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Abstract

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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Bibliography

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Authors and Affiliations

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

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

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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Authors and Affiliations

Erol Yilmaz
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Abstract

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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Authors and Affiliations

Anna Jurasińska
Marcin Bukowski
Marta Białecka-Pikul
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Abstract

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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Bibliography

[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).
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Authors and Affiliations

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
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Abstract

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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Authors and Affiliations

Andrzej Gessner
1
ORCID: ORCID

  1. Poznan University of Technology, Institute of Mechanical Technology
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Abstract

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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Authors and Affiliations

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
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Abstract

While working on the oeuvre of P.F. Strawson (1919–2006), and especially on his metaphysics, I had a unique opportunity to exchange ideas with this eminent exponent of Oxford philosophy. Those exchanges, of which some have been reflected in private correspondence and in a published reply to one of my papers, were focussed on various interpretative questions. Three threads of those discussions seem especially pertinent for grasping the gist of Strawson’s philosophy and its general orientation. The first one concerned the nature of philosophical analysis, or to be more precise, the connective model of it, favoured by Strawson, and its relationship with the idea of concept presupposition. The second thread had to do with the position taken by the Oxford philosopher in the realism debate on three levels: semantic, epistemological, and metaphysical. Strawson made every effort to take a realist stand in this debate and avoid antirealism in any of its forms; however, his realism is in many respects very moderate and not so distant from antirealism. Similarly moderate was his stand in the traditional debate about universals, constituting the topic of the third thread of the exchanges with Strawson. He claimed that universals exist, but at the same time emphasized that they are objects of pure thought alone and as such do not form a part of the spatiotemporal world in which we live. One cannot also say much about the relation of exemplification in virtue of which universals manifest themselves in the world as particular instances. Presentation and elaboration of these three threads has led to the conclusion that although Strawson was a deeply systematic thinker, he avoided wide-ranging and ambitious statements and radical views. In characteristically minimalist way he dispelled some questions, and the ultimate resolution of many crucial and fundamental issues were for him choice and taking a particular attitude or stance.

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Authors and Affiliations

Tadeusz Szubka
ORCID: ORCID
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Abstract

In the skeptical tradition self-consciousness was transparent and it served as a basis for expressing doubts and developing arguments leading to certainty. After the linguistic and naturalistic turns, contemporary philosophy developed skeptical arguments against certainty and epistemic priority of the data of self-consciousness (both reflective and pre-reflective). Self-reflection reports on the stream of consciousness ex post, but the reports are meager and dependent on subject’s conceptual scheme, while the pre- -reflective data is unclear. Two contemporary skeptical hypotheses have been developed: H. Putnam’s content externalism hypothesis and so-called Kripkenstein’s quus hypothesis. I put forth the question what kind of self is immune to erroneous misidentification. The immunity seems to be limited to the contentless self, reducible to the pre-discursive feeling of one’s own existence. There is no guarantee that any content whatsoever can be attributed to self without error. I cannot negate that I exist any more than I can negate that something external exists, but any description of either is fallible. So the content of self-consciousness is not in an epistemically better position than the content of external perception.

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Authors and Affiliations

Renata Ziemińska
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Abstract

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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Authors and Affiliations

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
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Abstract

Bogusław Wolniewicz, inspired by his formal ontology of situations, has put forward a question on semilattices with a unit (A question about joinsemilattices, Bulletin of the Section of Logic 19/3, 1990). The present paper is entirely devoted to this problem in the formulation given by Wolniewicz. First, the meaning of the question is analyzed and its lattice-theoretical and Boolean algebraic contents are exhibited. Second, set-theoretical and topological counterparts of the question are formulated and commented upon.

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Authors and Affiliations

Jacek Hawranek
Jan Zygmunt

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