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Search results for: parallel robots, multibody system, finite rigid elements, beam deformations, elasto-plastic deformations
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Rigid finite elements and multibody modeling in analyses of a robot shaped elastic/plastic deformations of a beam
PublicationDynamics analysis of a system composed of a parallel manipulator and of an elastic beam is presented in the paper. Classic 3RRR parallel manipulator is considered and used to deform the beam. Elasto-plastic deformations are investigated. Rigid-finite-elements technique is employed to deal with dynamics of the beam. A multibody structure is associated with the introduced hybrid system in order to model its dynamics. Idea of the...
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Rigid finite elements and multibody modelling used in estimation and reduction of rod vibrations
PublicationIn the paper, a mechanical set composed of a robot (manipulator) and of an elastic beam is considered. The beam is fixed to the top of the robot structure. In most of the similar cases, undesired vibrations can be excited in the beam. They are especially significant, when dynamics in the robot braking period is examined. In the paper, estimation and modification of length of the braking period is proposed, in order to reduce the...
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Forced vibrations in a dynamic system that is damped by a mechanism that trans-pass through its singular position
PublicationIn the paper, vibrations of a hybrid multibody-continuous system are investigated. For all the mechanical devices, effective damping methods are crucial in the design process. To obtain it, installation of viscous dampers or elasto-viscous elements is dominant. In the paper, an alternative method is investigated. It is based on modal disparity. To describe the method briefly, when structural damping is present in continuous systems,...
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Numerical modelling of 3D printout using line (1D) elements
PublicationA proposition of some numerical modelling of the 3D printout is presented in the paper. The proposed model is composed of some 1D elements. The resulting numerical model of the infill consist of beam, spring and rigid elements. Obtained results confirm correctness of the proposed modelling method. Two methods of estimation of the spring parameters are proposed in the paper. In the first method, mechanical properties of the connecting...
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Two- and three-dimensional elastic networks with rigid junctions: modeling within the theory of micropolar shells and solids
PublicationFor two- and three-dimensional elastic structures made of families of flexible elastic fibers undergoing finite deformations, we propose homogenized models within the micropolar elasticity. Here we restrict ourselves to networks with rigid connections between fibers. In other words, we assume that the fibers keep their orthogonality during deformation. Starting from a fiber as the basic structured element modeled by the Cosserat...
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Study on deformed steel columns subjected to impact load due to soft-storey failure in buildings during earthquakes
PublicationThe so called soft-storey failure is one of the most typical types of damage induced in buildings as the result of earthquake excitation. It has been observed during ground motions that the failure of an upper soft storey of a structure results in large vertical impact load acting on the lower floors. If the resistance of the structural members of the lower storeys is not sufficient it may further lead to progressive collapse of...
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Degradation of a nano-cutting tool: an MD simulation
PublicationW pracy przedstawiono wyniki symulacji wielokrotnego oddziaływania realistycznie ukształtowanego ostrza tnącego z modelowym, nieskończenie twardym ziarnem, przy zastosowaniu metody dynamiki molekularnej. Ostrze składało się z kilkuset tysięcy atomów metalu fcc, traktowanego za pomocą potencjału Suttona-Chena, przesuwane było ze stałą prędkością 20 m/s. Obserwowane deformacje plastyczne pojawiające się na skutek kontaktu ostrza...
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A non-local elasto-plastic model to simulate localizations of deformations in quasi-brittle materials
PublicationW pracy omówiono wpływ długości charakterystycznej na szerokość lokalizacji odkształceń stycznych w materiałach kruchych. Obliczenia wykonano MES ma bazie nielokalnego sprężysto-plastycznego prawa konstytutywnego podczas ściskania jednoosiowego w płaskim stanie odkształcenia.
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Closed Form Constraint Equations Used to Express Frictionless Slip of Multibody Systems Attached to Finite Elements—Application to a Contact between a Double Pendulum and a Beam
PublicationThis paper focuses on the numerical modeling of the dynamics of mechanical systems. Robots that can inspect high-voltage lines inspired this research. Their control systems must anticipate potential grab positions appropriately. We intend to formulate equations dedicated to the numerical description of the robot/cable contact. The investigated problem is not straightforward, since parts of the modeled systems are numerically inhomogeneous....
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The effect of shear deformations' rotary inertia on the vibrating response of multi-physic composite beam-like actuators
PublicationIn consecutive studies on flexomagneticity (FM), this work investigates the flexomagnetic reaction of a vibrating squared multi-physic beam in finite dimensions. It is assumed that the bending and shear deformations cause rotary inertia. In the standard type of the Timoshenko beam the rotary inertia originated from shear deformations has been typically omitted. It means the rotary inertia resulting from shear deformation is a new...
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Modal Adjustment of Rayleigh Based Structural Damping and Coordinate-Partitioning Algorithm Dedicated to Frictionless Contact Constraints between Multibody System and Structure Modelled with Finite Elements
PublicationThe paper presents a dedicated numerical algorithm. The algorithm is advantageous during investigations of the dynamics of a hybrid multibody / finite-elements system. We focus our attention on interactions resulting from mechanical contact. Pointwise contact connects a vertex of the multibody structure and a surface of the elastic reference body. Instead of a positive value of the relative penetration factor, constraint equations...
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Dynamics of flexible multibody systems : Rigid finite element method.
PublicationW książce przedstawiono zagadnienie przekształceń jednorodnych, z punktu widzenia opisu dynamiki układów wielomasowych, złożonych z brył sztywnych. Omówiono metodę sztywnych elementów skończonych, w której model składa się z brył sztywnych połączonych elementami sprężystymi i tłumiącymi, a także jej wersję zmodyfikowaną. W modelu uwzględnia się duże przemieszczenia brył. Przedstawiono obliczenia dla belki wspornikowej oraz omówiono...
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Deformations of the steel schell of a vertical cylindrical tank caused by underpressure
PublicationUnderpressure in a tank with a fixed roof may arise in the final stage of its construction as well as during its usage. This article presents stages of deformations of the tank shell and their development from the occurrence of the first deformation to either removal of the causes of underpressure or cracking of the steel shell.
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Symbolic multibody models for digital-twin applications
PublicationSymbolic generation of multibody systems equations of motion appeared in the 1980s. In addition to their computational advantage over their numerical counterparts, symbolic models can be very easily and straightforwardly interfaced with a wide range of software environments and hardware devices. These two features place this approach in a pole position to participate and intervene in the design of digital twins for systems such...
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On modelling and non-linear elasto-plastic analysis of thin shells with deformable junctions
PublicationThe undeformed base surface of the irregular thin shell is modelled by the union of a finite number of regular smooth surface elements joined together along spatial curvilinear surface edges. The equilibrium conditions are formulated by postulating an appropriate form of the principle of virtual work, where also deformability of shell junctions is taken into account. The PVW is then discretised by C1 finite elements and the incremental-iterative...
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Rainscreen panels deformations mods
PublicationIn rainscreen panels designing simplified calculation models are used. For plate computation simply supported panels or panels with fixed edges are commonly used. Such approximations are subjected to large errors that lead to inefficient rainscreen panels design. In order to develop a method for determining the optimal geometry of the rainscreen panels, that would take into consideration the real stiffness of both continuous and...
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Estimation and Prediction of Vertical Deformations of Random Surfaces, Applying the Total Least Squares Collocation Method
PublicationThis paper proposes a method for determining the vertical deformations treated as random fields. It is assumed that the monitored surfaces are subject not only to deterministic deformations, but also to random fluctuations. Furthermore, the existence of random noise coming from surface’s vibrations is also assumed. Such noise disturbs the deformation’s functional models. Surface monitoring with the use of the geodetic levelling...
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DEFORMATIONS OF INNOVATIVE COLD-FORMED GEB SECTIONS
PublicationPermanent urban growth of the world of today world implies demanding challenges for the steel construction industry. Nowadays, one of the most important issues is the cost optimization of steel structures. Since the weight of building materials is a major component of the total cost, engineers and designers try to reduce structural weight, without compromising durability and sustainability of a steel structure. Therefore, light...
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Prediction of Weld Deformations by Numerical Methods - Review
PublicationThe welding process is the basic technique of joining in the shipbuilding industry. This method generates welding distortions that cause a lot of problems during the manufacturing process due to both the time and cost of straightening as well as their influence on later stages of production. Proper preparation of welding processes plays a growing role in the shipbuilding industry and the development of calculating tools is being...
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Effect of cyclic deformations on the evolution of localizations in granularbodies
PublicationArtykuł omawia wpływ cyklicznych odkształceń na lokalizacje odkształceń stycznych w materiałach granulowanych. Obliczenia wykonano metodą elementów skończonych na bazie mikropolarnego hipoplastycznego prawa konstytutywnego. Obliczenia wykonano dla dużej amplitudy odkształceń cyklicznych i materiału zagęszczonego.
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Searching for road deformations using mobile laser scanning
PublicationMillions of people use roads every day all over the world. Roads, like many other structures, have an estimated durability. In Poland a lot of the roads were built at the turn of the 20th and 21st c., especially for light cars. Many of these roads carry traffic and heavy goods vehicles which were not predicted when the traffic was first estimated. It creates a lot of problems with technical conditions and the infrastructure must...
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Influence of Collar Deformations on Hydrodynamic Thrust Bearing Performance
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M-integral for finite anti-plane shear of a nonlinear elastic matrix with rigid inclusions
PublicationThe path-independent M-integral plays an important role in analysis of solids with inhomogeneities. However, the available applications are almost limited to linear-elastic or physically non-linear power law type materials under the assumption of infinitesimal strains. In this paper we formulate the M-integral for a class of hyperelastic solids undergoing finite anti-plane shear deformation. As an application we consider the problem...
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FE-analysis of the beaviour of concrete elements with coupled elasto-plastic-damage models with non-local softening
PublicationArtykuł omawia wyniki symulacji zachowania sie elementów betonowych poddanych cyklicznemu obciążeniu. Do symulacji zastosowano połączone modele sprężysto-plastyczne z degradacją sztywności i z nielokalnym osłabieniem. Wyniki symulacji porównano z doswiadczeniami.
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Application of the distributed transfer function method and the rigid finite element method for modelling of 2-D and 3-D systems
PublicationIn the paper application of the Distributed Transfer Function Method and the Rigid Finite Element Method for modelling of 2-D and 3-D systems is presented. In this method an elastic body is divided into 1-D distributed parameter elements (strips or prisms). The whole body (divided into strips or prism) is described by a set of coupled partial differential equations. Solving this equations in the state space form it is possible...
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Asperities and deformations of hyper elastic joint cartilages in cultivation aspects
PublicationPraca opisuje wyniki badań procesu hodowli chrząstki stawowej w bioreaktorze podczas nieustalonego laminarnego przepływu nienewtonowskiej biologicznej cieczy odżywczej wokół chrząstki spoczywającej na rusztowaniu bioreaktora. Badania takie wymagają eksperymentalnego pomiaru chropowatości powierzchni chrząstki.
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Rigid ninite element method for dynamics of flexible multibody systems
PublicationW pracy przedstawiono metodę sztywnych elementów skończonych w nowym sformułowaniu bazującym na przekształceniach jednorodnych wraz ze złączowymi współrzędnymi. Omówiono klasyczną i zmodyfikowaną wersję metody, które różnią się nie tylko liczbą stopni swobody, ale także różniczkowaniem równań ruchu. Każda z wersji może być zastosowana do analizy liniowych i nieliniowych drgań, co pokazano na przykładzie belki wspornikowej.
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On solvability of initial boundary-value problems of micropolar elastic shells with rigid inclusions
PublicationThe problem of dynamics of a linear micropolar shell with a finite set of rigid inclusions is considered. The equations of motion consist of the system of partial differential equations (PDEs) describing small deformations of an elastic shell and ordinary differential equations (ODEs) describing the motions of inclusions. Few types of the contact of the shell with inclusions are considered. The weak setup of the problem is formulated...
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Comparison of buckling resistance of columns modelled by beam and shell elements using non-linear analysis
PublicationThe aim of the paper is to investigate the stability process in the axially compressed columns modelled by beam and shell elements using static and dynamic finite element analysis by taking both the geometric and material non-linearity into account. The perfect columns and columns with geometric imperfections were analysed. The differences between the results of static and dynamic analyses in shell and beam models were discussed.
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Large elastic deformations of laminated cylindrical panels under point load
PublicationTematem pracy jest numeryczna analiza sprężysta cylindrycznych powłok kompozytowych w zakresie dużych obrotów. Analizując serię wielowarstwowych cylindrycznych powłok kompozytowych o brzegach utwierdzonych i obciążonych centralnie siła skupioną z pewnym zaskoczeniem zaobserwowano, że w przypadku określonych schematów uwarstwienia, nastąpić może wzrost wielkości obciążenia krytycznego mimo redukcji globalnej sztywności konstrukcji.
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Research on deformations of laser-welded joint of a steel sandwich structure model.
PublicationPrzedstawiono problemy związane z zachowaniem złącza laserowego pod obciążeniem zginającym. Pokazano wyniki badań laboratoryjnych dla określenia mechanizmu pracy złącza i przedyskutowano uzyskane rezultaty.
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On some properties of 2d spectral finite elements in problems of wave propagation
PublicationW pracy przedstawiono sformułowanie dwuwymiarowych elementów spektralnych stosowanych w symulacji propagacji fal prowadzonych. Zbadano własności tych elementów pod kątem występowania form pasożytniczych, odporności na dystorsję siatki oraz zbadano wpływ kształtu elementu na krzywe dyspersji
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On Solvability of Boundary Value Problems for Elastic Micropolar Shells with Rigid Inclusions
PublicationIn the framework of the linear theory of micropolar shells, existence and uniqueness theorems for weak solutions of boundary value problems describing small deformations of elastic micropolar shells connected to a system of absolutely rigid bodies are proved. The definition of a weak solution is based on the principle of virial movements. A feature of this problem is non-standard boundary conditions at the interface between the...
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On elasto-plastic analysis of thin shells with deformable junctions
PublicationPrzedstawiono nieliniowe warunki równowagi nieregularnej cienkiej powłoki w oparciu o zasadę prac wirtualnych. Wyprowadzono dwu-wymiarowe zależności konstytutywne w zakresie sprężysto-plastycznego zachowania sie powłoki poprzez podzial powłoki na n warstw oraz całkowanie trój-wymiarowych zależności konstytutywnych po wszystkich warstwach. Jako przykład przeanalizowano ciśnieniowe urządzenie pomiarowe z uwzględnieniem odkształcalności...
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Forty-five years of the Rigid Finite Element Method
PublicationIn the paper there are described developments of the method in the past 45 year years in dynamical analysis of system with constant and changing in time configuration, including also control of the systems.
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Finite element modeling of plastic hinges based on ductility demand-capacity method using nonlinear material for dynamic analysis
PublicationThe article discusses modeling plastic hinges in reinforced concrete interme-diate supports using finite elements methods. The ductility demand-capacitymethod was used to determine the geometrical parameters of cross-section plas-ticization zones, their ability to move and rotate, as well as their ductility. Dueto the varied geometry and stiffness of the supports and their nonlinear behav-ior under dynamic load, this method was...
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Compensation of thermal deformations as a method of improving performance of large tiling pad thrust bearings.
PublicationTermiczne odkształcenia klocków łożyskowych wywierają niekorzystny wpływ na właściwości łozysk o dużych średnicach. W pracy przedstawiono przegląd znanych z techniki sposobów ograniczania odkształceń termicznych.Na podstawie wyników własnych badań szczegółowo omówiono efekty kompensacji odkształceń w dwóch przykładowych rozwiązaniach konstrukcyjnych: łożysku z klockami podpartymi na sprężynach śrubowych i z klockami podpartymi...
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Fracture simulations in concrete beam under bending using a mesoscopic model with cohesive elements
PublicationThe main aim of this paper was to investigate a complex fracture process in a concrete beam subjected to 3-point bending test by means of the 2D meso-scale FEM with 4-node cohesive elements embedded in the initial mesh of 3-node solid elements. The material heterogeneity was taken into account by considering 3 different phases (aggregate, cement matrix, ITZs) on the basis of randomly generated internal structure of concrete and...
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Parallel immune system for graph coloring
PublicationThis paper presents a parallel artificial immune system designed forgraph coloring. The algorithm is based on the clonal selection principle. Each processor operates on its own pool of antibodies and amigration mechanism is used to allow processors to exchange information. Experimental results show that migration improves the performance of the algorithm. The experiments were performed using a high performance cluster on a set...
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NVRAM as Main Storage of Parallel File System
PublicationModern cluster environments' main trouble used to be lack of computational power provided by CPUs and GPUs, but recently they suffer more and more from insufficient performance of input and output operations. Apart from better network infrastructure and more sophisticated processing algorithms, a lot of solutions base on emerging memory technologies. This paper presents evaluation of using non-volatile random-access memory as a...
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The Motion Analysis of Attacus Atlas Rigid Wing
PublicationThe remarkable aerodynamic efficiency of flapping insect wings has fascinated researchers for many years. Butterfly wings are distinguished by a much larger lifting surface, and thus, a different style of flapping flight. The considerations described in the article are an introduction to a fully flexible analysis of the wing in motion. The study of the rigid wing gives the basic knowledge necessary in the further process. The yaw,...
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Numerical analysis of size effect in RC beams scaled along height or length using elasto-plastic-damage model enhanced by non-local softening.
PublicationArtykuł omawia wyniki numeryczne dotyczące efektu skali w belkach żelbetowych uzyskane stosując metodę elementów skończonych. Dwuwymiarowe obliczenia wykonano dla belek żelbetowych podczas 4-punktowego zginania. Belki były skalowane wzdłuż wysokości lub długości. Beton został opisany prawem sprężysto-plastycznym z degradacją sztywności, rozszerzonym o nielokalność w osłabieniu. Wyniki numeryczne zostały porównane z wynikami doświadczalnymi....
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The elasto-plastic numerical study of crack initiation in notched PMMA specimens under uniaxial loading conditions – Tension and torsion
PublicationThis paper presents the results of FEM numerical calculations aimed at describing the plastic strain and stress fields under critical loading conditions: tensile force or torsional moment. The calculations were carried out with reference to the results of experimental tensile and torsional tests of flat PMMA specimens weakened with V-notches of different root radii: 0.5, 2 and 10 mm. The procedure for conducting nonlinear numerical...
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The determination of deformations and stresses of laser welds used for fatigue assessment of steel sandwich panel joints
PublicationPanele typu sandwich znajdują szerokie zastosowanie w wielu gałęziach przemysłu. W przypadku niektórych zastosowań wymagających ocenę ryzyka dużą rolę odgrywa ocena trwałości zmęczeniowej spoin laserowych paneli. W pracy prezentowane są metody wyznaczania lokalnych odkształceń i naprężeń w połączeniach spawanych w celu oceny trwałości zmęczeniowej według hipotez lokalnych naprężeń i odkształceń.
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NUMERICAL MODEL OF PLASTIC DESTRUCTION OF THICK STEEL STRUCTURAL ELEMENTS
PublicationIn the shipbuilding industry, the risk of brittle fracture of the structure is limited by using certified materials with specified impact strength, determined by the Charpy method (for a given design temperature) and by supervising the welding processes (technology qualification, production supervision, non-destructive testing). For off-shore constructions, classical shipbuilding requirements may not be sufficient. Therefore, the...
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A Non-local elasto-plastic model to describe localisations of deformation in concrete
PublicationPrzedstawiono wyniki numerycznej symulacji lokalizacji odkształceń stosując metodę elementów skończonych na bazie nielokalnego prawa sprężysto-plastycznego dla betonu. Prawo wykorzystuje długość charakterystyczną. Obliczenia dla ściskania jednoosiowego pokazały, że wyniki numeryczne nie zależą od siatki MES. Osiągnięto pełną regularyzację problemu brzegowego.
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Intelligent decision-making system for autonomous robots
PublicationAdaptacja może być oparta na różnych koncepcjach cybernetycznych (takich jak algorytmy genetyczne, rojowe, sieci neuronowe, itp.). Główna myśl opisywanej pracy opiera się na wykorzystaniu modeli psychologii żywych istot (człowieka) w konstrukcji systemów sterowania jednostek autonomicznych w celu adaptacji jednostki do zmiennego środowiska (kluczowe dla projektu jest traktowanie elementów motywacyjnych jako problemu osobowości)....
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High frequency dynamics of an isotropic Timoshenko periodic beam by the use of the Time-domain Spectral Finite Element Method
PublicationIn this work results of numerical simulations and experimental measurements related to the high frequency dynamics of an aluminium Timoshenko periodic beam are presented. It was assumed by the authors that the source of beam structural periodicity comes from periodical alterations to its geometry due to the presence of appropriately arranged drill-holes. As a consequence of these alterations dynamic characteristics of the beam...
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A distributed system for conducting chess games in parallel
PublicationThis paper proposes a distributed and scalable cloud based system designed to play chess games in parallel. Games can be played between chess engines alone or between clusters created by combined chess engines. The system has a built-in mechanism that compares engines, based on Elo ranking which finally presents the strength of each tested approach. If an approach needs more computational power, the design of the system allows...
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Dynamic deformations tests of Ni3Al based intermetallic alloy by using the split Hopkinson pressure bar technique
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