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    Tytuł:
    Avoiding the Obstacles in the Robot Working Zone by using the Lee Algorithm
    Autorzy:
    Daneshjo, Naqib
    Kralík, Marián
    Petrovčiková, Katka
    Dudáš Pajerská, Erika
    Paštéka, Michael
    Powiązania:
    https://bibliotekanauki.pl/articles/103025.pdf
    Data publikacji:
    2019
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    robot working zone
    Lee algorithm
    local coordinate systems
    general coordinates system
    strefa pracy robota
    algorytm Lee
    lokalne układy współrzędnych
    ogólny układ współrzędnych
    Opis:
    Non-collision trajectories of an industrial robot are the key objective when planning its handling cycles. When the robot should move optimally, precisely and safely in each situation, it is necessary that every obstacle placed in its transition trajectory should be programmed and avoided. The optimal trajectory corresponds to choosing, if possible, the shortest and most appropriate way for the specific movement to be finished. The task of avoiding obstacles by the industrial robot in its working zone can be solved by various methods and algorithms. The paper shows the use of the kinematics SCARA as a way of avoiding obstacles by a robot in the working zone using the Lee algorithm. The configuration fields and networks are being modelled for the avoidance of obstacles together with their evaluation and the search for the shortest trajectory reflected in the robot programming.
    Źródło:
    Advances in Science and Technology. Research Journal; 2019, 13, 2; 72-83
    2299-8624
    Pojawia się w:
    Advances in Science and Technology. Research Journal
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A numerical method for viscous flow in a driven cavity with heat and concentration sources placed on its side wall
    Autorzy:
    Ambethkar, V.
    Basumatary, L. R.
    Powiązania:
    https://bibliotekanauki.pl/articles/122794.pdf
    Data publikacji:
    2018
    Wydawca:
    Politechnika Częstochowska. Wydawnictwo Politechniki Częstochowskiej
    Tematy:
    numerical method
    viscous flow
    heat source
    concentration source
    driven square cavity
    general algorithm
    stability conditions
    isotherms
    streamlines
    geometric center
    heat and mass transfer
    metoda numeryczna
    lepki przepływ
    źródło ciepła
    warunki stabilności
    izotermy
    transfer ciepła
    transfer masy
    Opis:
    This paper proposes a method to numerically study viscous incompressible two-dimensional steady flow in a driven square cavity with heat and concentration sources placed on its side wall. The method proposed here is based on streamfunction-vorticity (Ψ-ξ) formulation. We have modified this formulation in such a way that it suits to solve the continuity, x and y-momentum, energy and mass transfer equations which are the governing equations of the problem under investigation in this study. No-slip and slip wall boundary conditions for velocity, temperature and concentration are defined on walls of a driven square cavity. In order to numerically compute the streamfunction Ψ, vorticityfunction ξ , temperature θ, concentration C and pressure P at different low, moderate and high Reynolds numbers, a general algorithm was proposed. The sequence of steps involved in this general algorithm are executed in a computer code, developed and run in a C compiler. We propose that, with the help of this code, one can easily compute the numerical solutions of the flow variables such as velocity, pressure, temperature, concentration, streamfunction, vorticityfunction and thereby depict and analyze streamlines, vortex lines, isotherms and isobars, in the driven square cavity for low, moderate and high Reynolds numbers. We have chosen suitable Prandtl and Schmidt numbers that enables us to define the average Nusselt and Sherwood numbers to study the heat ad mass transfer rates from the left wall of the cavity. The stability criterion of the numerical method used for solving the Poisson, vorticity transportation, energy and mass transfer has been given. Based on this criterion, we ought to choose appropriate time and space steps in numerical computations and thereby, we may obtain the desired accurate numerical solutions. The nature of the steady state solutions of the flow variables along the horizontal and vertical lines through the geometric center of the square cavity has been discussed and analyzed. To check the validity of the computer code used and corresponding numerical solutions of the flow variables obtained from this study, we have to compare these with established steady state solutions existing in the literature and they have to be found in good agreement.
    Źródło:
    Journal of Applied Mathematics and Computational Mechanics; 2018, 17, 3; 17-30
    2299-9965
    Pojawia się w:
    Journal of Applied Mathematics and Computational Mechanics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-2 z 2

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