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Abstrakt

A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and hands frames) in the discrete time domain. The description of motion in the frame associated with the supporting foot allows one to represent the robot as a composite of several serial open-loop redundant manipulators. Stability during the motion is provided by the trajectory of the robot’s center of mass which ensures that the zero moment point criterion is fulfilled. Inverse kinematics solution is performed offline using the redundancy resolution at the velocity level. The proposed method utilizes robot’s redundancy to fulfill joint position limits and to reduce gravity-related joint torques. The method have been tested in simulations and experiments on a humanoid robot Melson, and results are presented.
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Bibliografia

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[4] R. Mahum, F. Butt, K. Ayyub, S. Islam, M. Nawaz, and D. Abdullah. A review on humanoid robots. International Journal of Advanced and Applied Sciences, 4(2):83–90, 2017. doi: 10.21833/ijaas.2017.02.015.
[5] S. Saeedvand, M. Jafari, H.S. Aghdasi, and J. Baltes. A comprehensive survey on humanoid robot development. The Knowledge Engineering Review, 34:e20, 2019. doi: 10.1017/S0269888919000158.
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[24] M. Tanaka and F. Matsuno. Modeling and control of head raising snake robots by using kinematic redundancy. Journal of Intelligent & Robotic Systems, 75(1):53–69, 2013. doi: 10.1007/s10846-013-9866-y.
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[26] J.-A. Claret, G. Venture, and L. Basañez. Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task. International Journal of Social Robotics, 9(2):277–292, 2017. doi: 10.1007/s12369-016-0387-2.
[27] K. Mikołajczyk, M. Szumowski, P. Płoński, and P. Żakieta. Solving inverse kinematics of humanoid robot using a redundant tree-shaped manipulator model. In Proceedings of the 2020 4th International Conference on Vision, Image and Signal Processing, ICVISP 2020, NewYork, NY, USA, 2020. Association for Computing Machinery. doi: 10.1145/3448823.3448885.
[28] M. Szumowski, M.S. Żurawska, and T. Zielińska. Preview control applied for humanoid robot motion generation. Archives of Control Sciences, 29(1):111–132, 2019. doi: 10.24425/acs.2019.127526.
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[35] A. Colomé and C. Torras. Closed-loop inverse kinematics for redundant robots: Comparative assessment and two enhancements. IEEE/ASME Transactions on Mechatronics, 20(2):944–955, 2015. doi: 10.1109/TMECH.2014.2326304.
[36] D.N. Nenchev. Redundancy resolution through local optimization: A review. Journal of Robotic Systems, 6(6):769–798, 1989. doi: 10.1002/rob.4620060607.
[37] H. Zghal, R.V. Dubey, and J.A. Euler. Efficient gradient projection optimization for manipulators with multiple degrees of redundancy. In Proceedings., IEEE International Conference on Robotics and Automation, pages 1006–1011, vol. 2, 1990. doi: 10.1109/ROBOT.1990.126123.
[38] A. Liégeois. Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Transactions on Systems, Man, and Cybernetics, 7(12):868–871, 1977. doi: 10.1109/TSMC.1977.4309644.
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Autorzy i Afiliacje

Kacper Mikołajczyk
1
Maksymilian Szumowski
1
Łukasz Woliński
1
ORCID: ORCID

  1. Faculty of Power and Aeronautical Engineering, Warsaw University of Technology, Warsaw, Poland

Abstrakt

In this study the authors minimise the total process cost for the heating of solid particles in a horizontal fluidised bed by an optimal choice of the inlet heating gas temperature profile and the total gas flow. Solid particles flowed along the apparatus and were heated by a hot gas entering from the bottom of the fluidised apparatus. The hydrodynamics of the fluidised bed is described by a two-phase Kunii - Levenspiel model. We assumed that the gas was flowing only vertically, whereas solid particles were flowing horizontally and because of dispersion they could be additionally mixed up in the same direction. The mixing rate was described by the axial dispersion coefficient. As any economic values of variables describing analysing process are subject to local and time fluctuations, the accepted objective function describes the total cost of the process expressed in exergy units. The continuous optimisation algorithm of the Maximum Principle was used for calculations. A mathematical model of the process, including boundary conditions in a form convenient for optimisation, was derived and presented. The optimization results are presented as an optimal profile of inlet gas temperature. The influence of heat transfer kinetics and dispersion coefficients on optimal runs of the heating process is discussed. Results of this discussion constitute a novelty in comparison to information presented in current literature.

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Autorzy i Afiliacje

Zbigniew Szwast
Artur Poświata

Abstrakt

In the paper we consider fast transformation of a multilevel and multioutput circuit with AND, OR and NOT gates into a functionally equivalent circuit with NAND and NOR gates. The task can be solved by replacing AND and OR gates by NAND or NOR gates, which requires in some cases introducing the additional inverters or splitting the gates. In the paper the quick approximation algorithms of the circuit transformation are proposed, minimizing number of the inverters. The presented algorithms allow transformation of any multilevel circuit into a circuit being a combination of NOR gates, NAND gates or both types of universal gates.
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Autorzy i Afiliacje

Baranov Samary
Andrei Karatkevich

Abstrakt

Static Var Compensator (SVC) is a popular FACTS device for providing reactive power support in power systems and its placement representing the location and size has significant influence on network loss, while keeping the voltage magnitudes within the acceptable range. This paper presents a Firefly algorithm based optimization strategy for placement of SVC in power systems with a view of minimizing the transmission loss besides keeping the voltage magnitude within the acceptable range. The method uses a self-adaptive scheme for tuning the parameters in the Firefly algorithm. The strategy is tested on three IEEE test systems and their results are presented to demonstrate its effectiveness.

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Autorzy i Afiliacje

R. Selvarasu
M. Surya Kalavathi
C. Christober Asir Rajan

Abstrakt

A large amount of solid and liquid wastes produced by mines and mills each year needs to be managed and minimized by alternative disposal methods like paste and dry stack. Increasingly strict environmental legislation and cost competitiveness also dictate the utilization of technically suitable, economically viable, environmentally acceptable, and socially responsible techniques. This paper reviews some of these techniques that could potentially reduce large volumes of mine wastes (with a focus on mine tailings and waste rocks) without causing significant environmental hazards. The new emerging techniques such as environmental desulphurization, covers built with sulphide-free tailings, co-disposal of tailings and waste rocks, geotextile tube dewatering, and use of tailings in the cement production and road construction for both industrial and environmental purposes are discussed in terms of waste minimization. The existing methods and approaches for efficient waste treatment and disposal are also discussed in this review paper.

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Autorzy i Afiliacje

Erol Yilmaz

Abstrakt

Previous research showed that children can exhibit preferences for social categories already at preschool age. One of the crucial factors in the development of children’s attitudes toward others is children’s observation and imitation of adults’ nonverbal messages. The aim of our study is to examine whether children’s tendency to perceive and follow nonverbally expressed attitudes toward other people is related to ingroup bias, i.e. the tendency to favor one’s own group over other groups. We examined 175 preschool children (age in months: 61–87; M = 72.6, SD = 6.53) presenting them with a video of a conversation between a message sender and a message recipient. The study was conducted in a minimal group paradigm. We found that children accurately identified the message sender’s attitude toward the recipient and also generalized this attitude to other members of the new group. We also found explicit ingroup bias among children from the message sender’s group. However, no generalization of the sender’s attitude to other ingroup members was found. The results are discussed in reference to previous findings on the role of imitation of adult’s non-verbal behavior for the development of social attitudes among children.

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Autorzy i Afiliacje

Anna Jurasińska
Marcin Bukowski
Marta Białecka-Pikul
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Abstrakt

This paper presents the application of Flexible Alternating Current Transmission System (FACTS) devices based on heuristic algorithms in power systems. The work proposes the Autonomous Groups Particle Swarm Optimization (AGPSO) approach for the optimal placement and sizing of the Static Var Compensator (SVC) to minimize the total active power losses in transmission lines. A comparative study is conducted with other heuristic optimization algorithms such as Particle Swarm Optimization (PSO), Timevarying Acceleration Coefficients PSO (TACPSO), Improved PSO (IPSO), Modified PSO (MPSO), and Moth-Flam Optimization (MFO) algorithms to confirm the efficacy of the proposed algorithm. Computer simulations have been carried out on MATLAB with the MATPOWER additional package to evaluate the performance of the AGPSO algorithm on the IEEE 14 and 30 bus systems. The simulation results show that the proposed algorithm offers the best performance among all algorithms with the lowest active power losses and the highest convergence rate.
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Bibliografia

[1] Vera S.M., Nuez I., Hernandez-Tejera M., A FACTS devices allocation procedure attending to load share, Energies, vol. 13, no. 8 (2020), DOI: 10.3390/en13081976.
[2] Singh B., Kumar R., A comprehensive survey on enhancement of system performances by using different types of FACTS controllers in power systems with static and realistic load models, Energy Reports, vol. 6, pp. 55–79 (2020).
[3] Shehata A.A., Ahmed M.K., State estimation accuracy enhancement for optimal power system steady state modes, IOP Conference Series: Materials Science and Engineering, vol. 643 (2019), DOI: 10.1088/1757-899X/643/1/012049.
[4] Sreedharan S., Joseph T., Joseph S., Chandran C.V., Vishnu J., Das V., Power system loading margin enhancement by optimal STATCOM integration – A case study, Computers and Electrical Engineering, vol. 81, no. 106521 (2019).
[5] Al Ahmad A., Sirjani R., Optimal placement and sizing of multi-type FACTS devices in power systems using metaheuristic optimisation techniques: An updated review, Ain Shams Engineering Journal (2019), DOI: 10.1016/j.asej.2019.10.013.
[6] Belazzoug M., Boudour M., Sebaa K., FACTS location and size for reactive power system compensation through the multi-objective optimization, Archives of Control Sciences, vol. 20, no. 4, pp. 473–489 (2010).
[7] Kotsampopoulos P., Georgilakis P., Lagos D.T., Kleftakis V., Hatziargyriou N., FACTS providing grid services: applications and testing, Energies, vol. 12, no. 13 (2019), DOI: 10.3390/en12132554
[8] Kavitha K.,Neela R., Optimal allocation of multi-type FACTS devices and its effect in enhancing system security using BBO, WIPSO & PSO, Journal of Electrical Systems and Information Technology, vol. 5, no. 3, pp. 777–793 (2018).
[9] Shehata A.A., Korovkin N.V., An accuracy enhancement of optimization techniques containing fractional-polynomial relationships, 2020 International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE), pp. 1–5 (2020).
[10] Dash S.P., Subhashini K.R., Satapathy J.K., Optimal location and parametric settings of FACTS devices based on JAYA blended moth flame optimization for transmission loss minimization in power systems, Microsystem Technologies, vol. 26, no. 5, pp. 1543–1552 (2020).
[11] Saurav S., Gupta V.K., Mishra S.K., Moth-flame optimization based algorithm for FACTS devices allocation in a power system, 2017 International Conference on Innovations in Information, Embedded and Communication Systems (ICIIECS), pp. 1–7 (2017).
[12] Jyotshna D.K., Madhuri N., Optimal allocation of SVC for enhancement of voltage stability using harmony search algorithm, International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, vol. 4, no. 7, pp. 6693–6701 (2015).
[13] Ravi K., Rajaram M., Optimal location of FACTS devices using Improved Particle Swarm Optimization, International Journal of Electrical Power and Energy Systems, vol. 49, pp. 333–338 (2013).
[14] Mathad V.G., Ronad B.G., Jangamshetti S.H., Review on comparison of FACTS controllers for power system stability enhancement, International Journal of Scientific and Research Publications, vol. 3, no. 3, pp. 2250–3153 (2013).
[15] Murali D., Rajaram M., Reka N., Comparison of FACTS devices for power system stability enhancement, International Journal of Computer Applications, vol. 8, no. 4, pp. 30–35 (2010).
[16] Rezaee J.A., Particle swarm optimisation (PSO) for allocation of FACTS devices in electric transmission systems: A review, Renewable and Sustainable Energy Reviews, vol. 52, pp. 1260-1267 (2015).
[17] Shaheen A.M., Spea S.R., Farrag S.M., Abido M.A., A review of meta-heuristic algorithms for reactive power planning problem, Ain Shams Engineering Journal, vol. 9, no. 2, pp. 215–231 (2018).
[18] Suresh V., Janik P., Jasinski M., Metaheuristic approach to optimal power flow using mixed integer distributed ant colony optimization, Archives of Electrical Engineering, vol. 69, no. 2, pp. 335–348 (2020).
[19] Benchabira A., Khiat M., A hybrid method for the optimal reactive power dispatch and the control of voltages in an electrical energy network, Archives of Electrical Engineering, vol. 68, no. 3, pp. 535–551 (2019).
[20] Ziyu T., Dingxue Z., A modified particle swarm optimization with an adaptive acceleration coefficient, 2009 Asia-Pacific Conference on Information Processing, vol. 2, pp. 330–332 (2009).
[21] Mirjalili S., Lewis A., Sadiq A.S., Autonomous particles groups for particle swarm optimization, Arabian Journal for Science and Engineering, vol. 39, no. 6, pp. 4683–4697 (2014). [22] The IEEE 14 and 30 Bus Test Systems, available online at: http://labs.ece.uw.edu/pstca.
[23] Cui Z., Zeng J., Yin Y., An improved PSO with time-varying accelerator coefficients, 2008 8th International Conference on Intelligent Systems Design and Applications, vol. 2, pp. 638–643 (2008).
[24] Bao G.Q., Mao K.F., Particle swarmoptimization algorithm with asymmetric time varying acceleration coefficients, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), no. 3, pp. 2134–2139 (2009).
[25] Mirjalili S., Moth-flame optimization algorithm: a novel nature-inspired heuristic paradigm, Knowledge-Based Systems, vol. 89, pp. 228–249 (2015).
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Autorzy i Afiliacje

Ahmed A. Shehata
1
ORCID: ORCID
Ahmed Refaat
2
ORCID: ORCID
Mamdouh K. Ahmed
1
ORCID: ORCID
Nikolay V. Korovkin
1
ORCID: ORCID

  1. Institute of Energy, Peter the Great Saint-Petersburg Polytechnic University, Russia
  2. Electrical Engineering Department, Port-Said University, Egypt

Abstrakt

castings. The possibility of reducing the total volume of machining allowances, reducing the wear of cutting tools, shortening machining time and eliminating idle machining passes was considered. The tests were carried out on two batches of castings supplied by two independent foundries. Casting geometry measurements were made using a structured light scanner. The analysis included machining with cemented carbide tools and tool ceramics at two machining centers: DMC200U and DMC270U. It has been shown that as a result of eliminating idle machining passes, it is possible to reduce machining time by 12% for the first and by 44% for the second casting supplier. The estimated annual savings for the production volume of 500 pcs of these castings can range from € 7388 to even € 23 346. The actual cost of cheaper casts was also calculated, taking into account the difference in machining cost resulting from larger machining allowances.
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Autorzy i Afiliacje

Andrzej Gessner
1
ORCID: ORCID

  1. Poznan University of Technology, Institute of Mechanical Technology

Abstrakt

The predictive current controller of the DC/AC converter is presented in the article. The new expected converter current vector’s

locations can be evaluated due to the possibility of predicting the current vector’s change directions. An original method for the converter control was developed basing on the current vector changes analysis presented in this paper. This method enables to minimize the current vector error area and decrease the mean switching frequency. One of the advantages of the proposed control method is the possibility of the realization of the controller in the look-up table controller form. The results of laboratory tests proved the effectiveness of the proposed control method.

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Autorzy i Afiliacje

A. Ruszczyk

Abstrakt

The internal diameter of a tube in a ‘church window’ condenser was estimated using an entropy generation minimization approach. The adopted model took into account the entropy generation due to heat transfer and flow resistance from the cooling-water side. Calculations were performed considering two equations for the flow resistance coefficient for four different roughness values of a condenser tube. Following the analysis, the internal diameter of the tube was obtained in the range of 17.5 mm to 20 mm (the current internal diameter of the condenser tube is 22 mm). The calculated diameter depends on and is positively related to the roughness assumed in the model.
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Autorzy i Afiliacje

Artur Rusowicz
Rafał Laskowski
Andrzej Grzebielec

Abstrakt

W studiach nad dorobkiem P.F. Strawsona (1919–2006), a zwłaszcza nad jego metafizyką, miałem okazję do wymiany myśli z tym wybitnym przedstawicielem filozofii oksfordzkiej. Toczone wówczas dyskusje, których część znalazła odzwierciedlenie w prywatnej korespondencji oraz w opublikowanej odpowiedzi na jeden z moich artykułów, dotyczyły różnorakich kwestii interpretacyjnych. Trzy wątki tych dyskusji wydają się szczególnie istotne dla uchwycenia sedna Strawsonowskiej filozofii i jej ogólnej orientacji. Pierwszy dotyczył natury analizy filozoficznej, a dokładniej preferowanego przez Strawsona modelu koneksyjnego oraz jego związków z ideą presuponowania pojęć. Drugi wątek wiązał się ze stanowiskiem oksfordzkiego filozofa w sporze o realizm na trzech różnych płaszczyznach: semantycznej, epistemologicznej i metafizycznej. Strawson starał się zajmować w tym sporze stanowisko realistyczne i unikać antyrealizmu w jakiejkolwiek formie, lecz jego realizm miał pod wieloma względami charakter bardzo umiarkowany i zbliżał się do antyrealizmu. Podobnie umiarkowane stanowisko starał się on też zająć w tradycyjnym sporze o uniwersalia, stanowiącym tematykę trzeciego wątku dyskusji. Stanowisko Strawsona sprowadzało się do przyjmowania istnienia powszechników przy jednoczesnym podkreślaniu, że są one obiektami czysto myślowymi i jako takie nie stanowią elementów czasoprzestrzennego świata, w którym żyjemy. Nie da się też zbyt wiele powiedzieć o relacji egzemplifikacji, za sprawą której uniwersalia przejawiają się w świecie. Omówienie i rozwinięcie owych trzech wątków doprowadziło do wniosku, że chociaż Strawson był myślicielem o systematycznych ambicjach poznawczych, to unikał dalekosiężnych uogólnień i radykalnych rozwiązań. W typowo minimalistyczny sposób uchylał się od odpowiedzi na niektóre pytania, zaś rozstrzygnięciem wielu fundamentalnych spraw był dla niego wybór lub zajęcie określonej postawy.

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Autorzy i Afiliacje

Tadeusz Szubka
ORCID: ORCID

Abstrakt

W tradycji sceptycznej samoświadomość była przezroczysta i pełniła funkcję bazy do wyrażania wątpliwości i rozwijania argumentów w ramach poszukiwania pewności. Po zwrocie językowym i zwrocie naturalistycznym filozofia współczesna rozwinęła argumenty przeciwko pewności i przeciwko priorytetowi epistemologicznemu danych samoświadomości (zarówno przedrefleksyjnej, jak i refleksyjnej). Refleksja raportuje strumień świadomości ex post, raporty są skromne i zależne od schematu pojęciowego podmiotu, natomiast dane przedrefleksyjne są mgliste. Współcześnie pojawiły się dwie sceptyczne hipotezy: H. Putnama hipoteza eksternalizmu treściowego i S. Kripkego hipoteza kwusa. Na ich tle można postawić pytanie, jakie ja jest odporne na błędną identyfikację. Odporność wydaje się ograniczona do ja beztreściowego jako przedpredykatywnego poczucia własnego istnienia. Nie ma gwarancji, że jakakolwiek treść przypisana własnemu ja jest bezbłędna. Nie mogę zaprzeczyć własnemu istnieniu, tak samo jak nie mogę zaprzeczyć temu, że coś zewnętrznego istnieje, ale każdy opis ich treści jest narażony na błędy. A zatem treści samoświadomości nie są w lepszej sytuacji epistemicznej niż treści percepcji zewnętrznej.

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Autorzy i Afiliacje

Renata Ziemińska

Abstrakt

Induction motors (IMs) experience power losses when a portion of the input power is converted to heat instead of driving the load. The combined effect of copper losses, core losses, and mechanical losses results in IM power losses. Unfortunately, the core losses in the motor, which have a considerable impact on its energy efficiency, are not taken into account by the generally employed dynamic model in the majority of the studies. Due to this, the motor rating often corresponds to the worst-case load in applications, but the motor frequently operates below rated conditions. A hybridized model reference adaptive system (MRAS) with sliding mode control (SMC) is used in this study for sensorless speed control of an induction motor with core loss, allowing the motor to operate under a variety of load conditions. As a result, the machine can run at maximum efficiency while carrying its rated load. By adjusting the ��-axis current in the �� - �� reference frame in vector-controlled drives, the system’s performance is enhanced by running the motor at its optimum flux. Regarding the torque and speed of both induction motors with and without core loss, the Adaptive Observer Sliding Mode Control (AOSMC) has been constructed and simulated in this case. The AOSMC with core loss produced good performance when the proposed controller was tested.
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Autorzy i Afiliacje

Tadele Ayana
1
ORCID: ORCID
Lelisa Wogi
1
ORCID: ORCID
Marcin Morawiec
1
ORCID: ORCID

  1. Faculty of Electrical and Control Engineering, Gdansk University of Technology, Gabriela Narutowicza 11/12, 80-233 Gdansk, Poland

Abstrakt

This paper stipulates several technological research and development thrusts that can assist in modern day approaches to simulated training of minimally invasive laparoscopic and robot surgery. Basic tenets of such training are explained, and specific areas of research are enumerated. Specifically, augmented and mixed reality are proposed as a means of improving perceptual and clinical decision-making skills, haptics are proposed as mechanism not only to provide force feedback and guidance, but also as a means of reflecting a tactile feel of surgery in simulated training scenarios. Learning optimization is discussed to fine tune the difficulty levels of various exercises. All the above elements can serve as the foundation for building computer-based virtual coaching environments that can reduce the training costs and provide a broader access to learning highly complex, technology driven surgical techniques.
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Autorzy i Afiliacje

Minsik Hong
1
Jerzy W. Rozenblit
1

  1. Department of Electrical and Computer Engineering, University of Arizona, Tucson, AZ 85721 USA

Abstrakt

The paper describes the construction, operation and test results of three most popular interpolators from a viewpoint of time-interval (TI) measurement systems consisting of many tapped-delay lines (TDLs) and registering pulses of a wide-range changeable intensity. The comparison criteria include the maximum intensity of registered time stamps (TSs), the dependency of interpolator characteristic on the registered TSs’ intensity, the need of using either two counters or a mutually-complementing pair counter-register for extending a measurement range, the need of calculating offsets between TDL inputs and the dependency of a resolution increase on the number of used TDL segments. This work also contains conclusions about a range of applications, usefulness and methods of employing each described TI interpolator. The presented experimental results bring new facts that can be used by the designers who implement precise time delays in the field-programmable gate arrays (FPGA).

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Autorzy i Afiliacje

Dariusz Chaberski
Robert Frankowski
Maciej Gurski
Marek Zieliński

Abstrakt

This paper proposes a methodology based on installation cost for locating the optimal position of interline power flow controller (IPFC) in a power system network. Here both conventional and non conventional optimization tools such as LR and ABC are applied. This methodology is formulated mathematically based on installation cost of the FACTS device and active power generation cost. The capability of IPFC to control the real and reactive power simultaneously in multiple transmission lines is exploited here. Apart from locating the optimal position of IPFC, this algorithm is used to find the optimal dispatch of the generating units and the optimal value of IPFC parameters. IPFC is modeled using Power Injection (PI) model and incorporated into the problem formulation. This proposed method is compared with that of conventional LR method by validating on standard test systems like 5-bus, IEEE 30-bus and IEEE 118-bus systems. A detailed discussion on power flow and voltage profile improvement is carried out which reveals that incorporating IPFC into power system network in its optimal location significantly enhance the load margin as well as the reliability of the system.

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Autorzy i Afiliacje

S. Sreejith
Sishaj Psimon
M.P. Selvan

Abstrakt

Conventional field-orientated Induction motor drives operate at rated flux even at low load. To improve the efficiency of the existing motor it is important to regulate the flux of the motor in the desired operating range. In this paper a loss model controller (LMC) based on the real coded genetic algorithm is proposed, it has the straightforward goal of maximizing the efficiency for each given load torque. In order to give more accuracy to the motor model and the LMC a series model of the motor which consider the iron losses as a resistance connected in series with the mutual inductance is considered. Digital computer simulation demonstrates the effectiveness of the proposed algorithm and also simulation results have confirmed that this algorithm yields the optimal efficiency.

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Autorzy i Afiliacje

Z. Rouabah
B. Abdelhadi
F. Anayi
F. Zidani

Abstrakt

The radial distribution system is a rugged system, it is also the most commonly used system, which suffers by loss and low voltage at the end bus. This loss can be reduced by the use of a capacitor in the system, which injects reactive current and also improves the voltage magnitude in the buses. The real power loss in the distribution line is the I2R loss which depends on the current and resistance. The connection of the capacitor in the bus reduces the reactive current and losses. The loss reduction is equal to the increase in generation, necessary for the electric power provided by firms. For consumers, the quality of power supply depends on the voltage magnitude level, which is also considered and hence the objective of the problem becomes the multi objective of loss minimization and the minimization of voltage deviation. In this paper, the optimal location and size of the capacitor is found using a new computational intelligent algorithm called Flower Pollination Algorithm (FPA). To calculate the power flow and losses in the system, novel data structure load flow is introduced. In this, each bus is considered as a node with bus associated data. Links between the nodes are distribution lines and their own resistance and reactance. To validate the developed FPA solutions standard test cases, IEEE 33 and IEEE 69 radial distribution systems are considered.

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Autorzy i Afiliacje

V. Tamilselvan
T. Jayabarathi

Abstrakt

In present article a mathematical model of arc shape wire roughened solar air heater, on the basis of energy and exergy output rates, entropy generation rate and augmentation entropy generation number, has been developed. A parametric study leading to entropy generation minimization has also been performed. In the analysis the geometric and operating parameters which have been considered as variable are: inlet air temperature, duct depth, collector width to duct depth ratio, mass flow rate per unit collector area, and temperature rise parameter . Results have been presented to see the effects of these values on the energy and exergy output rates of the roughened solar air heater. Effect of different values of wire rib roughness parameters on entropy generation has also been presented. Finally, design curves and optimization for different rib roughness parameters on the basis of minimum entropy generation number with temperature rise parameter, have been presented and optimum values also have been found out 0.004 to 0.010 (Km2)/W. The entropy generation rate obtained for the system, in the present work has been compared with those obtained for solar air heater with different roughness geometries on absorber plates available in the literature for common roughness parameters and operating parameters which validate the present results.

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Autorzy i Afiliacje

Mukesh Kumar Sahu
Radha Krishna Prasad

Abstrakt

The performance of majority engineering systems made of composite laminates can be improved by increasing strength to weight ratio. Variable thickness approach (VTA), in discrete form, used in this study is capable of finding minimum laminate thickness in one stage only, instead of two stage methodology defined by other researchers, with substantial accuracy for the given load conditions. This minimum required laminate thickness can be used by designers in multiple ways. Current study reveals that effectiveness of VTA in this regard depends on ply thickness increment value and number of plies. Maximum Stress theory, Tsai Wu theory and Tsai Hill theory are used as constraints, while ply angles, ply thicknesses and number of plies in discrete form are used as design variables in current simulation studies. Optimization is carried out using direct value coded genetic algorithm. The effect of design variables such as ply angles, ply thicknesses and number of plies in discrete form on optimum solution is investigated considering Uniform Thickness Approach (UTA) and Variable Thickness Approach (VTA) for various load cases.

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Autorzy i Afiliacje

Nishant Shashikant Kulkarni
Vipin Kumar Tripathi

Abstrakt

An economical alternative for the steel industry which uses a separate ferrosilicon and aluminum for the deoxidization of steel is a complex deoxidizer in the form of FeSiAl alloys. The effectiveness of complex deoxidizers is higher and they have a positive effect on quality improvement and also for mechanical properties of the finished steel. It is associated with a smaller number of non-metallic inclusions and a more favorable its distribution in the structure of steel. Noteworthy are the waste from the mining industry simultaneously contains SiO2 and Al2O3 oxides with a few of dopants in the form of CaO, MgO, FeO, TiO2 oxides. These wastes are present in large quantities and can be a cheap raw material for obtaining complex FeSiAl ferroalloys by an electrothermal method. “Poor” hard coal grades which so far did not apply as a reducing agent in the ferroalloy industry because of the high ash content can also be a raw material for the electrothermal FeSiAl process. The electrothermal FeSiAl melting process is similar to the ferrosilicon process in the submerged arc furnace. For this reason, a model based on Gibbs’ free enthalpy minimization algorithm was used to analyze the simultaneous reduction of SiO2 and Al2O3 oxides, which was originally elaborated for the ferrosilicon smelting process. This is a system of two closed reactors: the upper one with the lower temperature and the lower one with the higher temperature. Between the reaction system and the environment, and between the reactors inside the system, there is a cyclical mass transfer in moments when the state of equilibrium is reached in the reactors. Based on the model, the basic parameters of the electrothermal reduction process of SiO2 and Al2O3 oxides were determined and a comparative analysis was made towards the ferrosilicon process.
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Autorzy i Afiliacje

B. Machulec
W. Bialik
S. Gil
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Abstrakt

In this paper we explore the mechanics of infinitesimal gyroscopes (test bodies with internal degrees of freedom) moving on an arbitrary member of the helicoid-catenoid family of minimal surfaces. As the configurational spaces within this family are far from being trivial manifolds, the problem of finding the geodesic and geodetic motions presents a real challenge. We have succeeded in finding the solutions to those motions in an explicit parametric form. It is shown that in both cases the solutions can be expressed through the elliptic integrals and elliptic functions, but in the geodetic case some appropriately chosen compatibility conditions for glueing together different branches of the solution are needed. Additionally, an action-angle analysis of the corresponding Hamilton-Jacobi equations is performed for external potentials that are well-suited to the geometry of the problem under consideration. As a result, five different sets of conditions between the three action variables and the total energy of the infinitesimal gyroscopes are obtained.
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Bibliografia

  1.  I.M. Mladenov and M.Ts. Hadzhilazova, “Geometry of the anisotropic minimal surfaces”, An. St. Univ. Ovidius Constanta 20, 79–88 (2012).
  2.  J. Zmrzlikar, Minimal Surfaces in Biological Systems, Faculty of Mathematics and Physics, University of Ljubljana, 2011.
  3.  S.N. Krivoshapko and V.N. Ivanov, Encyclopedia of Analytical Surfaces, Springer, New York-London, 2015.
  4.  A. Gray, E. Abbena, and S. Salamon, Modern Differential Geometry of Curves and Surfaces with Mathematica, Chapman and Hall/CRC, New York, 2006.
  5.  S. Amari and A. Cichocki, “Information geometry of divergence functions”, Bull. Pol. Acad. Sci. Tech. Sci. 58, 183–195 (2010).
  6.  I.S. Gradstein and I.M. Ryzhik, Tables of Integrals, Series, and Products (7th Edition), eds. A. Jeffrey and D. Zwillinger, Academic Press, Oxford, 2007.
  7.  V. Kovalchuk, B. Gołubowska, and I.M. Mladenov, “Mechanics of infinitesimal test bodies on Delaunay surfaces: spheres and cylinders as limits of unduloids and their action-angle analysis”, J. Geom. Symmetry Phys. 53, 55–84, (2019).
  8.  V. Kovalchuk and I.M. Mladenov, “Mechanics of infinitesimal gyroscopes on Mylar balloons and their action-angle analysis”, Math. Meth. Appl. Sci. 43, 3040–3051 (2020).
  9.  J.J. Slawianowski and B. Golubowska, “Bertrand systems on spaces of constant sectional curvature. The action-angle analysis. Classical, quasi-classical and quantum problems”, Geom. Integrability Quantization 16, 110–138 (2015).
  10.  G. De Matteis, L. Martina, C. Naya, and V. Turco, “Helicoids in chiral liquid crystals under external fields”, Phys. Rev. E 100, 05273- (1–12) (2019).
  11.  G. De Matteis, L. Martina, and V. Turco, “Waveguiding by helicoids in confined chiral nematics”, J. Instrum. 15, C05028-(1–11) (2020).
  12.  M. Toda, F. Zhang, and B. Athukorallage, “Elastic surface model for beta-barrels: geometric, computational, and statistical analysis”, Proteins 86, 35–42 (2018).
  13.  J.J. Sławianowski, V. Kovalchuk, B. Gołubowska, A. Martens, and E.E. Rożko, “Dynamical systems with internal degrees of freedom in non-Euclidean spaces”, IFTR Reports, IPPT PAN, 8/2006.
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Autorzy i Afiliacje

Vasyl Kovalchuk
1
ORCID: ORCID
Barbara Gołubowska
1
ORCID: ORCID
Ivaïlo M. Mladenov
2
ORCID: ORCID

  1. Institute of Fundamental Technological Research, Polish Academy of Sciences, Pawińskiego 5B, 02-106 Warsaw, Poland
  2. Institute of Biophysics and Biomedical Engineering, Bulgarian Academy of Sciences, Acad. G. Bonchev Bl. 21, 1113 Sofia, Bulgaria

Abstrakt

Artykuł w całości poświęcony jest rozważaniom nad pytaniem Bogusława Wolniewicza postawionym w jego nocie A question about join-semilattices („Bulletin of the Section of Logic” 1990, T. 19, nr 3). Część pierwsza artykułu dotyczy oryginalnego sformułowania tego pytania, w którym chodzi o podanie warunków dostatecznych na to, by w pewnej określonej rodzinie BM podzbiorów półkraty górnej z jednością istniały elementy minimalne. W kolejnych czterech częściach pytanie roztrząsane jest w odniesieniu do innych analogicznych rodzin zbiorów, których elementami są: dowolne zbiory (abstrakcyjne), zbiory gęste w przestrzeni topologicznej; filtry w algebrze Boole’a oraz zbiory domknięte względem operacji konsekwencji.

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Autorzy i Afiliacje

Jacek Hawranek
Jan Zygmunt

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