometer design. A stylus can either have a built in skid or be skidless. In this study, the influence of skid on the measurement accuracy and repeatability was evaluated. Four different contact stylus profilometers were used to measure three standard roughness artifacts each. Every set of measurements consisted of 50 repetitions of the same profile, with the same parameters. Out of these profiles, five roughness parameters were calculated and were subjected to a statistical analysis. Relative errors of these parameters were also considered and presented individually for each roughness standard. Researchers found differences in the measurement results dispersion of various roughness parameters between the three roughness standards. The presented results of the measurements clearly indicated that there is a dispersion of the obtained values for the older type of contact stylus profilometer (P1, skid). The skidless portable devices, P2 and P3, have better measurement resolution, which results in a noticeably lower dispersion of measured values. A tabletop, stationary device utilizes a skidless measuring probe. It has both the best resolution and the highest rigidity, which results in the lowest dispersion of measured values. The lowest relative error of the Ra parameter was determined for the P2 device (9.2%) and the highest was determined for the P3 device (72.6%).
Źródło:: Advances in Science and Technology. Research Journal; 2021, 15, 1; 58-70
2299-8624
Pojawia się w:: Advances in Science and Technology. Research Journal
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Ovality on trees adjacent to skid road
Wielkość spłaszczenia drzew przylegających do szlaków zrywkowych
Autorzy:: Karaszewski, Z.
Giefing, D.F.
Lacka, A.
Noskowiak, A.
Powiązania:: https://bibliotekanauki.pl/articles/8342.pdf
Data publikacji:: 2014
Wydawca:: Szkoła Główna Gospodarstwa Wiejskiego w Warszawie. Wydawnictwo Szkoły Głównej Gospodarstwa Wiejskiego w Warszawie
Źródło:: Annals of Warsaw University of Life Sciences - SGGW. Forestry and Wood Technology; 2014, 86
1898-5912
Pojawia się w:: Annals of Warsaw University of Life Sciences - SGGW. Forestry and Wood Technology
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Investigation of adhesion characteristics of different tyre types in different weather conditions
Autorzy:: Pokorski, J.
Reński, A.
Sar, H.
Powiązania:: https://bibliotekanauki.pl/articles/246790.pdf
Data publikacji:: 2012
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: tyre-to-road adhesion
skid resistance tester
traffic safety
accident reconstruction
Opis:: Tyre-to-road adhesion has a great influence on transmitting forces between wheels and road surface and in the consequence on the safety of automobile motion. It plays significant role in vehicle motion modelling, especially for the needs of traffic accidents reconstruction and the development of active safety systems in automobiles. Simultaneously, the knowledge about tyre-to-road adhesion is limited, especially in case of the differences between anti-slip properties of summer and winter tyres. In the paper, method of the measurement of tyre-to-road adhesion coefficient is presented. The measurement system SRT-4 consists of special dynamometer trailer, towing vehicle and test-measuring equipment. It was designed for the needs of road engineering and further developed in the Institute of Vehicles of Warsaw University of Technology. It enables to obtain adhesion characteristics, i.e. graph of adhesion coefficient as a function of wheel slip ratio. In the article, examples of tyre-toroad adhesion characteristics and velocity characteristics of peak adhesion coefficient for different types of tyres (summer, winter) in different weather conditions are presented. Differences in characteristics courses caused by tyre type and weather conditions are discussed. For instance, in case of winter tyres it was noticed that their peak value of adhesion coefficient was reached for higher values of slip ratio than it was observed for summer tyres.
Źródło:: Journal of KONES; 2012, 19, 3; 363-369
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX
Autorzy:: Mazur, A.
Cholewiński, M.
Powiązania:: https://bibliotekanauki.pl/articles/202350.pdf
Data publikacji:: 2016
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: underactuated system
nonholonomic constraint
kinematics
dynamics
kinematyka
dynamika
ograniczenia nieholonomiczne
Opis:: In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 71-80
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Analysis of braking marks left by vehicles equipped with ABS with IR spectroscopy – different types of asphalt
Autorzy:: Sys, Ewa
Kubiak, Przemysław
Gosławski, Lukasz
Zakrzewicz, Wojciech
Powiązania:: https://bibliotekanauki.pl/articles/1838312.pdf
Data publikacji:: 2021
Wydawca:: Sieć Badawcza Łukasiewicz. Przemysłowy Instytut Motoryzacji
Tematy:: IR spectroscopy
accident investigation
skid marks
Opis:: Detailed analysis of literature showed that there is no method that can be used in order to investigate skid marks left by vehicles equipped with ABS. Authors decided to identify braking trace by using IR spectroscopy. Preliminary studies have been performed and results were promising. Due to that fact authors decided to conduct detailed research where the influence of various factors on the possibility of revealing breaking traces would be taken into account. This article is the first in a series of articles taking into account the influence of various factors on the possibility of revealing breaking marks using IR spectroscopy. In this article the influence of the type of asphalt was studied. Authors conducted tests with the most popular types of asphalts used for the wearing course. 100 samples from 5 different types of asphalt were prepared. Each sample was measured 3 times to create its spectrum. The results were analyzed thoroughly using the dedicated SpectraGryph software. The analysis showed that for 4 out of 5 types of tested asphalt, the braking traces were visible at a wavelength of approximately 11 500 nm. Only for the rubberized asphalt there weren’t possibility to reveal skid mark.
Źródło:: Archiwum Motoryzacji; 2021, 93, 3; 5-14
1234-754X
2084-476X
Pojawia się w:: Archiwum Motoryzacji
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:: Analysis of braking marks left by vehicles equipped with ABS with IR spectroscopy
Autorzy:: Gosławski, Lukasz
Kubiak, Przemyslaw
Mrowicki, Adam
Soghabatyan, Tigran
Sys, Ewa
Wang, Ying-Wei
Zou, Tiefang
Powiązania:: https://bibliotekanauki.pl/articles/262935.pdf
Data publikacji:: 2019
Wydawca:: Sieć Badawcza Łukasiewicz. Przemysłowy Instytut Motoryzacji
Tematy:: accident investigation
skid marks
IR spectroscopy
Opis:: This paper presents the possible use for IR spectroscopy to reveal skid marks left by cars equipped with Anti-lock Braking System. Detailed analysis of literature showed that there is no method that can be used in order to investigate this kind of tire marks. Up till now only two techniques have been devised. The first one is Method of Image Refinement which consists of transforming the image from the scene of the accident using dedicated graphics software. Second method includes analysis of traces using a thermal imaging camera. This study presents an innovative approach to the problem. Numerous analyses using IR spectroscopy were conducted to check the suitability of this method. The research performed on a Thermo Scientific FTIR Nicolet iS50 Spectrophotometer with an ATR attachment. 40 samples from 10 different types of asphalt were prepared. Each sample was measured 3 times to create its spectrum. The results were analyzed thoroughly using the dedicated SpectraGryph software. Analysis show that the wavelength which makes the braking marks visible is found within the mid-infrared range. Finally, it was found wavelength in which skid marks should be visible. This range is located in the mid-infrared.
Źródło:: Archiwum Motoryzacji; 2019, 84, 2; 33-43
1234-754X
2084-476X
Pojawia się w:: Archiwum Motoryzacji
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 12.

Tytuł:: The mi-PW friction tester as an element of road surface skid resistance evaluation system at the traffic accident scene
Autorzy:: Luty, W.
Powiązania:: https://bibliotekanauki.pl/articles/244524.pdf
Data publikacji:: 2011
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Tematy:: road accident reconstruction
frictional resistance of road surface
traffic accident place documentation
friction tester
Opis:: Conclusions regarding needs related with building of measurement device, used to road surface skid resistance evaluation in traffic accident scene, are presented in this paper. Review results of devices and testers used to road evaluation of road surface properties, which are responsible for tire-road grip coefficient, are presented. Methods of road surface skid resistance measurement have been evaluated, in the context of common use in the process of traffic accident scene description. In the case of portable devices there are generally indirect methods, using rubber specimen which is sliding on the road surface, under certain normal load. In such cases, the measurement results defined as friction coefficient can be correlated with a tire grip coefficient to the road surface. There has been shown that it is necessary to develop methods and technical means of road surface skid resistance evaluation, which ensure an increase a results reliability of road accidents reconstruction process. Assumption for building and design system of mi-PW tester, have been presented. Established device concept is based on the measurement of the rubber specimen friction coefficient to the road surface. During the measuring the specimen normal load is fixed and motion speed is controlled. Features of tester and possible modes of measure, have been shown. An important feature of the tester is the possibility of transfer measurement results to a computer in order to prepare of test report, as an annex to the Police report of the vehicle inspection, used by the police in the procedure of traffic accident scene describing.
Źródło:: Journal of KONES; 2011, 18, 1; 333-342
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 13.

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

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Skocz do pozycji: 14.

Tytuł:: Analysis of a Skid Type Landing Gear of a Rotary Wing UAV by Experimental and Numerical Methods
Autorzy:: Yildirim, O.
Günay, E.
Anil, Ö.
Aygün, C.
Powiązania:: https://bibliotekanauki.pl/articles/1401314.pdf
Data publikacji:: 2015-04
Wydawca:: Polska Akademia Nauk. Instytut Fizyki PAN
Tematy:: 81.05.Bx
45.20.da
45.50.Tn
02.70.Dh
04.80.Cc
06.30.-k
45.20.D
Opis:: The objective of this study was to analyze the results obtained from tests done by simulating the crash landing of a rotary wing unmanned air vehicle with a skid type landing gear. The experimental and computational methods were used in the simulation tests. In the first portion of the test; namely with the experimental method, the impact loads induced by the simulated crash landing and the stresses, strains, deformations generated by these loads, were recorded by drop test apparatus. In the second portion of the test with the computational method, free falling of the skid type landing gear was modeled and crash landing test was simulated numerically by using ANSYS code. Experimental methods were applied on four skid landing gear specimens with different shapes. Each of the test samples used in the following test was evolved because each sample was developed and redesigned based on the feedback results obtained from the former test.The first three test specimens were manufactured from 2024 T3, 7075 T6 and 6061 T6 aluminum alloys respectively and all of them were curved in Π-form with a solid cross section. The last and fourth specimen was also manufactured from 6061 T6 aluminum alloy and it was curved in a hollow semi-circle form (∩-form). It is concluded that the last and fourth developed specimen was the best in absorbing the impact energy and enduring the crash.
Źródło:: Acta Physica Polonica A; 2015, 127, 4; 1170-1175
0587-4246
1898-794X
Pojawia się w:: Acta Physica Polonica A
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 15.

Tytuł:: Evaluation of the effect of various surficial pollutants and environmental condition on surface friction performance of road pavement
Autorzy:: Khabiri, Mohammad Mehdi
Afkhamy-Meybodi, Pooya
Montazeri, Ali Mohammad
Powiązania:: https://bibliotekanauki.pl/articles/2091219.pdf
Data publikacji:: 2021
Wydawca:: Politechnika Śląska. Wydawnictwo Politechniki Śląskiej
Tematy:: road safety
skid resistance
pollutant
British pendulum tester
decision tree
bezpieczeństwo drogowe
odporność na poślizg
zanieczyszczenia
brytyjski tester wahadłowy
drzewo decyzyjne
Opis:: Skip resistance of asphalt is an important parameter that can influence the safety of drivers on roads. Although there is a linear relationship between slipping on road surfaces and accidents, the impacts of pollutants for decreasing friction of roads is clear to researchers. Moisture and temperature influence friction and safety. In this research in SMA samples, three different gradations with the maximum nominal sizes of 19, 12.5 and 9.5, based on international standards were used. For polluting the surface, five materials that are found on roads were used, including fine-grained soil, sand, oil, soot and rubber powder. To measure the skip resistance, the British pendulum tester was used and for analysing macro-texture, the sand patch method was used. The results of this research showed that by increasing the maximum nominal size of aggregates, the depth of macro-texture in surfaces are grown and this is due to the decrease of fine aggregates in larger gradations. Because of the higher flexibility of pure bitumen, the applied compression pressure on rigid aggregates can cause indentations in the substrate and result in declining the roughness height of aggregates in the mixed surface. This leads to declining the hysteresis part of friction by increasing temperature.
Źródło:: Zeszyty Naukowe. Transport / Politechnika Śląska; 2021, 112; 99--111
0209-3324
2450-1549
Pojawia się w:: Zeszyty Naukowe. Transport / Politechnika Śląska
Dostawca treści:: Biblioteka Nauki

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