Wyszukiwarka
Wyniki wyszukiwania dla: manipulator
-
Rozwiązania mechatroniczne w nadzorowaniu drgań robotów przemysłowych za pomocą sterowania modalnego
PublikacjaW pracy rozważa się drgania modelowanego dyskretnie niestacjonarnego układu nośnego manipulatora IRb-6 metodą sztywnych elementów skończonych. Do nazdorowania drgań wykorzystano algorytm sterowania modelanego przy energetycznym wskaźniku jakości, z elementami projektowania mechatronicznego. Uwzględnia on zmianę w czasie względem trajektorii ruchu zadanego, energii potencjalnej, kinetycznej oraz energii sysgnału sterującego.
-
Projektowanie mechatroniczne w zastosowaniu do sterowania modalnego drganiami robota IRB-6.
PublikacjaW pracy rozważa się drgania modelowanego dyskretnie niestacjonarnego układu nośnego manipulatora IRB-6 metodą sztywnych elementów skończonych. Do nadzorowania drgań wykorzystano algorytm sterowania optymalnego przy energetycznym wskaźniku jakości w dziedzinie współrzędnych modalnych. Uwzględnia on zmianę w czasie, względem trajektorii ruchu zadanego, energii potencjalnej, kinetycznej oraz energii sygnału sterującego.
-
Marek Chodnicki dr inż.
Osoby -
Nadzorowanie drgań układu nośnego robota przemysłowego IRB-6 za pomocą ste-rowania modalnego przy energetycznym wskaźniku jakości. W: Zagadnienia ana- lizy modalnej konstrukcji mechanicznych. Praca zbiorowa pod red. T. Uhla. Kraraków: Kated. Robotyki i Dynam. Masz. AGH**2003 s. 115-122, 2 rys. 1 tab. bibliogr. 4 poz.
PublikacjaW pracy rozważa się drgania modelowanego dyskretnie niestacjonarnego układunośnego manipulatora IRB6 metodą sztywnych elementów skończonych. Do nadzo-rowania drgań wykorzystano algorytm sterowania optymalnego przy energetycz-nym wskaźniku jakości w dziedzinie współrzędnych modalnych. Uwzględnia on zmianę w czasie, względem trajektorii ruchu zadanego, energii potencjalnej, kinetycznej oraz energii sygnału sterującego.
-
Rafał Hein dr hab. inż.
Osoby -
Modelowanie robotów i manipulatorów, L, MTR, st. II, sem.1, (PG_00042732) 10.2023
Kursy OnlineKurs Modelowanie Robotów i Manipulatorów (laboratorium) przeznaczony jest dla studentów 1. semestru studiów dziennych II stopnia, studiujących na kierunku Mechatronika. Kurs zawiera treści do zajęć laboratoryjnych z zakresu manipulatorów przemysłowych - ich budowy, cech, podzespołów, sterowania, oraz robotów modułowych - ich programowania i modeli.
-
Mechatronika manipulatorów typu SCARA
Kursy Online -
Games and play with light in architecture
PublikacjaThe paper deals with the issue of the influence of daylight on the creation of architecture in the view of designers` play with light in the architectural space. Using the examples of contemporary realizations of some art museums, the work demonstrates the impact of exploration and experimentation conducted by the creators of visual arts on the design styles and architectural solutions. It also reveals the historical continuity...
-
Zastosowania konsoli haptycznej do sterowania robotem medycznym
PublikacjaW pracy przedstawiono wykorzystanie konsoli haptycznej Omega 7 do sterowania robotem KUKA LWR 4+ z zamontowanym uchwytem igły punkcyjnej. Manipulator KUKA zastosowano do usuwania usznopochodnego ropnia mózgu. W pierwszej części pracy przedstawiono prosty symulator, w którym do przeprowadzenia iniekcji w wirtualny ropień mózgu oraz pobrania płynu z jego wnętrza zastosowano konsolę haptyczną Omega 7. W dalszej części pracy przedstawiono...
-
Visualization of Spatial Issues in Adobe Acrobat 3D PDF
PublikacjaThe ability to capture and embed model information in a 3D PDF file and subsequently share it for free is highly needed in the education of descriptive geometry. The described technology and in particular inserting 3D models into the other files can improve the existing teaching materials. The strongest point of 3D PDF technology is that the model can be visualized and manipulated in multiple ways by viewers which enhance the...
-
Rigid finite elements and multibody modelling used in estimation and reduction of rod vibrations
PublikacjaIn 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...
-
Marek Galewski dr hab. inż.
OsobyMgr inż. - 2002r. - Politechnika Gdańska; Wydział Elektroniki, Telekomunikacji i Informatyki; Automatyka i RobotykaDr inż. - 2007r. - Politechnika Gdańska; Wydział Mechaniczny; Budowa i eksploatacja maszynDr hab. inż. - 2016r. - Politechnika Gdańska; Wydział Mechaniczny; Budowa i eksploatacja maszyn Dotychczasowe i planowane obszary badań: Redukcja drgań podczas obróbki frezowaniem i toczeniem Zastosowanie zmiennej prędkości obrotowej...
-
Robotics, Lab, MiBM, st. II, sem.1 (PG_00057380) 03.2022 Thu
Kursy OnlineThe course Robotics (laboratory) is for students of the 1st semester of a full-time Master degree studies of Machine Design. The course includes laboratory classes in the field of industrial manipulators - their construction, features, components, control, and modular robots - their programming and models.
-
The International Mercury Cartel, 1928–1954: Controlling Global Supply
PublikacjaThis article describes the features of the international mercury marketduringthe firsthalfofthetwentiethcentury.Itanalyzes the various market agreements made, their effectiveness, and their consequences. The period studied is little understood, although it was one in which mercury production greatly increased. It was also one that saw persistent efforts at market manipulation, owing to a series of agreements between Spanish and...
-
A Special Section on Intelligent User Interfaces in Healthcare (IUIH)
PublikacjaA concept of interface has evolved from the first appearance in the form of a command line interface to the established use of direct manipulation or WIMP (windows, icons, menus and pointing) interfaces in nearly all applications. Intelligent user interfaces (IUI) form a subfield of Human-Computer Interaction research. Optimal human-computer interactions are defined as ones where users are able to perform complex tasks more quickly...
-
Surrogate-Assisted Design of Checkerboard Metasurface for Broadband Radar Cross-Section Reduction
PublikacjaMetasurfaces have been extensively exploited in stealth applications to reduce radar cross section (RCS). They rely on the manipulation of backward scattering of electromagnetic (EM) waves into various oblique angles. However, arbitrary control of the scattering properties poses a significant challenge as a design task. Yet it is a principal requirement for making RCS reduction possible. This article introduces a surrogate-based...
-
Etyka marketingu - czy marketing jest etyczny?
PublikacjaOd jakiegoś czasu pojawiają się krytyczne głosy wobec marketingu, jako działań nieetycznych, wycelowanych przeciwko klientom i społeczeństwu jako całości. Można stwierdzić, że wizerunek marketingu jest w tym kontekście negatywny. Celem artykułu jest próba odpowiedzi na pytanie czy marketing jest etyczny. Stwierdzono, że istotą marketingu jest dbanie o dobro interesariuszy przedsiębiorstw oraz łączenie interesu firmy, klientów...
-
Neural nets application in diagnostics of industrial robots
PublikacjaPrzedstawiono wyniki wstępnych badań nad możliwością zastosowania sztucznych sieci neuronowych w procesie diagnozowania stanu technicznego robotów przemysłowych z napędem elektrycznym. Omówiono proces projektowania sieci neuronowych, za pomocą których realizowano liniową predykcję zmian dokładności pozycjonowania jednokierunkowego robota IRB 6 powstających przy różnych obciążeniach i prędkościach manipulatora podczas pracy z celowo...
-
KOMPUTEROWE PROJEKTOWANIE MANIPULATORÓW I ROBOTÓW [2022/23]
Kursy Online -
KOMPUTEROWE PROJEKTOWANIE MANIPULATORÓW I ROBOTÓW [2021/22]
Kursy Online -
KOMPUTEROWE PROJEKTOWANIE MANIPULATORÓW I ROBOTÓW [2023/24]
Kursy Online -
Interplay of hydrogen bonding and aryl-perfluoroaryl interactions in construction of supramolecular aggregates
PublikacjaThe stacking between aryl and perfluoroaryl units is an important class of the aromatic – aromatic interactions that has attracted rapidly growing interest in recent years. Continuing interest of our group in this subject it had been prepared three new complexes of pentafluorobenzoic acid with benzyl alcohol, 4-methylbenzyl alcohol and 4-tert-butylbenzyl alcohol and in the next step investigated their self-assembly modes by...
-
Tools, Methods and Services Enhancing the Usage of the Kepler-based Scientific Workflow Framework
PublikacjaScientific workflow systems are designed to compose and execute either a series of computational or data manipulation steps, or workflows in a scientific application. They are usually a part of a larger eScience environment. The usage of workflow systems, however very beneficial, is mostly not irrelevant for scientists. There are many requirements for additional functionalities around scientific workflows systems that need to be...
-
Theory and implementation of a virtualisation level Future Internet defence in depth architecture
PublikacjaAn EU Future Internet Engineering project currently underway in Poland defines three parallel internets (PIs). The emerging IIP system (IIPS, abbreviating the project’s Polish name), has a four-level architecture, with level 2 responsible for creation of virtual resources of the PIs. This paper proposes a three-tier security architecture to address level 2 threats of unauthorised traffic injection and IIPS traffic manipulation...
-
Improving Objective Speech Quality Indicators in Noise Conditions
PublikacjaThis work aims at modifying speech signal samples and test them with objective speech quality indicators after mixing the original signals with noise or with an interfering signal. Modifications that are applied to the signal are related to the Lombard speech characteristics, i.e., pitch shifting, utterance duration changes, vocal tract scaling, manipulation of formants. A set of words and sentences in Polish, recorded in silence,...
-
Photos and rendered images of LEGO bricks
PublikacjaThe paper describes a collection of datasets containing both LEGO brick renders and real photos. The datasets contain around 155,000 photos and nearly 1,500,000 renders. The renders aim to simulate real-life photos of LEGO bricks allowing faster creation of extensive datasets. The datasets are publicly available via the Gdansk University of Technology “Most Wiedzy” institutional repository. The source files of all tools used during...
-
Entangled Histories vs. the Two-State-Vector Formalism - Towards a Better Understanding of Quantum Temporal Correlations
PublikacjaThe Two-State-Vector formalism and the Entangled Histories formalism are attempts to betterunderstand quantum correlations in time. Both formalisms share some similarities, but they are notidentical, having subtle differences in their interpretation and manipulation of quantum temporalstructures. However, the main objective of this paper is to prove that, with appropriately definedscalar products, both formalisms can be...
-
Interface analysis of compatibilized polymer blends
PublikacjaThis chapter seeks to address the interface location in the compatibilized polymer blends and paves the way for quantitative analysis of interface in terms of interfacial tension and interfacial adhesion to provide support for understanding the relationship between morphology and ultimate properties in the compatibilized polymer blends through the lens of interface. Since understanding and analysis of interfacial phenomena in the...
-
Interpretable Deep Learning Model for the Detection and Reconstruction of Dysarthric Speech
PublikacjaWe present a novel deep learning model for the detection and reconstruction of dysarthric speech. We train the model with a multi-task learning technique to jointly solve dysarthria detection and speech reconstruction tasks. The model key feature is a low-dimensional latent space that is meant to encode the properties of dysarthric speech. It is commonly believed that neural networks are black boxes that solve problems but do not...
-
Quantum Coherence as a Resource
PublikacjaThe coherent superposition of states, in combination with the quantization of observables, represents one of the most fundamental features that mark the departure of quantum mechanics from the classical realm. Quantum coherence in many-body systems embodies the essence of entanglement and is an essential ingredient for a plethora of physical phenomena in quantum optics, quantum information, solid state physics, and nanoscale thermodynamics....
-
Rapid Design Tuning of Miniaturized Rat-Race Couplers Using Regression-Based Equivalent Network Surrogates
PublikacjaA simple technique for fast design tuning of compact rat-race couplers is presented. Our approach involves equivalent circuit representation, corrected by nonlinear functions of frequency with coefficients extracted through nonlinear regression. At the same time, the tuning process connects two levels of coupler representation: EM simulation of the entire circuit and re-optimization of the coupler building blocks (slow-wave cells...
-
Movement perception with the use of a motorized delta armrest and virtual reality
PublikacjaIn this paper we present a combination of neuroscience experiments with the use of a parallel armrest robot to study the effects of temporal delays and spatial biases on the movement perception. A dedicated armrest to guide and manipulate the arm has been developed for these experiments. It is a three-degree-of-freedom Delta structure. In combination with a virtual reality application, the movement perception has been evaluated....
-
Microemulsion Delivery Systems with Low Surfactant Concentrations: Optimization of Structure and Properties by Glycol Cosurfactants
PublikacjaExtensive use of microemulsions as delivery systems raises interest in the safe ingredients that can form such systems. Here, we assessed the use of two glycols, i.e., propylene glycol and pentylene glycol, and their mixtures to manipulate the properties and structure of microemulsions. Obtained systems with glycols were extensively characterized in terms of capacity to incorporate water phase, droplet size, polydispersity, structure...
-
A New Approach to Assess Quality of Motion in Functional Task of Upper Limb in Duchenne Muscular Dystrophy
Publikacja(1) Background: This study presents a new method for the motion quantitative analysis of Duchenne muscular dystrophy patients (DMD) performing functional tasks in clinical conditions. (2) Methods: An experimental study was designed to define how different levels of external mass (light and heavy) influence the performance of the upper limbs of a tested DMD and reference subject (RS) during horizontal movements (level of the waist)...
-
Symbolic multibody models for digital-twin applications
PublikacjaSymbolic 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...
-
Robotyka, L, MiBM, st. II, sem.1 (PG_00057371) 03.2022
Kursy OnlineKurs Robotyka (laboratorium) przeznaczony jest dla studentów 1. semestru studiów dziennych II stopnia, studiujących na kierunku Mechanika i Budowa Maszyn. Kurs zawiera treści do zajęć laboratoryjnych z zakresu manipulatorów przemysłowych - ich budowy, cech, podzespołów, sterowania, oraz robotów modułowych - ich programowania i modeli.
-
Combined spline wavelet decomposition for 3d seafloor imaging from multibeam sonar echoes
PublikacjaThe paper proposes combined spline-wavelet approach to the raw echoes seaflor imaging from Multibeam Sonar System (MBSS) records. Wavelet representation is closely related to image representation, due to its unique approximations properties. Splines have the best approximation properties among all known wavelets of a given order, so they are best suited for approximating of smooth seafloor surface. Additionaly, wavelet bases have...
-
Electric Field-Driven Assembly of Sulfonated Polystyrene Microspheres
PublikacjaA designed assembly of particles at liquid interfaces offers many advantages for development of materials, and can be performed by various means. Electric fields provide a flexible method for structuring particles on drops, utilizing electrohydrodynamic circulation flows, and dielectrophoretic and electrophoretic interactions. In addition to the properties of the applied electric field, the manipulation of particles often depends...
-
Manipulatory i roboty przemysłowe, WL, MTR, sem.06, letni 23/24 (PG_00055470)
Kursy Online -
Robert Piotrowski dr hab. inż.
OsobyRobert Piotrowski jest absolwentem Wydziału Elektrotechniki i Automatyki (2001r., kierunek: Automatyka i Robotyka) oraz Wydziału Zarządzania i Ekonomii (2002r., kierunek: Organizacja Systemów Produkcyjnych) Politechniki Gdańskiej. Od 2005 roku jest zatrudniony na Wydziale Elektrotechniki i Automatyki, aktualnie w Katedrze Inteligentnych Systemów Sterowania i Wspomagania Decyzji. W 2005 roku obronił rozprawę doktorską (Automatyka...
-
Techniki głębinowe BO 56428 2024
Kursy OnlineWyróżniające cechy środowiska głębinowego; Elementy systemu głębinowego; Elementy i podsystemu pojazdu głębinowego; Człowiek w technice głębinowej, sterowanie systemami, nurkowanie; Zadania i urządzenia robocze pojazdów głębinowych- obrazowanie przestrzeni wodnej, nawigacja, komunikacja, urządzenia oceanologiczne, manipulatory i narzędzia; Układy ruchowe i zasilające pojazdów głębinowych; Komputerowe systemy sterowania, Krytyczne...
-
Techniki głębinowe BO/SUO 2024
Kursy OnlineWyróżniające cechy środowiska głębinowego; Elementy systemu głębinowego; Elementy i podsystemu pojazdu głębinowego; Człowiek w technice głębinowej, sterowanie systemami, nurkowanie; Zadania i urządzenia robocze pojazdów głębinowych- obrazowanie przestrzeni wodnej, nawigacja, komunikacja, urządzenia oceanologiczne, manipulatory i narzędzia; Układy ruchowe i zasilające pojazdów głębinowych; Komputerowe systemy sterowania, Krytyczne...
-
Pendant Proton-Relays Systematically Tune the Rate and Selectivity of Electrocatalytic Ammonia Generation in a Fe-Porphyrin Based Metal-Organic Framework
PublikacjaElectrocatalytic nitrite reduction (eNO2RR) is a promising alternative route to produce ammonia (NH3). Until now, several molecular catalysts have shown capability to homogeneously reduce nitrite to NH3, while taking advantage of added secondary-sphere functionalities to direct catalytic performance. Yet, realizing such control over heterogeneous electrocatalytic surfaces remains a challenge. Herein, we demonstrate that heterogenization...
-
Genetic and pharmacologic proteasome augmentation ameliorates Alzheimer’s-like pathology in mouse and fly APP overexpression models
PublikacjaThe proteasome has key roles in neuronal proteostasis, including the removal of misfolded and oxidized proteins, presynaptic protein turnover, and synaptic efficacy and plasticity. Proteasome dysfunction is a prominent feature of Alzheimer’s disease (AD). We show that prevention of proteasome dysfunction by genetic manipulation delays mortality, cell death, and cognitive deficits in fly and cell culture AD models. We developed...
-
An investigation on the role of GMA grafting degree on the efficiency of PET/PP-g-GMA reactive blending: morphology and mechanical properties
PublikacjaGlycidyl methacrylate (GMA) has been grafted on polypropylene (PP) with the aid of styrene (St) comonomer, by changing dicumyl peroxide initiator content, GMA level, and St concentration. The performance of the resulting PP-g-GMA reactive material towards static and dynamic mechanical properties of poly (ethylene terephthalate) (PET) was monitored in terms of grafting reaction variables and compatibilizer content. Fourier transform...
-
Modelling and Measurement of Folk Guitar: Truss Rod and Strings in Numerical Analysis of Tone
PublikacjaThe study makes an attempt to model a complete vibrating guitar including its non-linear features, specifically the tension-compression of truss rod and tension of strings. The purpose of such a model is to examine the influence of design parameters on tone. Most experimental studies are flawed by uncertainties introduced by materials and assembly of an instrument. Since numerical modelling of instruments allows for deterministic...
-
Manipulatory i roboty przemysłowe, W, MTR, sem.06, letni 21/22 (M:31651W0)
Kursy Online -
Highly porous nanoberyllium for X-ray beam speckle suppression
PublikacjaThe speckle suppressor device containing highly porous nanoberyllium is proposed for manipulating with the spatial coherence length and removing undesirable speckle structure during the imaging experiments. We report a special device called the speckle suppressor, which contains the highly porous nanoberyllium plate, compacted from both sides by two beryllium windows. By insertion the speckle suppressor in the X-ray beam it allows...
-
Tuning the work function of graphite nanoparticles via edge termination
PublikacjaGraphite nanoparticles are important in energy materials applications such as lithium-ion batteries (LIBs), supercapacitors and as catalyst supports. Tuning the work function of the nanoparticles allows local control of lithiation behaviour in LIBs, and the potential of zero charge of electrocatalysts and supercapacitors. Using large scale density functional theory (DFT) calculations, we find that the surface termination of multilayer...
-
Genetic and pharmacologic proteasome augmentation ameliorates Alzheimer’s-like pathology in mouse and fly APP overexpression models
PublikacjaThe proteasome has key roles in neuronal proteostasis, including the removal of misfolded and oxidized proteins, presynaptic protein turnover, and synaptic efficacy and plasticity. Proteasome dysfunction is a prominent feature of Alzheimer’s disease (AD). We show that prevention of proteasome dysfunction by genetic manipulation delays mortality, cell death, and cognitive deficits in fly and cell culture AD models. We developed...