Papers by Keyword: Trajectory

Abstract: Several well-known Unmanned Aerial Vehicle (UAV) mobility models that make use of cellular networks will be compared in this study. The acquisition of services for ground-based User Equipment (UE) from Drone Base Stations (DBSs) is the primary focus of the examination. The four distinguishable mobility models— Random Waypoint (RWP), Straight Line (SL), Random Stop (RS), and Random Walk (RW)—are analysed and compared in this work. The UDM and UIM are two service models that are researched in this study. The primary contribution of this work is the development of a thorough method for investigating the point process of DBSs across different mobility and service models. The study compares the basic SL mobility model to more complex models that incorporate curved trajectories and finds performance disparities between the two. It also looks at the average session and received pricing of standard user equipment (UEs). The results of this study shed light on how well drone mobility models perform in cellular network settings, which can help with the development and refinement of drone-optimized cellular networks.

Abstract: The main objective of the research work was to construct a techno-mathematical model of the robotic arm for conducting painting work, which would streamline the speed and quality of work performed with respect to material savings. For research we chose a robotic arm that is commonly used in industrial production, and adapted it for our conditions. The mathematical model is designed to find the optimal trajectory for moving the robotic arm, where the emphasis is placed on minimizing the path length of motion of the robot ́s endpoint, thus reducing overall energy consumption for the building work. First, the optimal mathematical modeling method was chosen, it was selected according to conditions and parameters of the robotic arm. Thanks to the applied method we picked the software that helped to create the algorithm. Subsequently, a computer simulation and calculation of the optimal motion using a combination of virtual circles, sine and cosine theorem, was done. Further, we checked all relevant angles and calculation of the robotic arm rotation in space for each admissible variant. The last step was the selection of the optimal trajectory of the robotic arm in 3D space.

Abstract: This article describes the process of the development of trajectory accuracy testing and the course of modifications of an omnidirectional mobile robot Odin. It also chronologically presents connections between individual phases of developing its construction, electrical wiring, and control software. The first implemented prototype has presented a simple construction and drive control. This laid basis for designing the omnidirectional mobile robot Odin with an installed modular manipulator Schunk. Modifications in the drive control led to better results in the tests. In conclusion, the article describes and compares the acquired test results for various modes of chassis control.

Abstract: Basketball players are taught to release the ball with a backward spin. This causes a lift due to the Magnus effect. Added to this there is a drag on the ball which always acts opposite to the direction of motion. In this paper, the trajectory of a basketball considering the lift and drag is calculated using numerical methods and also the force required to shoot the ball with different initial conditions from a distance of 25 feet away from a basket which is at a height of 10 feet is analyzed. A differential equation of motion of the ball in air is framed which accounts for all the forces on the ball. It is solved by discretizing the equation and solved using a C++ code. The trajectory of the balls with different initial conditions is plotted and it is found that as the spin on the ball increases, the effort required to shoot decreases.

Abstract: The article describes a mathematical model of the circular motion trajectory of a magnetic abrasive powder portion which participates in the magnetic abrasive machining process of flat surface workpieces. The motion trajectory of a magnetic abrasive powder portion is observed. The main formulas, assumptions and recommendations on the implementation of the mathematical model are introduced. Taking into account the feed rate of the machine table, rotational speed and the radius of the cylindrical magnetic inductor, the model allows determining an optimal amount of the magnetic abrasive powder portion which can provide the required efficiency of the finishing process. The magnetic abrasive machining process does not have any fixed standard cutting parameters, so they have to be readjusted every time. The given model can be used to predict the parameters of the finishing process of sophisticated flat surface workpieces.

Abstract: The growing pressure from the society meant that pollution of the atmosphere by gases of marine engines has become one of the main problems in the protection of the marine environment recent years. Areas of ports like port city or coastal areas are exposed to the impact of pollution from the mainland as well as the considerable impact of harmful compounds contained in the exhaust gas of vessels. In order to determine the share of floating in air pollution and the prevention of the harmful effects of toxic compounds in the exhaust, it is necessary to value the knowledge of marine engines emissions of these compounds from the individual units. This is possible with knowledge of motion parameters of individuals, including their trajectory of motion, the concentrations of individual compounds for these parameters and atmospheric conditions in the region of their presence.The mathematical description of the trajectory of motion of the craft after any track (curve) as a first and essential step in modeling the total emissions of pollutants from internal combustion engines to marine main propulsion of vessels used in the balancing of the pollution is presented in this work.

Abstract: Shaking table is an important component in rapid detection system of microorganisms. Based on the discussion regarding the advantage and shortage of the shaking table, this paper proposed a simple, reliable, and low-cost automatic shaking table. Three mechanisms were discussed with the achievement of reciprocating motion: slide-crank mechanism, follower-cam mechanism, and incomplete gear mechanism. The three mechanisms were compared in mechanical motion pair, motion form, component design, and manufacturing process. The slide-crank mechanism was finally determined. To overcome the strong oscillation of the liquid in the test tube along a single direction, this paper improved the slider-crank mechanism, and whose trajectory was modified into an irregular circle.

Abstract: This article describes the process of designing and testing the accuracy of trajectory following for omnidirectional mobile robot Odin. It explains the relation between mobile robotic stair climbing system with shaped wheels and omnidirectional wheels, which are used together in a combined locomotive system. It is presented by the conception study only on account of realization of the simplified chassis with the omnidirectional wheels for testing mechanical parameters and the accuracy of the trajectory ride. The omnidirectional mobile robot Odin was built based on a simplified chassis with omnidirectional wheels and with the modular manipulator Schunk mounted on top. The article concludes with a description and comparison of the achieved results by testing the accuracy of the trajectory ride for the simplified chassis and for the omnidirectional mobile robot Odin.

Abstract: Manipulator has been widely used in industrial production because it can reduce labor intensity, improve the machining accuracy and reduce the number of dangerous operations manual operation. There are many kinds of control modes for manipulator trajectory. The PLC due to characteristics of low cost, simple structure, repeatable use, flexible programming ,it widely used in the control of the manipulator. This paper focus on the the software design and implementation. Through the simulation of the control system of manipulator, the PLC program design, debugging and running can achieve the expected control purpose and requirements, make the motion trajectory of manipulator in accordance with the relevant provisions. Based on the PLC programming, the manipulator can run in accordance with the requirements of running track.BackgroundWith the progress of science and technology, industrial production automation equipment demand is increasing day by day. Due to the reduction of labor intensity, improve the machining accuracy and less manual intervention operation risk, the manipulator has been more widely used in all walks of life.

Abstract: This paper aims to design and develop a control system for the biped robot. The Peripheral Interface Controller (PIC) main controller board is designed to control the servo motor controller board which assures the biped robot to maintain its stability. This robot consists of PIC microcontroller, servo controller, servo motor, and sensors. The bracket parts are fabricated to mount the servo motors by constructing the biped structure. The PIC microcontroller provides interface among the sensors input, servo motor controller, and servo motor. The biped robot is able to walk in a stable motion under a flat plane. The sensors feedbacks enable the controller to adjust the stability of biped robot. The biped robot is able to perform walking steps and crouching action through the configuration of trajectory angle values of the servo motors.