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    Wyświetlanie 1-5 z 5
    Tytuł:
    Preview Control applied for humanoid robot motion generation
    Autorzy:
    Szumowski, Maksymilian
    Żurawska, Magdalena Sylwia
    Zielińska, Teresa
    Powiązania:
    https://bibliotekanauki.pl/articles/229349.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    motion generation
    humanoid robot
    Preview Control
    Extended Cart-Table model
    off-line method
    Opis:
    This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
    Źródło:
    Archives of Control Sciences; 2019, 29, 1; 111-132
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Simulating human motion using Motion Model Units – example implementation and usage
    Autorzy:
    Kłodkowski, Adam
    Kurinov, Ilya
    Orzechowski, Grzegorz
    Mikkola, Aki
    Powiązania:
    https://bibliotekanauki.pl/articles/27309852.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    motion generation
    example with source code
    MMU
    MOSIM
    human simulation
    generowanie ruchu
    przykład z kodem źródłowym
    symulacja człowieka
    Opis:
    Human motion is required in many simulation models. However, generating such a motion is quite complex and in industrial simulation cases represents an overhead that often cannot be accepted. There are several common file formats that are used nowadays for saving motion data that can be used in gaming engines or 3D editing software. Using such motion sets still requires considerable effort in creating logic for motion playing, blending, and associated object manipulation in the scene. Additionally, every action needs to be described with the motion designed for the target scene environment. This is where the Motion Model Units (MMU) concept was created. Motion Model Units represent a new way of transferring human motion data together with logic and scene manipulation capabilities between motion vendors and simulation platforms. The MMU is a compact software bundle packed in a standardized way, provides machine-readable capabilities and interface description that makes it interchangeable, and is adaptable to the scene. Moreover, it is designed to represent common actions in a task-oriented way, which allows simplifying the scenario creation to a definition of tasks and their timing. The underlying Motion Model Interface (MMI) has become an open standard and is currently usable in MOSIM framework, which provides the implementation of the standard for the Unity gaming engine and works on implementation for the Unreal Engine are under way. This paper presents two implementation examples for the MMU using direct C# programming, and using C# for Unity and MOSIM MMU generator as a helping tool. The key points required to build a working MMU are presented accompanied by an open-source code that is available for download and experimenting.
    Źródło:
    Archive of Mechanical Engineering; 2022, LXIX, 3; 345--373
    0004-0738
    Pojawia się w:
    Archive of Mechanical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Second law analysis of mhd forced convective nanoliquid flow through a two-dimensional channel
    Autorzy:
    Miri, Rached
    Abbassi, Mohamed A.
    Ferhi, Mokhtar
    Djebali, Ridha
    Powiązania:
    https://bibliotekanauki.pl/articles/2204682.pdf
    Data publikacji:
    2022
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    MHD
    LBM
    channel flow
    nanoliquids
    entropy generation
    Brownian motion
    Opis:
    The present study deals with fluid flow, heat transfer and entropy generation in a two-dimensional channel filled with Cu–water nanoliquid and containing a hot block. The nanoliquid flow is driven along the channel by a constant velocity and a cold temperature at the inlet, and the partially heated horizontal walls. The aim of this work is to study the influence of the most important parameters such as nanoparticle volume fraction (0%≤ϕ≤4%), nanoparticle diameter (5 nm≤dp≤55 nm), Reynolds number (50≤Re≤200), Hartmann number (0≤Ha≤90), magnetic field inclination angle (0≤γ≤π) and Brownian motion on the hydrodynamic and thermal characteristics and entropy generation. We used the lattice Boltzmann method (LBM: SRT-BGK model) to solve the continuity, momentum and energy equations. The obtained results show that the maximum value of the average Nusselt number is found for case (3) when the hot block is placed between the two hot walls. The minimum value is calculated for case (2) when the hot block is placed between the two insulated walls. The increase in Reynolds and Hartmann numbers enhances the heat transfer and the total entropy generation. In addition, the nanoparticle diameter increase reduces the heat transfer and the irreversibility, the impact of the magnetic field inclination angle on the heat transfer and the total entropy generation is investigated, and the Brownian motion enhances the heat transfer and the total entropy generation.
    Źródło:
    Acta Mechanica et Automatica; 2022, 16, 4; 417--431
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Reinforcement Learning in Discrete and Continuous Domains Applied to Ship Trajectory Generation
    Autorzy:
    Rak, A.
    Gierusz, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/259073.pdf
    Data publikacji:
    2012
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    ship motion control
    trajectory generation
    autonomous navigation
    reinforcement learning
    least-squares policy iteration
    Opis:
    This paper presents the application of the reinforcement learning algorithms to the task of autonomous determination of the ship trajectory during thein-harbour and harbour approaching manoeuvres. Authors used Markov decision processes formalism to build up the background of algorithm presentation. Two versions of RL algorithms were tested in the simulations: discrete (Q-learning) and continuous form (Least-Squares Policy Iteration). The results show that in both cases ship trajectory can be found. However discrete Q-learning algorithm suffered from many limitations (mainly curse of dimensionality) and practically is not applicable to the examined task. On the other hand, LSPI gave promising results. To be fully operational, proposed solution should be extended by taking into account ship heading and velocity and coupling with advanced multi-variable controller.
    Źródło:
    Polish Maritime Research; 2012, S 1; 31-36
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Smart tachografy – różnice i ich możliwości
    Smart tachographs - differences and possibilities
    Autorzy:
    Kubas, Kamila
    Powiązania:
    https://bibliotekanauki.pl/articles/1194488.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
    Tematy:
    smart tachografy
    IV generacja
    system GNSS
    system DSRC
    czujnik ruchu KITAS 4.0
    smart tachographs
    IV generation
    GNSS interface
    DSRC interface
    KITAS 4.0 motion sensor
    Opis:
    From 15th of June 2019 the law about new IV generation tachographs system came into force. Smart tachographs should upgrade a quality of roads controls and make new possibilities of managing data by fleets management. It stemmed from the fact that in IV generation is using DSRC interface, which allow to remote control, GNSS interface which use satellites to find vehicle position and ITS interface, which is compatibility with most of fleet management systems. In the article are describe another opportunities of smart tachographs. The article includes a part of tachographs history and some regulations to better present reasons why this equipment has to be changed.
    Źródło:
    Journal of TransLogistics; 2019, 5, 1; 95-103
    2450-5870
    Pojawia się w:
    Journal of TransLogistics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-5 z 5

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