Autor: Piskur, Paweł. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Propulsion System Analysis Based on Particle Image Velocimetry Method in Biomimetic Unmanned Underwater Vehicle
Analiza układu napędowego z wykorzystaniem metody PIV w biomimetycznym bezzałogowym pojeździe podwodnym
Autorzy:: Piskur, Paweł
Powiązania:: https://bibliotekanauki.pl/articles/2134962.pdf
Data publikacji:: 2022
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: Biomimetic Unmanned Underwater Vehicle
BUUV
Fluid-Structure Interaction
FSI
Particle Imagine Velocimetry
PIV
underwater robotics
biomimetyczny bezzałogowy pojazd podwodny
interakcja płynu i napędu falowego
anemometria obrazowa
robotyka podwodna
Opis:: The article presents a laboratory stand for direct measurement of the thrust generated by the undulating propulsion system of a biomimetic underwater vehicle. The laboratory water tunnel enables research and comparison of the generated thrust with the results of the fin and fluid interaction analysis using the Particle Image Velocimetry method. The water tunnel is equipped with an industrial camera for recording changes in the position of markers highlighted with a line laser in the area of analysis. The comparison of the results obtained by the PIV method with the industrial force sensor allows for the analysis of the efficiency of the biomimetic propulsion system as a function of both design and control parameters.
W artykule przedstawiono stanowisko laboratoryjne do bezpośredniego pomiaru naporu generowanego przez napęd falowy biomimetycznego pojazdu podwodnego. Stanowisko umożliwia przeprowadzenie badań i porównanie generowanego naporu z wynikami analizy interakcji płetwy i płynu z wykorzystaniem metody PIV. Stanowisko wyposażone jest w kamerę przemysłową do rejestrowania zmiany położenia markerów podświetlonych liniowym laserem w obszarze analizy. Porównanie wyników uzyskanych metodą PIV z przemysłowym czujnikiem siły pozwala na analizę sprawności biomimetycznego układu napędowego w funkcji zarówno parametrów konstrukcyjnych jak i sterujących.
Źródło:: Pomiary Automatyka Robotyka; 2022, 26, 3; 23--27
1427-9126
Pojawia się w:: Pomiary Automatyka Robotyka
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Dual quaternions for the kinematic description of a fish-like propulsion system
Autorzy:: Kitowski, Zygmunt
Piskur, Paweł
Orłowski, Mateusz
Powiązania:: https://bibliotekanauki.pl/articles/11542693.pdf
Data publikacji:: 2023
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: dual quaternion
artificial fish
underwater vehicle
undulating propulsion system
kwaternion dualny
sztuczna ryba
pojazd podwodny
układ napędowy
Opis:: This study discusses the use of quaternions and dual quaternions in the description of artificial fish kinematics. The investigation offered here illustrates quaternion and dual quaternion algebra, as well as its implementation in the software chosen. When it comes to numerical stability, quaternions are better than matrices because a normalised quaternion always shows the correct rotation, while a matrix more easily loses its orthogonality due to rounding errors and oversizing. Although quaternions are more compact than rotation matrices, using quaternions does not always provide less numerical computation and the amount of memory needed. In this paper, an algebraic form of quaternion representation is provided which is less memory-demanding than the matrix representation. All the functions that were used to prepare this work are presented, and they can be employed to conduct more research on how well quaternions work in a specific assignment.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2023, 33, 2; 171--181
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: 3.

Tytuł:: Parameters identification of the flexible fin kinematics model using vision and Genetic Algorithms
Autorzy:: Jurczyk, Karolina
Piskur, Paweł
Szymak, Piotr
Powiązania:: https://bibliotekanauki.pl/articles/259505.pdf
Data publikacji:: 2020
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: Biomimetic Underwater Vehicle
flexible fin kinematics model
parameters identification using vision
Genetic Algorithm
Opis:: Recently a new type of autonomous underwater vehicle uses artificial fins to imitate the movements of marine animals, e.g. fish. These vehicles are biomimetic and their driving system is an undulating propulsion. There are two main methods of reproducing undulating motion. The first method uses a flexible tail fin, which is connected to a rigid hull by a movable axis. The second method is based on the synchronised operation of several mechanical joints to imitate the tail movement that can be observed among real marine animals such as fish. This paper will examine the first method of reproducing tail fin movement. The goal of the research presented in the paper is to identify the parameters of the one-piece flexible fin kinematics model. The model needs further analysis, e.g. using it with Computational Fluid Dynamics (CFD) in order to select the most suitable prototype for a Biomimetic Underwater Vehicle (BUV). The background of the work is explained in the first section of the paper and the kinematic model for the flexible fin is described in the next section. The following section is entitled Materials and Methods, and includes a description of a laboratory test of a water tunnel, a description of a Vision Algorithm (VA)which was used to determine the positions of the fin, and a Genetic Algorithm (GA) which was used to find the parameters of the kinematic fin. In the next section, the results of the research are presented and discussed. At the end of the paper, the summary including main conclusions and a schedule of the future research is inserted.
Źródło:: Polish Maritime Research; 2020, 2; 39-47
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Influence of fin’s material capabilities on the propulsion system of biomimetic underwater vehicle
Autorzy:: Piskur, Pawel
Szymak, Piotr
Kitowski, Zygmunt
Flis, Leszek
Powiązania:: https://bibliotekanauki.pl/articles/1573707.pdf
Data publikacji:: 2020
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: fin flexibility
propulsion force
biomimetic underwater vehicle
fish-like movement
Opis:: The technology of Autonomous Underwater Vehicles (AUVs) is developing in two main directions focusing on improving autonomy and improving construction, especially driving and power supply systems. The new Biomimetic Underwater Vehicles (BUVs) are equipped with the innovative, energy efficient driving system consisting of artificial fins. Because these driving systems are not well developed yet, there are great possibilities to optimize them, e.g. in the field of materials. The article provides an analysis of the propulsion force of the fin as a function of the characteristics of the material from which it is made. The parameters of different materials were used for the fin design and their comparison. The material used in our research was tested in a laboratory to determine the Young’s modulus. For simplicity, the same fin geometry (the length and the height) was used for each type of fin. The Euler–Bernoulli beam theory was applied for estimation of the fluid–structure interaction. This article presents the laboratory test stand and the results of the experiments. The laboratory water tunnel was equipped with specialized sensors for force measurements and fluid–structure interaction analysis. The fin deflection is mathematically described, and the relationship between fin flexibility and the generated driving force is discussed.
Źródło:: Polish Maritime Research; 2020, 4; 179-185
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki