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Search results for: parallel robots, multibody system, finite rigid elements, beam deformations, elasto-plastic deformations
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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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Screw displacement pile shaft deformations measured by vibrating wire and fiber optic systems during a static load test
PublicationThis paper describes a full scale static load test performed on a 400 mm diameter screw displacement pile equipped with four different strain measuring systems. Three types of vibrating wire strain gauges (VWSG) were used: global - retrievable, local attached to steel pipe and local concrete embedded. The fourth system was distributed fiber optic sensors based on Rayleigh back scattering (DFOS) - three in the pile cross section....
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Multibody models for gait analysis
PublicationThe aim of this study was to create multibody biomechanical models to analyze a normal gait of the human. Proposed models can be used to identify joint moments of the lower limbs during normal gait in the single and double support phases. Applying Newton-Euler formulation, following planar models were developed: 1) a mathematical 6DOF model describing a gait in the sagittal plane of the body for single support phase and double...
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FEM ANALYSIS AND EXPERIMENTAL TESTS OF RIGID RISER HANGING SYSTEM
PublicationThe article presents the analysis, project, and experimental examination of an original rigid riser for Coil Tubing Pipes. The principle of riser operation is based on the use of friction forces. The research included the FEM analysis of the designed riser, calculations of the required bolt tensions, and checking the effect of the clamping force on stress distribution in the pipeline. The results of computer simulation were verified...
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Large deformations formulation and elastic instability of single layer nanoplate embedded on polymer medium in nonlocal continuum mechanic
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Direct measurements and numerical predictions of welding-induced initial deformations in a full-scale steel stiffened plate structure
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A concept of using static gps masurements for determination of vertical and horizontal land deformations in the main and old city of Gdańsk
PublicationArtykuł opisuje koncepcję wykorzystania statycznych pomiarów GPS (stacje GPS) przy analizie przemieszczeń gruntu na terenie Głównego i Starego Miasta w Gdańsku.
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Selected elements of the payment cards system in Poland
PublicationThe following article describes the current situation of the selected elements of the payment cards system in Poland. The first part of the paper include the most common definition as well as the abbreviated history of payment cards implementation in Poland. Next, the author presents the key numbers related to the nowadays situation on the market together with benefits of using the payment cards in the whole economic system. At...
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An isogeometric finite element formulation for geometrically exact Timoshenko beams with extensible directors
PublicationAn isogeometric finite element formulation for geometrically and materially nonlinear Timoshenko beams is presented, which incorporates in-plane deformation of the cross-section described by two extensible director vectors. Since those directors belong to the space R3, a configuration can be additively updated. The developed formulation allows direct application of nonlinear three-dimensional constitutive equations without zero...
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Optimizing the computation of a parallel 3D finite difference algorithm for graphics processing units
PublicationThis paper explores the possibilities of using a graphics processing unit for complex 3D finite difference computation via MUSTA‐FORCE and WENO algorithms. We propose a novel algorithm based on the new properties of CUDA surface memory optimized for 2D spatial locality and compare it with 3D stencil computations carried out via shared memory, which is currently considered to be the best approach. A case study was performed for...
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Modelling of strain localization in quasi-brittle materials with coupled elasto-plastic-damage model
PublicationW artykule przedstawiono wyniki numerycznej dla zginania belki betonowej przy zastosowaniu połączonego modelu sprężysto-plastycznego z degradacja sztywności. Do opisu rys, model rozszerzono o nielokalność.
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A non local elasto-plastic model to simulate localisations of deformationin quasi-brittle materials.
PublicationOmówiono wyniki symulacji lokalizacji odkształceń stycznych w materiałach kruchych. Analizę przeprowadzono stosując metodę elementów skończonych i nielokalne prawo sprężysto-plastyczne. Obliczenia wykonano dla ściskania i rozciągania w płaskim stanie odkształceń.
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FE studies of quasi-static mass flow in bins: the polar elasto-plastic approach
PublicationPrzedstawiono wyniki numerycznej analizy zachowania się materiału sypkiego w silosie podczas przepływu quasi-statycznego. Obliczenia wykonano metodą elementów skończonych na bazie mikropolarnego sprężysto-plastycznego prawa materiałowego.
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Taking advantage of the shared explicit cache system based critical sections in the shared memory parallel architectures
PublicationArtykuł prezentuje nową metodę implementacji sekcji krytycznych w równoległych architekturach z pamięcią współdzieloną, takich jak systemy zintegrowane wielowątkowe wieloprocesorowe. Metoda stanowi modyfikację i rozbudowanie metody zwanej Folding, dostępnej w procesorach sieciowych oraz jest w założeniach podobna do techniki zwanej cache-based locking. W porównaniu do dostępnych metod, nowa metoda usuwa problemy skalowalności i...
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On analysis of double-impact test of 1500-kg vehicle into w-beam guardrail system
PublicationEvery day on roads many scenarios of accidents may occur. One of the measures to minimize their consequences is road safety barriers. Finite Element analyses are being increasingly used to support the physical testing of these devices. The paper addresses the issue of a secondary impact into the previously damaged w-beam guardrail system. This situation belongs to one of the most dangerous which can happen on roads and may cause...
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Application of the finite element methods in long-term simulation of the multi-physics systems with large transient response differences
PublicationApplication of the Finite Element Method (FEM) and the Multibody Dynamics Method allows analyzing of complex physical systems. Complexity of the system could be related both to the geometry and the physical description of phenomenon. The metod is the excellent tool for analyzing statics or dynamics of the mechanical systems, and permits tracking of Multi Body System (MBS) transient response for the long-term simulations and application...
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Process zone in the Single Cantilever Beam under transverse loading. - Part I: Theoretical analysis
PublicationSingle Cantilever Beam (SCB) specimen loaded with a transverse force parallel to the crack front is proposed for the analysis of crack propagation phenomena under mixed mode conditions. The stress redistribution in the adhesive layer in the vicinity of the crack front so as the beam deformation are estimated using a Timoshenko beam on elastic foundation model. This model emphasizes the Mode II contribution due to flexural beam...
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Application of elasto-viscoplastic Bodner-Partom constitutive equations in finite element analysis
PublicationW artykule omówiono szczegółowo zastosowanie sprężysto-lepkoplastycznego prawa Bodnera-Partoma w analizie MES. Przedstawiono opis podstawowych równań modelu wraz z kodem procedury UVSCPL wykorzystanej w analizie numerycznej MES.
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A Point Set Connection Problem for Autonomous Mobile Robots in a Grid
PublicationConsider an orthogonal grid of streets and avenues in a Manhattan-like city populated by stationary sensor modules at some intersections and mobile robots that can serve as relays of information that the modules exchange, where both module-module and module-robot communication is limited to a straight line of sight within the grid. The robots are oblivious and move asynchronously. We present a distributed algorithm that, given...
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ROBOTS OF THE FUTURE
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Collaborative Delivery by Energy-Sharing Low-Power Mobile Robots
PublicationWe study two variants of delivery problems for mobile robots sharing energy. Each mobile robot can store at any given moment at most two units of energy, and whenever two robots are at the same location, they can transfer energy between each other, respecting the maximum capacity. The robots operate in a simple graph and initially each robot has two units of energy. A single edge traversal by an robot reduces its energy by one...
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An elasto-plastic constitutive model with non-local softening and viscosity to describe dynamic concrete behaviour.
PublicationW artykule zaproponowano model do opisu betonu podczas dynamicznego obciążenia. Przyjęto model sprężysto-plastyczny z degradacją sztywności i nielokalnym osłabieniem rozszerzony o lepkość. Obliczenia MES dla elementów betonowych pod obciążeniem dynamicznym o różnej prędkości obciążenia porównano z doświadczeniami.
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AUTONOMOUS ROBOTS
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Parallel computations in the volunteer based Comcute system
PublicationThe paper presents Comcute which is a novel multi-level implemen- tation of the volunteer based computing paradigm. Comcute was designed to let users donate the computing power of their PCs in a simplified manner, requiring only pointing their web browser at a specific web address and clicking a mouse. The server side appoints several servers to be in charge of execution of particular tasks. Thanks to that the system can survive...
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Implementation of FDTD-compatible Green's function on heterogeneous CPU-GPU parallel processing system
PublicationThis paper presents an implementation of the FDTD-compatible Green's function on a heterogeneous parallel processing system. The developed implementation simultaneously utilizes computational power of the central processing unit (CPU) and the graphics processing unit (GPU) to the computational tasks best suited to each architecture. Recently, closed-form expression for this discrete Green's function (DGF) was derived, which facilitates...
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Numerical Determination of the Load-Bearing Capacity of a Perforated Thin-Walled Beam in a Structural System with a Steel Grating
PublicationThis article presents the results of numerical simulations of a structural system consisting of steel perforated thin-walled beams and a steel grating. The simulations were conducted using the finite element method. The analysis took into account physical and geometric nonlinearity as well as the contact between the steel grating and the beams. The main goal of the research was to develop load-bearing curves for the main beam in...
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Degenerated isoparametric finite elements in nonlinear analysis of 2D-problems
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Surface finite viscoelasticity and surface anti-plane waves
PublicationWe introduce the surface viscoelasticity under finite deformations. The theory is straightforward generalization of the Gurtin–Murdoch model to materials with fading memory. Surface viscoelasticity may reflect some surface related creep/stress relaxation phenomena observed at small scales. Discussed model could also describe thin inelastic coatings or thin interfacial layers. The constitutive equations for surface stresses are...
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Database for integration of information in distributed data exchange system elements of Border Guard
PublicationThe paper presents the database solution for integration of information in distributed data exchange system elements of the Polish Border Guard. The proposed database solution is described in the context of data exchange system elements which control position and store identification data of vessels (fishing, sports and sailing boats) and other suspicious objects on the territorial sea, sea-coast and the internal sea-waters controlled...
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Stress Relaxation Behaviour Modeling in Rigid Polyurethane (PU) Elastomeric Materials
PublicationPolyurethane (PU) has been used in a variety of industries during the past few years due to its exceptional qualities, including strong mechanical strength, good abrasion resistance, toughness, low-temperature flexibility, etc. More specifically, PU is easily “tailored” to satisfy particular requirements. There is a lot of potential for its use in broader applications due to this structure–property link. Ordinary polyurethane items...
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Analysis of concrete behaviour under cycling within coupled elasto-plastic-damage with non-local softening
PublicationArtykuł omawia wyniki symulacji zachowania sie elementów betonowych poddanych cyklicznemu obciążeniu. Do symulacji zastosowano 3 połączone modele sprężysto-plastyczne z degradacją sztywności i z nielokalnym osłabieniem. Wyniki symulacji porównano z doświadczeniami laboratoryjnymi..
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Application of enhanced elasto-plastic damage models to concrete under quasi-static and dynamic cyclic loading
PublicationArtykuł omawia wyniki symulacji zachowania sie elementów betonowych poddanych zginaniu w czasie cyklicznego obciążenia. Do symulacji zastosowano 3 połączone modele sprężysto-plastyczne z degradacją sztywności i z nielokalnym osłabieniem. Wyniki symulacji porównano bezpośrednio z doświadczeniami.
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The finite-difference simulation of x-rays propagation through a system of lenses
PublicationThe propagation of X-ray waves through an optical system consisting of 33 aluminum X-ray refractive lenses is considered. For solving the problem, a finite-difference method is suggested and investigated. It is shown that very small steps of the difference grid are necessary for reliable computation of propagation of X-ray waves through the system of lenses. It is shown that the wave phase is a function very quickly increasing...
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Wpływ odkształceń tarczy oporowej wału na właściwości hydrodynamicznego łożyska wzdłużnego = Influence collar deformations of hydrodynamic thrust bearing performance
PublicationPodjęto próbę określenia możliwego wpływu deformacji termosprężystej tarczy oporowej łożyska na jego cechy. Porównano wyniki trzech wariantów obliczeń TEHD: bez uwzględniania deformacji tarczy, z uwzględnieniem deformacji tylko sprężystych oraz z uwzględnieniem deformacji termosprężystych tarczy oporowej.
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Optimal control at energy performance index of the mobile robots following dynamically created trajectories
PublicationIn practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control...
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Optimization of Execution Time under Power Consumption Constraints in a Heterogeneous Parallel System with GPUs and CPUs
PublicationThe paper proposes an approach for parallelization of computations across a collection of clusters with heterogeneous nodes with both GPUs and CPUs. The proposed system partitions input data into chunks and assigns to par- ticular devices for processing using OpenCL kernels defined by the user. The sys- tem is able to minimize the execution time of the application while maintaining the power consumption of the utilized GPUs and...
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An isogeometric finite element formulation for boundary and shell viscoelasticity based on a multiplicative surface deformation split
PublicationThis work presents a numerical formulation to model isotropic viscoelastic material behavior for membranes and thin shells. The surface and the shell theory are formulated within a curvilinear coordinate system,which allows the representation of general surfaces and deformations. The kinematics follow from Kirchhoff–Love theory and the discretization makes use of isogeometric shape functions. A multiplicative split of the surface...
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Finite Differences-Finite Elements-Finite Volumes-Boundary Elements
Conferences -
A Simple Neural Network for Collision Detection of Collaborative Robots
PublicationDue to the epidemic threat, more and more companies decide to automate their production lines. Given the lack of adequate security or space, in most cases, such companies cannot use classic production robots. The solution to this problem is the use of collaborative robots (cobots). However, the required equipment (force sensors) or alternative methods of detecting a threat to humans are usually quite expensive. The article presents...
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Design of control algorithms for mobile robots in an environment with static and dynamic obstacles
PublicationThis article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with...
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Finite Element Approaches to Model Electromechanical, Periodic Beams
PublicationPeriodic structures have some interesting properties, of which the most evident is the presence of band gaps in their frequency spectra. Nowadays, modern technology allows to design dedicated structures of specific features. From the literature arises that it is possible to construct active periodic structures of desired dynamic properties. It can be considered that this may extend the scope of application of such structures. Therefore,...
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Enhanced coupled elasto-plastic-damage models to describe concrete behaviour in cyclic laboratory tests: comparison and improvement.
PublicationArtykuł omawia różne modele połączone sprężysto-plastyczne z degradacją sztywności do opisu zachowania się betonu pod obciążeniem cyklicznym. Modele zostały rozszerzone o długość charakterystyczną mikrostruktury w do opisu lokalizacji odkształceń. Wykonano obliczenia MES dla ściskania i zginania. Zaproponowano własny ulepszony model.
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Coupled elasto-plastic-damage model with non-local softening enhanced by viscosity to describe dynamic concrete behaviour
PublicationW artykule zaproponowano model do opisu betonu podczas dynamicznego obciążenia. Przyjęto model sprężysto-plastyczny z degradacją sztywności i nielokalnym osłabieniem rozszerzony o lepkość. Obliczenia MES dla elementów betonowych pod obciążeniem dynamicznym o różnej prędkości obciążenia porównano z doświadczeniami.
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Processing of point cloud data retrieved from terrestrial laser scanning for structural modeling by Finite Element Method
PublicationFinite Element Method is one most popular contemporary method of strength analysis. The method is an advanced method for solving differential equations, based on discretization, which means that area is divided into finite elements. Each finite element has a solution of the equation approximated by specific functions and performing the actual calculations only for nodes of this division. Finite Element Method is widely used in...
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Propagation of elastic waves in structural elements by spectral finite element methods
PublicationW pracy przedstawiono metodę elementów spektralnych w zastosowaniu do analizy propagacji fal sprężystych w elementach konstrukcyjnych.
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Wave propagation modelling in 1D structures using spectral finite elements
PublicationW artykule omówiono modele propagacji fal wzdłużnych i poprzecznych w prętach oparte na dwóch sformułowaniach (w dziedzinie częstości i w dziedzinie czasu) metody elemntów spektralnych. Porównano otrzymane wyniki z wynikami eksperymentu.
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Modelling and parameter identification of steel–concrete composite beams in 3D rigid finite element method
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