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Search results for: angular position velocity
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Position and velocity measurement using incremental encoder and microcontroller.
PublicationThere is presented measurement of position and velocity using Atmel's microcontroller ATTiny2313 with 20 MHz clock and encoder with 1024 pulses per revolution. This configuration allows measuring maximum speed 48800 rpm with 1x accuracy, 20200 rpm with 2x accuracy and 9400 rpm with 4x accuracy (quadrature). Position is measured with resolution of 0.352', 0.176' and 0.088' for 1x, 2x, 4x accuracy respectively. Algorithms of position...
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Digital measurements in monitoring of position and velocity of machine subassambly
PublicationReferat dotyczy zastosowania enkoderów z sygnałem wyjściowym kwadraturowym współdziałających z odpowiednim systemem DAQ do monitorowania przebiegu ruchu podzespołów maszyn technologicznych. Przedyskutowano podstawowe zasady konstrukcji układów do cyfrowych pomiarów prędkości i przemieszczeń.Porównano wady, zalety i ograniczenia rozdzielczości pomiaru prędkości dwoma znanymi sposobami. Omówiono własne rozwiązania zastosowane w układach...
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Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters
PublicationA low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, α-β type, and complementary filters. A quantitative assessment of selected filters...
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Assessment of the Accuracy of Determining the Angular Position of the Unmanned Bathymetric Surveying Vehicle Based on the Sea Horizon Image
PublicationThe paper presents the results of research on assessing the accuracy of angular position measurement relative to the sea horizon using a camera mounted on an unmanned bathymetric surveying vehicle of the Unmanned Surface Vehicle (USV) or Unmanned Aerial Vehicle (UAV) type. The first part of the article presents the essence of the problem. The rules of taking the angular position of the vehicle into account in bathymetric surveys...
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Modeling the impact of discretizing rotor angular position on computation of field-oriented current components in high speed electric drives
PublicationModern drives consist of alternating current electric motors, and the field-oriented control (FOC) of such motors enables fast, precise, and robust regulation of a drive's mechanical variables such as torque, speed, and position. The control algorithm, implemented in a microprocessor, requires feedback from motor currents, and the quality of this feedback is essential to a drive's control properties. Motor phase currents are sampled...
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Sphere Drive and Control System for Haptic Interaction With Physical, Virtual, and Augmented Reality
PublicationA system for haptic interaction with physical, virtual, and augmented realities, founded on drive and measurement elements (DMEs), is considered. The system consists of eight DME rolls equipped with linear actuators, able to measure their angular velocity, drive the sphere, and adjust downforce (pressing the roll against the sphere). Two modeling issues are addressed. Special effort is put in to compensate for various technical...
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Integration of inertial sensors and GPS system data for the personal navigation in urban area
PublicationGPS and Inertial Navigation Systems (INS) have complementary properties and they are therefore well suited for integration. The integrated solution offers better long-term accuracy than a stand-alone INS and better integrity, availability and continuity or a stand-alone GPS receiver, making it suitable for demanding applications. The complementary features of INS and GPS are the main reasons why integrated GPS/INS systems are becoming...
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Nonlinear control of five phase induction motor with synchronized third harmonic flux injection
PublicationThe paper deals with the novel control system for five phase induction motor (IM) that enables the injection of the rotor flux 3rd harmonic component. Two multiscalar models are transformed from the 1-1 and 2-2 vector models developed in the 1st and 3rd harmonic planes. Based on the obtained multiscalar models the synthesis of dual multiscalar control is established. The obtained two multiscalar control systems can independently...
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IPMSM rotor position estimator based on analysis of phase current derivatives
PublicationThis paper describes an algorithm for estimation of IPMSM angular rotor position. The algorithm uses derivatives of motor phase currents resulting from PWM modulation to obtain the rotor position. The presented method is designed for medium- and high-speed range, since it is based on determination of the EMF vector. Algorithm is characterised by a very simple formulae. The calculation of rotor position is performed in every PWM...
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Yade-open DEM: an open-source software using a discrete element methodto simulate granular material
PublicationPurpose - YADE-OPEN DEM is an open source software based on the Discrete Element Method which uses object oriented programming techniques. The paper describes the softwarearchitecture.Design/methodology/approach - The DEM chosen uses position, orientation, velocity and angular velocity as independent variables of simulated particles which are subject to explicit leapfrog time-integration scheme (Lagrangian method). The three-dimensional...
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Estimation of interior-permanent-magnet-synchronous-motor rotor position by analysis of phase-current derivatives
PublicationThis paper describes an algorithm for estimation of IPMSM rotor angular position. The algorithm uses derivatives of motor phase currents resulting from PWM modulation to obtain the rotor position. The presented method is designed for medium- and high-speed range, since it is based on determination of the EMF vector. Calculation of the motor position is performed in every PWM cycle. The standard SV-PWM method is used to determine...
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Mathematical Models of Control Systems of Angular Speed of Steam Turbines for Diagnostic Tests of Automatic and Mechatronic Devices
PublicationAccurate modeling of physical processes of many automatics and mechatronics systems is often necessity. In power system such a process is control of angular velocity of power objects during connection to operation in parallel. This process is extremely dynamic. For this reason response of control system depends from changes of many physical parameters (temperature, pressure and flow of the medium, etc.). Precision modeling influences...
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Simulation model of IPMSM drive with rotor position estimator
PublicationThe paper presents a simulation model of electric drive consisting of: IPMSM motor, inverter and digital controller. The model was designed in Mathlab/Simulink. By modelling of the controller its discrete operation was taken into account in order to simulate precisely a specific sensorless control algorithm. A method for estimation of angular rotor position was proposed. Its mathematical algorithm was explained and errors were...
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Analytical Study of Sliding Instability due to Velocity- and Temperature-Dependent Friction
PublicationThe instability of sliding causes deterioration of performance characteristics of tribosystems and is undesired. To predict its occurrence, the motion of a body of a one-degree-of-freedom system with friction is investigated about the steady sliding equilibrium position. The motion equation is formulated with the friction coefficient dependent on the sliding velocity and contact temperature changing due to transient heat conduction...
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Velocity measurement using the fdoa method in ground-based radio navigation system
PublicationVelocity is one of the main navigation parameters of the moving objects. However some systems of position estimation using radio wave measurements cannot provide velocity data due to limitation of their performance. In this paper a velocity measurement method for DS-CDMA radio navigation system is proposed, which doesn’t require full synchronization of reference stations carrier frequencies. The article presents basics of FDOA...
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Microstructural Design of Ba0.5La0.5Co0.5Fe0.5O3 Perovskite Ceramics
PublicationBa0.5La0.5Co0.5Fe0.5O3 was synthesized in the solid-state reaction route. The influence of ball milling parameters (such as milling media size, angular velocity, and time), pelletizing pressure, and annealing parameters on the microstructure was studied. The grain size distribution and density or specific surface area changes were investigated in each approach while the individual parameters were changed. The evaluation of BLCF...
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Fundamentals of classical and analytical mechanics
PublicationThe book is a monographic description of the present attempt to Newtonian and Lagrangian mechanics. But also, it could be found as a supplementary educational material useful for the graduate courses in mechanics taken by students majoring in mechanical engineering, physics or physical science. In the book you can find a brief introduction to concepts and principles of algebra of vectors; Kinematics of particles, mainly focused...
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Bezczujnikowe sterowanie trakcyjnym silnikiem IPMSM małej mocy
PublicationThis paper describes an algorithm for estimation of IPMSM angular rotor position. The algorithm uses derivatives of motor phase currents resulting from PWM modulation to obtain the rotor position. Control of the IPMSM electromagnetic torque requires a precise estimation of the rotor angular position throughout the wide speed range. This involves using a set of estimation methods switched with the dependence on the actual rotor...
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Experimental studies on the impact of changing the pipe material on the propagation of the pressure wave during water hammer
PublicationAim of the paper is to present the results studying the water hammer phenomenon in pipes made of different materials, and to show the impact of changing the type of material of the pipe on the velocity of the pressure wave during the transient flow in the pipes. In terms of research material and methods, pipes made of galvanized steel and high-density polyethylene were tested. Measurements were made using strain gauges with a high...
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Radar time budget optimization subject to angle accuracy constraint via cognitive approach
PublicationThe problem of minimizing dwell time in multifunction phased array radar is considered. Target of interest is assumed to fluctuate according to a generalization of Swerling family and the parameters of fluctuation model are assumed to be known. The a'priori position of the target is uncertain. Optimization, whose variables include pulse count and array transmit beampattern, is carried out subject to achieving a desired accuracy...
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Studies of the Modelling Accuracy of Steam Turbine Control Systems for Diagnostic Tests of Automatic Synchronizers
PublicationOne of the important factors that affect the reliable operation of the power system and the rapid restitution after disaster is a quick and effective combining synchronous electric power facilities to operate in parallel. Hence, diagnostics of automatic synchronizers at every stage of their life, from building a prototype, through the whole life, until removing such devices from the operation, is an extremely important and responsible...
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Impact of Propeller Emergence on Hull, Propeller, Engine, and Fuel Consumption Performance in Regular Head Waves
PublicationIn this study, the impact of propeller emergence on the performance of a ship (speed), propeller (thrust, torque, and RPM), a diesel engine (torque and RPM) and fuel consumption are analysed under severe sea conditions. The goal is to describe the variation in the system variables and fuel consumption rather than analysing the motion of the ship or the phenomenon of propeller ventilation in itself. A mathematical model of the...
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A Highly Sensitive Planar Microwave Sensor for Detecting Direction and Angle of Rotation
PublicationThis article presents a technique based on a modified complementary split-ring resonator (CSRR) to detect angular displacement and direction of rotation with high resolution and sensitivity over a wide dynamic range. The proposed microwave planar sensor takes advantage of the asymmetry of the sensor geometry and measures the angle of rotation in terms of the change in the relative phase of the reflection coefficients. The sensor...
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INVESTIGATIONS OF THE LABORATORY FARYMANN DIESEL ENGINE D10 TYPE BY MEANS OF A LANGMUIR PROBE
PublicationA precise determination of the crankshaft angular position, at which fuel ignition occurs in the SI engine, enables credible diagnosis of the technical state of its working space as well as of the fuel feed system. An observation of the Langmuir probe signal provides entirely new possibilities for engine diagnostics. The probe is introduced into the working space of a cylinder through its indicator valve. This paper presents the...
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Prototype and design of six axis robotic manipulator
PublicationThe paper presents a design of six axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows to track the current position of each axis and use this to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm...
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The use of Response Surface Methodology for reliability estimation of aluminum silo subjected to wind load
PublicationAn axisymmetric aluminum silo model with a single, standardized geometric imperfection of its lateral surface is considered. The silo is wind – loaded only. The paper is focused on the critical, or limit value of wind pressure, both producing a loss of stability of the silo. This value is affected by vertical coordinate (position) of the imperfection and the angular relation between the imperfection and the wind direction. Reliability...
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Optimal Rotating Receiver Angles Estimation for Multicoil Dynamic Wireless Power Transfer
PublicationThis study proposed an approach to dynamic wireless charging that uses a rotating receiver coil. Our simulation study focused on the verification of a novel way of increasing the coupling coefficient and power transfer stability by following the flux of the transmitting coils. To obtain the highest possible coupling by means of the FEM analysis, we studied the optimization of the trajectory of the angular velocity of the rotating...
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Numerical Comparison of Damping Amplification Effects Obtained in Neighborhood of a Mechanism Singular Position - Viscous and Electromagnetic Cases
PublicationIn the paper, results of numerical investigations are presented. A continuous beam is considered as the main vibrating element. Two energy dissipations methods are compared: viscous dampers and DC generators. To increase the damping effectiveness, velocity amplification is proposed, i.e., a mechanism is introduced between the beam and the damping element, and the mechanism configuration is set as closed to the singular position...
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Designing Particle Kalman Filter for Dynamic Positioning
PublicationThe article presents a comparative analysis of two variants of the Particle Kalman Filter designed by using two different ship motion models. The first filter bases only on the kinematic model of the ship and can be used in many types of vehicles, regardless of the vehicle dynamics model. The input value to the filter is the noisy position of the ship. The second filter makes use of the kinematic and dynamic models of the moving...
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Possibilities of radioisotope measuring in control of an unstable solid particles hydrotransport
PublicationThe paper presents γ-radiation proposal to control a multiphase flow, independently from circumstances. So this method may be applied even in compound industrial or environmental processes. Moreover in many cases, it is the only method for applications for dense mixture containing coarse angular grains. The constructed equipment allows continuous measurement of density as well as solid phase for both concentration and average velocity....
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The QDMC Model Predictive Controller for the Nuclear Power Plant Steam Turbine Control
PublicationThere are typically two main control loops with PI con trollers operating at each turbo-generator set. In this paper a model predictive controller QDMC for the steam turbine is proposed - instead of a typical PI controller. The QDMC controller utilize a step-response model for the controlled system. This model parameters are determined, based on the simplified and linear model of turbo-generator set, which parameters are identified...
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STUDY OF ARRAY OF MEMS INERTIAL MEASUREMENT UNITS UNDER QUASI-STATIONARY AND DYNAMIC CONDITIONS
PublicationA measurement system includes all components in a chain of hardware and software that leads from a measured variable to processed data. In that context, the type and quality of the sensors or measuring devices are critical to any measurement system. MEMS/IMU sensors lag behind leading technologies in this respect, but the MEMS/IMU performance rapidly changes while is relatively inexpensive. For this reason, the paper proposes...
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The distributed model predictive controller for the nuclear power plant turbo-generator set
PublicationTypically there are two main control loops with PI controllers operating at each turbo-generator set. In this paper a distributed model predictive controller DMPC, with local QDMC controllers for the turbine generator, is proposed instead of a typical PI controllers. The local QDMC controllers utilize step-response models for the controlled system components. These models parameters are determined based on the proposed black-box...
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Viscous versus electromagnetic damping – amplification in a neighbourhood of a mechanism singular position
PublicationIn the paper, damping of vibrations are considered and compared in a mechanical and in a electromechanical system. In the system, a continuous beam is considered as the main vibrating element. The compared dissipations methods are based on: viscous dampers and DC generators. To increase the possible damping effectiveness, velocity amplification is proposed, i.e., a mechanism is introduced between the beam and the damping element....
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Obserwatory prędkości dla bezczujnikowego sterowania maszynami prądu przemiennego
PublicationPrzedstawiono model matematyczny uogólnionej maszyny elektrycznej rozszerzony przez wprowadzenie dodatkowych zmiennych. Na podstawie modelu rozszerzonego opracowano strukturę obserwatora prędkości maszyny uogólnionej. Zaprezentowano struktury obserwatorów prędkości dla poszczególnych rodzajów maszyn prądu przemiennego. Pokazano, że prędkość kątową wirnika można odtwarzać dla różnych typów maszyn stosując odpowiednie zmienne stanu...
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Evolutionary Algorithm for Selecting Dynamic Signatures Partitioning Approach
PublicationIn the verification of identity, the aim is to increase effectiveness and reduce involvement of verified users. A good compromise between these issues is ensured by dynamic signature verification. The dynamic signature is represented by signals describing the position of the stylus in time. They can be used to determine the velocity or acceleration signal. Values of these signals can be analyzed, interpreted, selected, and compared....
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Collection Efficiency in Narrow Electrostatic Precipitators with a Longitudinal or Transverse Wire Electrode
PublicationRecently narrow electrostatic precipitators (ESPs) have become a subject of interest because of their possible application in diesel engine exhaust systems. In this work, results of particle collection efficiency measurements in narrow electrostatic precipitators for negative and positive dc voltage polarity are presented. The ESP usedin this work was a parallelepiped equipped with wire discharge electrode and two collecting plate-electrodes....
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NEW DESIGNS OF CENTRIFUGAL MAGNETIC FLUID SEALS FOR ROTATING SHAFTS IN MARINE TECHNOLOGY
PublicationThe centrifugal magnetic fluid seals have important advantage over the conventional centrifugal seals. They maintain very good sealing capacity at static, medium and high speeds of shaft rotation, with the increased seal lifetime, and minimum torque and static friction. These seals are particularly useful in cases when the angular shaft velocity varies and sometimes decreases to nearly or exactly zero, such as in flywheel applications,...
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Dynamiczna aplikacja Internetowa ASP.NET silnika indukcyjnego jako elementu wirtualnego laboratorium maszyn elektrycznych
PublicationTematem referatu jest dynamiczna aplikacja internetowa, która umożliwia symulację obwodową silnika indukcyjnego trójfazowego Sg 100 L2 z wykorzystaniem interfejsu przeglądarki WWW. Model matematyczny silnika jest zdefiniowany w tzw. osiach naturalnych i sformułowany na podstawie metody energetycznej Lagrange’a. Do implementacji modelu maszyny w aplikacji internetowej wybrano projekt typu Web Forms, który jest składnikiem środowiska...
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Surface and interfacial anti-plane waves in micropolar solids with surface energy
PublicationIn this work, the propagation behaviour of a surface wave in a micropolar elastic half-space with surface strain and kinetic energies localized at the surface and the propagation behaviour of an interfacial anti-plane wave between two micropolar elastic half-spaces with interfacial strain and kinetic energies localized at the interface have been studied. The Gurtin–Murdoch model has been adopted for surface and interfacial elasticity....
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Dynamika bezzałogowego aparatu latającego w układzie czterowirnikowego pionowzlotu
PublicationDziałanie maszyn, w tym również pojazdów latających, jest nieodłącznie związane z przekazywaniem oddziaływań siłowych: statycznych i dynamicznych. Dynamika jest działem mechaniki zajmującym się makroskopowym ruchem ciał przy uwzględnieniu przyczyn wywołujących ten ruch. Pierwszym etapem analizy dynamiki konstrukcji są zwykle obliczenia wartości i postaci drgań własnych modelu konstrukcji. Drgania własne zwykle ulegają szybkiemu...
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In-service measurement of the small wind turbine test stand for structural health monitoring
PublicationThis paper presents the research activity performed on a Small Wind Turbine (SWT) test stand. Commercially available turbine was modified towards incorporation of the sensors system for condition monitoring. Installed sensors measure angular shaft position, torque applied from the wind loads, vibration accelerations and last but not least rotational speed. All gathered data are then transferred and processed in Test.Lab by means...
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Analiza i badania systemu antyspoofingowego GPS
PublicationArtykuł dotyczy problemu spoofingu w systemie GPS, polegającego na niepowołanej transmisji sygnałów imitujących sygnały odbierane z satelitów GPS. Takie działanie prowadzi do wyznaczenia przez odbiornik nawigacyjny nieprawidłowego położenia, prędkości i czasu. Zostały opisane metody przeciwdziałania spoofingowi, w szczególności poprzez przestrzenne przetwarzanie sygnałów. Przedstawiono wyniki badań symulacyjnych efektywności tych...
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Partial Admission Stages of High Efficiency for a Microturbine
PublicationThe paper presents the results of a design analysis of a micro-turbine for a co-generation micro-power plant working in accordance with organic Rankine cycle. The heat power of the plant is assumed equal to 20kW and the corresponding available electric output is estimated to be about 3kW. After the design analysis, the axial turbine with partial admission in all stages was built and tested experimentally. Special attention was...
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Partial Admission Stages of High Efficiency for a Microturbine
PublicationThe paper presents the results of a design analysis of a microturbine for a cogeneration micro-power plant working in accordance with organic Rankine cycle. The heat power of the plant is assumed equal to 20kW and the corresponding available electric output is estimated to be about 3 kW. After the design analysis, the axial turbine with partial admission in all stages was built and tested experimentally. Special attentionwas paid...
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Modelling and Analysis of the Positioning Accuracy in the Loading Systems of Mobile Cranes
PublicationIn this work, the authors analyse the influence of the order and range of sequential movements of a crane's working members on the accuracy of the final cargo positioning. The analysis was conducted on the basis of a specially developed method in which the authors proposed the introduction of a geometrical indicator of positioning the load in the intermediate positions (after completing each movement sequence) and in the target...
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Accuracy of Differential Phase Delay Estimation for GPS Spoofing Detection
PublicationGPS spoofing is an attack based on transmission of false signals to target receivers, in order to force the computation of incorrect time, position or velocity information. It is a threat which is recently considered with continuously growing awareness. There is a need for effective way of GPS spoofing detection. Many groups of methods are proposed in the literature. Spatial processing methods are considered to be robust in a wide...
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Rotating rod and ball
PublicationWe consider a mechanical system consisting of an infinite rod (a straight line) and a ball (a massless point) on the plane. The rod rotates uniformly around one of its points. The ball is reflected elastically when colliding with the rod and moves freely between consecutive hits. A sliding motion along the rod is also allowed. We prove the existence and uniqueness of the motion with a given position and velocity at a certain time...
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Novel method of estimation of inertial and dissipative parameters of a railway pantograph model
PublicationAn increase in electric railway vehicles service velocity requires that correct interaction between the pantograph and the catenary is ensured. This implies the need for developing mathematical models of pantographs and catenaries and determining their parameters. The article presents a method to determine parameters of mechanical joints of a railway pantograph based on analysis of pantograph subassemblies in swinging motion. The...
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The influence of polymer bearing material and lubricating grooves layout on wear of journal bearings lubricated with contaminated water
PublicationThe goal of the present paper is to investigate wear properties of journal sliding bearing operating in the conditions of contaminated water lubrication. Several bearing materials and bearing sleeve designs (differing in the axial grooves position and their shape) were tested experimentally under typical operating conditions in a dedicated test rig, which was equipped with a lubricating system, enabling lubrication with contaminated...