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Tytuł:
Flight path optimization of an aircraft aided during take-off by maglev system
Autorzy:
Majka, A.
Powiązania:
https://bibliotekanauki.pl/articles/245029.pdf
Data publikacji:
2013
Wydawca:
Instytut Techniczny Wojsk Lotniczych
Tematy:
air transport
magnetic levitation
trajectory optimization
Opis:
Very high air traffic density in the largest airports and in their vicinity involves that the air traffic in the largest airports and their areas of operations approaches the capacity limits. Such high density of the air traffic adversely influences the natural environment in the vicinity of the airports due to the increasing cumulative noise level and the concentration of environmentally hazardous substances. One of the possibilities to improve the situation is to work out innovative solutions aimed at decreasing the aircraft pollution and improving the transport effectiveness. One of the major concepts is using magnetic levitation (MAGLEV) technology to support aircraft take-off and landing. If the aircraft could take-off and start the initial climb phase with the ground power, the installed power may be reduced, resulting in less weight, less drag and less overall fuel consumption which leads to emission reduction. These advantages, the lower fuel consumption and emissions, increase sustainability of the transportation system. Different conditions of the take-off give possibilities to shape the trajectory after the take-off in order to decrease the negative influence on the environment. The aim of the present work was to determine the optimal conditions of the take-off and the optimal climb trajectory of the aircraft aided in the ground phase of the take-off by the system using the MAGLEV technology, minimizing the fuel consumption. The simplified algorithm of optimization of the flight trajectory was used in this work; it uses the method of approximation of the flight path by the third degree polynomial.
Źródło:
Journal of KONES; 2013, 20, 2; 261-268
1231-4005
2354-0133
Pojawia się w:
Journal of KONES
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Gradient-Based Algorithms in the Brachistochrone Problem Having a Black-Box Represented Mathematical Model
Autorzy:
Dębski, R.
Powiązania:
https://bibliotekanauki.pl/articles/308956.pdf
Data publikacji:
2014
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
black-box optimization
brachistochrone problem
optimal control
trajectory optimization
Opis:
Trajectory optimization problems with black-box represented objective functions are often solved with the use of some meta-heuristic algorithms. The aim of this paper is to show that gradient-based algorithms, when applied correctly, can be effective for such problems as well. One of the key aspects of successful application is choosing, in the search space, a basis appropriate for the problem. In an experiment to demonstrate this, three simple adaptations of gradient-based algorithms were executed in the forty-dimensional search space to solve the brachistochrone problem having a blackbox represented mathematical model. This experiment was repeated for two different bases spanning the search space. The best of the algorithms, despite its very basic implementation, needed only about 100 iterations to find very accurate solutions. 100 iterations means about 2000 objective functional evaluations (simulations). This corresponds to about 20 iterations of a typical evolutionary algorithm, e.g. ES(μ,l ).
Źródło:
Journal of Telecommunications and Information Technology; 2014, 1; 32-40
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimization of Vehicles’ Trajectories by Means of Interpolation and Approximation Methods in Education in Technical Fields of Study
Autorzy:
Rudolf, Ladislav
Novák, Daniel
Pavlovkin, Ján
Novák, Viktor
Powiązania:
https://bibliotekanauki.pl/articles/2042779.pdf
Data publikacji:
2020-11-05
Wydawca:
Uniwersytet Rzeszowski
Tematy:
means of transport
trajectory optimization
interpolation curves
approximation curves
Opis:
The need to optimize the trajectory of vehicles is still highly topical, regardless weather the means of transport are robots, forklifts or road vehicles. It is not only important the safety by passing obstacles, but also the energy balance, i.e. the energy expended on the movement of the vehicle and on the change of its direction. This paper presents a mathematical approach to solving this problem through interpolation and approximation curves. This is a very important scope of knowledge for the education of future engineers.
Źródło:
Journal of Education, Technology and Computer Science; 2020, 11, 1(31); 36-45
2719-6550
Pojawia się w:
Journal of Education, Technology and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Time-optimal control of hydraulic manipulators with path constraints
Sterowanie minimalno-czasowe manipulatorów hydraulicznych po zadanej ścieżce
Autorzy:
Hołobut, P.
Powiązania:
https://bibliotekanauki.pl/articles/279828.pdf
Data publikacji:
2005
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
manipulatory hydrauliczne
hydraulic manipulators
time-optimal control
trajectory optimization
Opis:
A method of optimization intended to speed up motions of non-redundant hydraulic manipulators along prescribed paths of their end-effectors is presented. A parametric path of the end-effector of a non-redundant manipulator determines the corresponding path in the manipulator joint-space. The optimization problem therefore reduces to finding the optimum distribution of the parameter of the path in time. The proposed optimization scheme is based on discretization of the distribution of the parameter into a fixed number of points, and finding their optimum locations by methods of constrained nonlinear programming. Incompressibility of the hydraulic fluid is assumed throughout for greater effectiveness of the procedure. Results of sample optimizations performed on a three-link hydraulic excavator are presented.
Praca przedstawia metodę optymalizacji minimalno-czasowej ruchów manipulatorów hydraulicznych, po zadanej ścieżce członu roboczego. Zakładane jest, że ścieżka członu roboczego jednoznacznie określa odpowiadającą jej ścieżkę manipulatora w zmiennych uogólnionych. Optymalizacja sprowadza się wówczas do znalezienia optymalnego rozkładu parametru ścieżki w czasie. Proponowana metoda optymalizacji polega na przybliżeniu ciągłego rozkładu parametru zbiorem punktów, a następnie znalezieniu ich optymalnych położeń metodami programowania nieliniowego z ograniczeniami. Zakładana jest przy tym nieściśliwość cieczy hydraulicznej, w celu przyspieszenia obliczeń. Załączone są wyniki przykładowych optymalizacji, wykonanych na modelu trójczłonowej koparki hydraulicznej.
Źródło:
Journal of Theoretical and Applied Mechanics; 2005, 43, 3; 523-538
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of predictive control for manipulator mounted on a satellite
Autorzy:
Rybus, T.
Seweryn, K.
Sąsiadek, J. Z.
Powiązania:
https://bibliotekanauki.pl/articles/229912.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
space robotics
predictive control
trajectory optimization
free-floating manipulator
Opis:
Specific conditions of on-orbit environment are taken into account in the design of all devices intended to be used in space. Despite this fact malfunctions of satellites occur and sometimes lead to shortening of the satellite operational lifetime. It is considered to use unmanned servicing satellite, that could perform repairs of other satellites. Such satellites equipped with a manipulator, could be used to capture and remove from orbit large space debris. The critical part of planned missions is the capture manoeuvre. In this paper a concept of the control system for the manipulator mounted on the satellite is presented. This control system is composed of the trajectory planning module and model predictive controller (the latter is responsible for ensuring precise realization of the planned trajectory). Numerical simulations performed for the simplified planar case with a 2 DoF manipulator show that the results obtained with the predictive control are better than the results obtained with adaptive control method.
Źródło:
Archives of Control Sciences; 2018, 28, 1; 105-118
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Simulation-based sailboat trajectory optimization using on-board heterogeneous computers
Autorzy:
Dębski, R.
Powiązania:
https://bibliotekanauki.pl/articles/305745.pdf
Data publikacji:
2016
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
black-box optimization
trajectory optimization
dynamic programming
heterogeneous computing
micro HPC platform
Opis:
A dynamic programming-based algorithm adapted to on-board heterogeneous computers for simulation-based trajectory optimization was studied in the context of high-performance sailing. The algorithm can efficiently utilize all OpenCL-capable devices, starting the computation (if necessary, in single precision) on a GPU and finalizing it (if necessary, in double-precision) with the use of a CPU. The serial and parallel versions of the algorithm are presented in detail. Possible extensions of the basic algorithm are also described. The experimental results show that contemporary heterogeneous on-board/mobile computers can be treated as micro HPC platforms. They offer high performance (the OpenCL-capable GPU was found to accelerate the optimization routine 41 fold) while remaining energy and cost efficient. The simulation-based approach has the potential to give very accurate results, as the mathematical model upon which the simulator is based may be as complex as required. The black-box represented performance measure and the use of OpenCL make the presented approach applicable to many trajectory optimization problems.
Źródło:
Computer Science; 2016, 17 (4); 461-481
1508-2806
2300-7036
Pojawia się w:
Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Energy-efficient walking over irregular terrain: a case of hexapod robot
Autorzy:
Luneckas, Mindaugas
Luneckas, Tomas
Udris, Dainius
Plonis, Darius
Maskeliunas, Rytis
Damasevicius, Robertas
Powiązania:
https://bibliotekanauki.pl/articles/220953.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
hexapod walking robot
irregular terrain
obstacle avoidance
energy consumption
leg trajectory optimization
Opis:
Adaptive locomotion over difficult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and efficient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles. Without these properties, any walking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering a path plan or movement parameters such as speed, step length or step height, it is important to choose the most suitable variables to sustain long battery life and to reach the objective or complete the task successfully. We change the settings of a hexapod robot leg trajectory for overcoming small terrain irregularities by optimizing consumed energy and leg trajectory during each leg transfer. The trajectory settings are implemented as a part of hexapod robot simulation model and tested through series of experiments with various terrains of differing complexity and obstacles of various sizes. Our results show that the proposed energy-efficient trajectory transformation is an effective method for minimizing energy consumption and improving overall performance of a walking robot.
Źródło:
Metrology and Measurement Systems; 2019, 26, 4; 645-660
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
High-performance simulation-based algorithms for an alpine ski racer’s trajectory optimization in heterogeneous computer systems
Autorzy:
Dębski, R.
Powiązania:
https://bibliotekanauki.pl/articles/330952.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
trajectory optimization
heterogeneous computing
GPGPU
high performance computing
alpine ski racing
optymalizacja trajektorii
obliczenia heterogeniczne
obliczenia wysokiej wydajności
narciarstwo alpejskie
Opis:
Effective, simulation-based trajectory optimization algorithms adapted to heterogeneous computers are studied with reference to the problem taken from alpine ski racing (the presented solution is probably the most general one published so far). The key idea behind these algorithms is to use a grid-based discretization scheme to transform the continuous optimization problem into a search problem over a specially constructed finite graph, and then to apply dynamic programming to find an approximation of the global solution. In the analyzed example it is the minimum-time ski line, represented as a piecewise-linear function (a method of elimination of unfeasible solutions is proposed). Serial and parallel versions of the basic optimization algorithm are presented in detail (pseudo-code, time and memory complexity). Possible extensions of the basic algorithm are also described. The implementation of these algorithms is based on OpenCL. The included experimental results show that contemporary heterogeneous computers can be treated as μ-HPC platforms—they offer high performance (the best speedup was equal to 128) while remaining energy and cost efficient (which is crucial in embedded systems, e.g., trajectory planners of autonomous robots). The presented algorithms can be applied to many trajectory optimization problems, including those having a black-box represented performance measure.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2014, 24, 3; 551-566
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
System wyznaczania ścieżek przemieszczeń dla grupy autonomicznych mobilnych robotów-agentów rozpoznawczo-inspekcyjnych
A system of path determination for a group of autonomous, mobile inspection robots-agents
Autorzy:
Szatkiewicz, T.
Powiązania:
https://bibliotekanauki.pl/articles/157701.pdf
Data publikacji:
2013
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
systemy agentowe
inspekcja obszaru
rozpoznawanie obszaru
ustalanie trajektorii przemieszczeń
multi-agent systems
movement path determination
trajectory optimization
field inspections
field recognition
Opis:
W artykule opisano oryginalny system wieloagentowy, którego podstawowym celem jest rozpoznanie, a następnie przeprowadzanie inspekcji nieznanego obszaru przy wykorzystaniu grupy autonomicznych mobilnych robotów-agentów. Wnioski z przeprowadzonych symulacji systemu pozwalają na rozpoznanie obszaru wiedzy, dotyczącego szczególnych aspektów systemów wieloagentowych takich jak min: metody ustalania ścieżek przemieszczeń agentów mobilnych czy wpływ liczby agentów na globalną efektywność systemu.
The paper describes an original multi-agent system [1, 2, 10, 11] whose primary purpose is to recognize and, subsequently, to inspect continuously a limited area. The agents are autonomous mobile robots, equipped with a set of sensors that are capable of scanning the examined area and collecting information on significant features. The main decision problem necessary to be solved in the system is to determine the paths for the robotic agents in such a way that the area is recognized in the shortest time, and the inspection process is the most effective from the point of view of the state of knowledge about the significant features of the examined area. The agents should act collectively in such a way as to balance their load and, hence, to optimize the system performance. In the paper there are described in detail the consecutive steps of the algorithm (Fig. 1), and, in particular, the methodology for determining the direction of motion of robotic agents (Subsections 5.3 and 5.4). The presented multi-agent system was implemented in the Webots environment [4]. Educational robots of the e-puck class were used as robots-agents (Fig. 2), [3]. Implementation of the system made it possible to perform a series of experiments which allowed drawing interesting conclusions (Section 6) on the effectiveness of the system in achieving its primary objectives. At the end of the paper the experiment is illustrated (Fig. 7), and also the growth chart of recognition of the area for each robotic agent is presented (Fig. 8).
Źródło:
Pomiary Automatyka Kontrola; 2013, R. 59, nr 11, 11; 1155-1159
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship Trajectory Control Optimization in Anti-collision Maneuvering
Autorzy:
Zhang, J. F.
Yang, X. D.
Zhang, D.
Haugen, S.
Powiązania:
https://bibliotekanauki.pl/articles/116373.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
anticollision
ship trajectory
genetic algorithm
route optimization
Opis:
A lot of attention is being paid to ship’s intelligent anti‐collision by researchers. Several solutions have been introduced to find an optimum trajectory for ship, such as Game Theory, Genetic or Evolutionary Algorithms and so on. However, ship’s maneuverability should be taken into consideration before their real applications. Ship’s trajectory control in anti‐collision maneuvering is studied in this paper. At first, a simple linear ship maneuverability model is introduced to simulate its movement under different speed and rudder angle. After that, ship’s trajectory control is studied by considering the duration of rudder, operation distance to turning points, and maximum angular velocity. The details for algorithm design are also introduced. By giving some restrictions according to the requirements from COLREGs, the intervals for rudder angle in different circumstances can be determined based on the curves. The results can give very meaningful guidance for seafarers when making decisions.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2013, 7, 1; 89-93
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Issledovanie parametrov traektorii poleta pochatkov pri ikh otdelenii na strepernykh plastinakh
Study parameters flight path cobs during the department of streper plates
Autorzy:
Zaviryuha, N.
Powiązania:
https://bibliotekanauki.pl/articles/77645.pdf
Data publikacji:
2013
Wydawca:
Komisja Motoryzacji i Energetyki Rolnictwa
Tematy:
flight
corn cob
trajectory
impact
optimization
analytical method
Opis:
On paper presents an analytical method parameter estimates trajectory of corn cobs at their office on stripper plates snapping apparatus.
Źródło:
Motrol. Motoryzacja i Energetyka Rolnictwa; 2013, 15, 2
1730-8658
Pojawia się w:
Motrol. Motoryzacja i Energetyka Rolnictwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimization of the ship movement trajectory in the navigational decision support system
Optymalizacja trajektorii ruchu statków w nawigacyjnych systemach wspomagania decyzji
Autorzy:
Pietrzykowski, Z.
Magaj, J.
Powiązania:
https://bibliotekanauki.pl/articles/360153.pdf
Data publikacji:
2009
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
wspomaganie decyzji
optymalizacja trajektorii ruchu statków
bezpieczeństwo nawigacji
decision support
optimization of ship movement trajectory
safety of navigation
Opis:
Ship collisions belong to major hazards to the safety of navigation. This article presents a prototype navigational decision support system aimed at assisting the navigator in the process of ship conduct. The problem of choosing the right track in ship encounter situations and optimization criteria are considered. The authors present algorithms for the optimization of ship.s route in collision situations, implemented in the navigational decision support system being developed. The description of the system operation intended to determine optimized ship movement trajectories is based on simulated ship encounters.
Kolizje statków należą do największych zagrożeń bezpieczeństwa nawigacji. W artykule przedstawiono prototyp systemu wspomagania decyzji nawigacyjnych, mającego na celu wspieranie nawigatora w procesie kierowania statkiem. Rozważono również problem wyboru właściwej trasy statku w sytuacjach spotkaniowych, jak i kryteria optymalizacji trasy. Autorzy zaprezentowali algorytm optymalizacji trasy statku w sytuacjach kolizyjnych, realizowany w nawigacyjnym systemie wspomagania decyzji. Opis funkcjonowania systemu, mającego na celu ustalenia zoptymalizowanej trajektorii ruchu statku, oparty został na symulowanych spotkaniach statków.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2009, 18 (90); 116-122
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The safe ships trajectory in a restricted area
Autorzy:
Pietrzykowski, Z.
Magaj, J.
Powiązania:
https://bibliotekanauki.pl/articles/360322.pdf
Data publikacji:
2014
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
safety of navigation
ship trajectory
restricted area
ship domain
optimization
Opis:
This paper presents the problem of determining a safe ship trajectory in a restricted area. The route choice task is defined as a dynamic optimization problem. The route choice algorithm and criteria are presented and discussed. The ship fuzzy domains are used as a safety criterion. The criterion of the number of manoeuvres to be performed by the own ship is added to the algorithm. The ship encounters simulated situations. Calculated safe ship trajectories were presented and discussed. Discusses the implementation of the present process, in real terms.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2014, 39 (111); 122-127
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Verification of ships trajectory planning algorithms using real navigational data
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/117103.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Visibility Graph-search Algorithm (VGA)
Discrete Artificial Potential Field (DAPF)
real navigational data
ARPA
ship's trajectory planning
ship's trajectory planning algorithms
Ant Colony Optimization (ACO)
Trajectory Base Algorithm (TBA)
Opis:
The paper presents results of ship's safe trajectory planning algorithms verification. Real navigational data registered from a radar with an Automatic Radar Plotting Aid on board the research and training ship Horyzont II were used as input data to the algorithms. The algorithms verified in the presented research include the Ant Colony Optimization algorithm (ACO), the Trajectory Base Algorithm (TBA), the Visibility Graph-search Algorithm (VGA) ant the Discrete Artificial Potential Field algorithm (DAPF). Details concerning data registration and exemplary results obtained with the use or real navigational data are introduced and summarized in the paper. Presented results prove the applicability of proposed algorithms for solving the ship's safe trajectory planning problem.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 559-564
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A nature inspired collision avoidance algorithm for ships
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/24201448.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
collision avoidance algorithm
safe own Ship's Trajectory
safe navigation
ant colony optimization
firefly agorithm
path planning
swarm intelligence
nature inspired computing
Opis:
Nature inspired algorithms are regarded as a powerful tool for solving real life problems. They do not guarantee to find the globally optimal solution, but can find a suboptimal, robust solution with an acceptable computational cost. The paper introduces an approach to the development of collision avoidance algorithms for ships based on the firefly algorithm, classified to the swarm intelligence methods. Such algorithms are inspired by the swarming behaviour of animals, such as e.g. birds, fish, ants, bees, fireflies. The description of the developed algorithm is followed by the presentation of simulation results, which show, that it might be regarded as an efficient method of solving the collision avoidance problem. Such algorithm is intended for use in the Decision Support System or in the Collision Avoidance Module of the Autonomous Navigation System for Maritime Autonomous Surface Ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 341--346
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
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