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Tozan Hakan - One of the best experts on this subject based on the ideXlab platform.

  • Identification of Dynamics of Movement of the Differential Mobile Robotic Platform Controlled by Fuzzy Controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho* Lukáš, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Valíček Jan, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model

  • Identification of dynamics of movement of the differential mobile robotic platform controlled by fuzzy controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho Lukas, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R-2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model.VEGA, The Ministry of Education, Science, Research and Sport of the Slovak Republi

Borges, Samuel Santos - One of the best experts on this subject based on the ideXlab platform.

  • Analysis of noise generation by axial flow fan composed of radial bladed centrifugal rotor
    Universidade do Estado de Santa Catarina, 2013
    Co-Authors: Borges, Samuel Santos
    Abstract:

    Este trabalho consiste em uma análise do nível de ruído gerado por ventiladores de fluxo axial composto por rotores centrífugos de pás radiais, onde o principal objetivo é o desenvolvimento e a validação de uma metodologia para predição do nível de ruído aerodinâmico gerado por tais ventiladores. O desenvolvimento do método proposto é fundamentado em trabalhos disponíveis na literatura, onde o nível de potência sonora emitida por ventiladores é calculado através de equações analíticas que usam parâmetros calibrados experimentalmente e variáveis relacionadas ao ponto de operação do ventilador, como vazão, pressão, potência absorvida, velocidade periférica, entre outros. As variáveis aerodinâmicas do ventilador foram obtidas com o auxílio de técnicas de CFD, as quais necessitam de um processo de validação. Esse processo é executado por meio da comparação entre os resultados de CFD e experimentais. A validação da metodologia é realizada pela comparação entre os resultados preditos e os experimentais dos níveis de pressão sonora e das variáveis aerodinâmicas do ventilador. Todos os experimentos envolvidos no presente trabalho foram executados conforme procedimentos e critérios estabelecidos por normas técnicas. Os principais modos de ressonância acústica do ventilador também foram determinados por meio de simulações numéricas e validadas através de técnicas de medição sonora experimental do tipo Waterfall.This work consists in an analysis of the noise level generated by axial flow fans composed of centrifugal rotors with radial blades, where the main objective is the development and validation of a methodology for the prediction of the aerodynamic noise generated by these fans. The proposed methodology was developed based on works available in the literature, in which the emitted sound power level is calculated through analytical equations that use experimentally calibrated parameters and variables related to the fan operating point, such as volume flow, pressure, absorbed power, Peripheral Velocity, among others. The fan aerodynamic variables were obtained with the aid of CFD techniques, which require a validation process. This validation process is accomplished by means of the comparison between the CFD and experimental results. The methodology validation is achieved by the comparison between the predicted and the experimental results of the sound pressure levels and the fan aerodynamic variables. All experiments involved in the present work were carried out following the procedures and criteria established by technical standards. The main acoustic resonance modes of the fan were also determined by means of the numerical simulations and validated through experimental sound measurement techniques of the type Waterfall

  • Analysis of noise generation by axial flow fan composed of radial bladed centrifugal rotor
    UDESC, 2013
    Co-Authors: Borges, Samuel Santos
    Abstract:

    This work consists in an analysis of the noise level generated by axial flow fans composed of centrifugal rotors with radial blades, where the main objective is the development and validation of a methodology for the prediction of the aerodynamic noise generated by these fans. The proposed methodology was developed based on works available in the literature, in which the emitted sound power level is calculated through analytical equations that use experimentally calibrated parameters and variables related to the fan operating point, such as volume flow, pressure, absorbed power, Peripheral Velocity, among others. The fan aerodynamic variables were obtained with the aid of CFD techniques, which require a validation process. This validation process is accomplished by means of the comparison between the CFD and experimental results. The methodology validation is achieved by the comparison between the predicted and the experimental results of the sound pressure levels and the fan aerodynamic variables. All experiments involved in the present work were carried out following the procedures and criteria established by technical standards. The main acoustic resonance modes of the fan were also determined by means of the numerical simulations and validated through experimental sound measurement techniques of the type Waterfall.Este trabalho consiste em uma análise do nível de ruído gerado por ventiladores de fluxo axial composto por rotores centrífugos de pás radiais, onde o principal objetivo é o desenvolvimento e a validação de uma metodologia para predição do nível de ruído aerodinâmico gerado por tais ventiladores. O desenvolvimento do método proposto é fundamentado em trabalhos disponíveis na literatura, onde o nível de potência sonora emitida por ventiladores é calculado através de equações analíticas que usam parâmetros calibrados experimentalmente e variáveis relacionadas ao ponto de operação do ventilador, como vazão, pressão, potência absorvida, velocidade periférica, entre outros. As variáveis aerodinâmicas do ventilador foram obtidas com o auxílio de técnicas de CFD, as quais necessitam de um processo de validação. Esse processo é executado por meio da comparação entre os resultados de CFD e experimentais. A validação da metodologia é realizada pela comparação entre os resultados preditos e os experimentais dos níveis de pressão sonora e das variáveis aerodinâmicas do ventilador. Todos os experimentos envolvidos no presente trabalho foram executados conforme procedimentos e critérios estabelecidos por normas técnicas. Os principais modos de ressonância acústica do ventilador também foram determinados por meio de simulações numéricas e validadas através de técnicas de medição sonora experimental do tipo Waterfall.Coordenação de Aperfeiçoamento de Pessoal de Nível Superio

Harničárová Marta - One of the best experts on this subject based on the ideXlab platform.

  • Identification of Dynamics of Movement of the Differential Mobile Robotic Platform Controlled by Fuzzy Controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho* Lukáš, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Valíček Jan, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model

  • Identification of dynamics of movement of the differential mobile robotic platform controlled by fuzzy controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho Lukas, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R-2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model.VEGA, The Ministry of Education, Science, Research and Sport of the Slovak Republi

Olejár Martin - One of the best experts on this subject based on the ideXlab platform.

  • Identification of Dynamics of Movement of the Differential Mobile Robotic Platform Controlled by Fuzzy Controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho* Lukáš, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Valíček Jan, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model

  • Identification of dynamics of movement of the differential mobile robotic platform controlled by fuzzy controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho Lukas, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R-2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model.VEGA, The Ministry of Education, Science, Research and Sport of the Slovak Republi

Hrubý Dušan - One of the best experts on this subject based on the ideXlab platform.

  • Identification of Dynamics of Movement of the Differential Mobile Robotic Platform Controlled by Fuzzy Controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho* Lukáš, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Valíček Jan, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model

  • Identification of dynamics of movement of the differential mobile robotic platform controlled by fuzzy controller
    'Mechanical Engineering Faculty in Slavonski Brod', 2019
    Co-Authors: Vacho Lukas, Olejár Martin, Hrubý Dušan, Cviklovič Vladimír, Palková Zuzana, Harničárová Marta, Tozan Hakan
    Abstract:

    Mobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the Peripheral Velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R-2. The equations for calculating Peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model.VEGA, The Ministry of Education, Science, Research and Sport of the Slovak Republi