Národní úložiště šedé literatury Nalezeno 5 záznamů.  Hledání trvalo 0.01 vteřin. 
COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
Polach, P. ; Anderle, Milan ; Zezula, Pavel ; Papáček, Štěpán
A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool.
On a class of biped underactuated robot models with upper body: Sensitivity analysis of the walking performance
Papáček, Štěpán ; Polach, P. ; Prokýšek, R. ; Anderle, Milan
Biped underactuated robots with an upper body (being a torso) form a subclass of legged robots. This study deals with the walking performance of such class of legged robot models and has been motivated by the need to implement of the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation (UTIA) of the Czech Academy of Sciences, see Fig. 1 (left). A detailed description of this underactuated walking-like mechanical system (called further UTIA Walking Robot – UWR) is provided in [2] and [5]. The simplest underactuated walking robot hypothetically able to walk is the so-called Compass gait biped walker, alternatively called the Acrobot, see Fig. 1 (right). For a review of underactuated mechanical systems, i.e. systems with fewer actuators than degrees of freedom, which encounter many applications in different fields (e.g., in robotics, in aeronautical and spatial systems, in marine and underwater systems, and in-flexible and mobile systems), see [3]. As follows, we examine the walking performance of parametrized models for different walking regimes and different values of model parameters. More specifically, the sensitivity analysis (i.e., parameter study) of the walking performance with respect to certain design variables (model parameters) is carried out using the software package alaska/MultibodyDynamics. The main attention is attracted to the role of the upper body mass m3 and position lc3, see Fig. 1 (right). Last but not least, having surveyed the mechanics of planar biped robots, our subsequent goal is the analysis of a 3D biped model where lateral balance is either controlled, suppressed or compensated.
Vývoj modelu kalcinace pro ANSYS Fluent
Anderle, Milan ; Hájek, Jiří (oponent) ; Vondál, Jiří (vedoucí práce)
Cieľom diplomovej práce bolo vytvoriť model dekarbonizácie vápenca, implementovať ho do CFD nástroja ANSYS Fluent a otestovať na modeli skutočného reaktoru. Žiadaný model vychádzal z predpokladov pre Shrinking Core Model (SCM). Dielčím cieľom práce bolo spísať rešerš z oblasti nekatalytickej premeny látok a rešerš najpoužívanejších matematických modelov pre kalcináciu. Bol použitý výpočet v CFD, vykonaná citlivostná analýza a parametrická štúdia vo Fluente. Za vstupné veličiny boli zvolené údaje o zložení prúdu plynu, teplote, tlaku a hmotnostnom prietoku častíc vápenca. Najprv bol použitý časticový model s názvom Multiple Surface Reactions (MSR), ktorý je štandardnou súčasťou Fluentu. Následne bola napísaná vlastná UDF v programovacom jazyku C, ktorá vychádzala z predpokladov SCM. Výsledky z CFD výpočtu boli porovnané s experimentálnymi hodnotami z dizertačnej práce. Bolo zistené, že MSR je dostatočne presný pre potreby výpočtu, ale zanedbáva vnútro časticovú difúziu CO2 naprieč vrstvou CaO, ktorá pri kalcinácii vzniká za čelom reakcie. S použitím vytvorenej UDF je možné riešiť prúdenie s prebiehajúcou kalcináciou bez nutnosti poznania parametrov Arrheniovej rovnice. Vytvorená UDF zároveň berie do úvahy vplyv vnútro časticovej difúzie CO2 na rýchlosť reakcie.
Stavba a kontrola 5ti osých frézovacích strojů
Anderle, Milan ; Knobloch, Josef (oponent) ; Holub, Michal (vedoucí práce)
Táto bakalárska práca sa zaoberá rešeršou stavby a kontroly päťosových CNC obrábacích strojov. Popísané sú tu i najmodernejšie metódy merania geometrickej presnosti a kompenzácie geometrických a volumetrických chýb. Medzi prístroje, ktoré boli použité na meranie geometrickej presnosti na stroji MCV 754 Quick patria laser interferometerer XL-80 a systém ballbar QC20-W. Cieľom práce je popísať aktuálne trendy v oblasti stavby a kontroly päťosových obrábacích strojov.
Comparison of Nonlinear Observers for Underactuated Mechanical Systems
Anderle, Milan ; Čelikovský, Sergej
This paper provides the comparison of nonlinear observers for underactuated mechanical systems with aplication to Acrobot walking. Namely, it aims to compare a reduced observer for the Acrobot angular velocities based on the respective angles measurements with a observer for the Acrobot angular velocity and angle based on the other angular velocity and angle measurement and then to combine this observers with the earlier developed full state feedback controllers. For the Acrobot it is not possible to measure the angle between its stance leg and the surface directly because this angle is underactuated. One possibility of measuring this angle is using laser beam sensor and then computation the stance angle from that distance. Main disadvantage of this approach is the high price of the laser beam sensor. The other observer is based on angular velocity of stance leg measurement using the digital gyroscope.

Viz též: podobná jména autorů
3 Anderle, M.
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