scholarly journals Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Yong-Bin Li ◽  
Tie-Jun Li ◽  
Hui-Fang Zhu ◽  
Dong Yang ◽  
Ya-Jun Chen ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Comparative Analysis ◽  
Screw Theory ◽  
Parameter Method ◽  
Advantages And Disadvantages ◽  
Calculation Results ◽  
Robot Technology ◽  
Dual Arm Robot ◽  
Exponential Formula ◽  
Dual Arm

The premise of analyzing and researching robot technology is to establish a proper mathematical model and then to solve it with kinematics. In this study, a self-developed humanoid hydraulically driven dual-arm robot is taken as the research object, and the DH (Denavit–Hartenberg) parameter method and the rotational exponential formula (POE) are used to solve the kinematics of the robot. The calculation results are verified by simulation. The advantages and disadvantages of the two methods are analyzed. The differences between the two methods are compared. It lays a foundation for other scholars to choose mathematical models when analyzing the mechanism in the future.

scholarly journals RESEARCH OF RESEARCH OF νt-92 TURBULENCE MODEL FOR CALCULATING AN AXISYMMETRIC SOUND JET

2020 ◽  
Vol 4 (2) ◽  
pp. 82-90
Author(s):  
Murodil Erkinjon oglu Madaliev ◽  
◽  
Dilshod Primkulovich Navruzov
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Comparative Analysis ◽  
Turbulence Model ◽  
Stokes Equations ◽  
Navier Stokes ◽  
Navier Stokes Equations ◽  
Calculation Results ◽  
The One ◽  
Subsonic Jet

A comparative analysis of the use of the turbulence model is carried out: the one-parameter Secundov νt-92 model on the problem of an axisymmetric subsonic jet. The calculation results are compared with experimental results on the propagation of speed, voltage, and temperature. The flow is turbulent, therefore, as a mathematical model, the system of Navier-Stokes equations averaged by Reynolds (RANS) is used. For the posed problem, a generalized stream function ψ is introduced. A comparison was made of the results of the νt-92 model with experimental data from [5] the dimensionless axial velocity from the distance to the nozzle

scholarly journals Rocket tracking impact point prediction using α-β, standard Kalman, extended, Kalman, and unscented Kalman filters: a comparative analysis

2020 ◽  
Vol 9 (3) ◽  
pp. e42932022
Author(s):  
José Alano Peres de Abreu ◽  
Roberto Célio Limão de Oliveira ◽  
João Viana da Fonseca Neto
Keyword(s):  
Mathematical Model ◽  
Kalman Filter ◽  
Comparative Analysis ◽  
Unscented Kalman Filter ◽  
Target Position ◽  
Accurate Information ◽  
Impact Point ◽  
Advantages And Disadvantages ◽  
Tracking Algorithms ◽  
The Impact

Accurate information about the impact point (IP) of a suborbital rocket on Earth’s surface during a launch is an important requirement for range safety operations. Four different estimators, i.e., the α-β filter, standard Kalman filter (SKF), extended Kalman filter (EKF), and unscented Kalman filter (UKF), are considered for the suborbital rocket tracking problem, whose data are used specifically for improving the accuracy of the IP prediction (IPP) of these vehicles. This paper presents a comparative analysis between the results of the estimators. Rocket flight data are discussed to demonstrate the advantages and disadvantages of the estimators and to determine the inherent limitations in predicting the aerodynamic effects found in certain flight situations. We discuss the appropriate mathematical model of a filter capable of running the real-time algorithm for the estimation of target position and velocity. This work uses actual data from a radar sensor to evaluate the tracking algorithms. We insert the filter result into the mathematical model developed to predict the rocket IP on Earth's surface. The main goal of this study is to evaluate the performance of four different estimators when specifically applied for the improvement of the IPP of suborbital rockets. It is demonstrated that the UKF outperforms all other tracking algorithms in terms of the accuracy and robustness of IP estimation.

Agrarian receipts as a tool for the structural transformation of financial and credit relations in the agrarian business of the region

2019 ◽  
pp. 40-53
Author(s):  
Yuliia Nehoda
Keyword(s):  
Comparative Analysis ◽  
Retrospective Analysis ◽  
Structural Transformation ◽  
Pilot Project ◽  
Bank Lending ◽  
Economic Benefits ◽  
Advantages And Disadvantages ◽  
New Instrument ◽  
Agricultural Business ◽  
Business Entities

The subject of the research – is a set of organizational-economic relations arising in the process of structural transformation of financial and credit relations in the agricultural business. The purpose of the article is a retrospective analysis of structural transformations of financial and credit relations in the agricultural business, evaluation of the effectiveness and feasibility of the introduction of agricultural receipts as a new instrument of lending to the agricultural business of the regions. Methodology of work – system-structural and comparative analyzes (to determine the effectiveness of the crediting mechanism according to the agricultural receipts of the farmers of the region); monographic (when studying the problems of the functioning of the mechanism of lending to agrarians by agrarian receipts) economic analysis (when carrying out a comparative analysis of the mechanism of classical bank lending to the agrarian business and the mechanism of lending to agrarians according to agrarian receipts); modeling and forecasting (when determining ways to overcome the existing deficiencies in the mechanism of lending to agrarian business entities of the region according to agrarian receipts). The results of the work – a retrospective analysis of the structural transformation of financial and credit relations in the agricultural business was carried out. The mechanism of crediting agrarians according to agrarian receipts and the scale of its distribution in the agrarian business of the region are considered. A comparative analysis of the mechanism of classical bank lending to the agrarian business and the mechanism of lending to agrarians according to agrarian receipts was carried out. In the framework of the pilot project “Agrarian receipts in Ukraine” of the international financial corporation (IFC) in partnership with the Swiss Confederation in Ukraine, the example of the Poltava region defined the effectiveness of the crediting mechanism according to the agrarian receipts of the agrarians of the region. The advantages and disadvantages of the mechanism of crediting the subjects of the agrarian business on agrarian receipts are noted. The ways to overcome the existing shortcomings of the mechanism of crediting the subjects of the agrarian business of the region according to agricultural receipts are determined. Conclusions – according to the results of the conducted research, the effectiveness of the mechanism of lending to the agricultural business of the regions according to agricultural receipts was proved, its advantages and disadvantages were noted, and attention was also focused. Proposed in Art. 7 of Law No. 5479-VI clearly delineate cases and restrictions on the debtor’s reimbursement of expenses incurred by the lender with the acquisition of the right to grow and harvest the pledged crop of agricultural products, which will ensure the principle of equality of parties on economic benefits and distribution of credit risks according to agricultural receipts.

Research of methods of protecting organizations from inimical mergers and acquisitions

2020 ◽  
pp. 29-45
Author(s):  
O.A. Naydis ◽  
I.O. Naydis
Keyword(s):  
Comparative Analysis ◽  
Mergers And Acquisitions ◽  
Positive Effects ◽  
Advantages And Disadvantages ◽  
Preventive Methods

The article considers the types, forms, mechanisms and classification of mergers and acquisitions, identifies their positive effects, and studies the tactics of acquisitions. The analysis of anti-capture measures: active and preventive methods of protection against hostile mergers and acquisitions. A comparative analysis of anti-capture measures with acquisitions tactics was carried out, the advantages and disadvantages of their application were identified.

ON COMPARATIVE ANALYSIS OF PERFORMANCE OPTIMIZATION METHODS OF MULTI-PUMP UNITS

2020 ◽  
pp. 23-28
Author(s):  
A.I. Glushchenko ◽  
M.Yu. Serov
Keyword(s):  
Energy Efficiency ◽  
Control System ◽  
Comparative Analysis ◽  
Performance Optimization ◽  
Optimization Methods ◽  
Online Optimization ◽  
New Approach ◽  
Advantages And Disadvantages ◽  
Analysis Of Performance

В статье рассматривается вопрос совершенствования системы управления параллельно-работающими насосными агрегатами с целью повышения энергоэффективности их работы. Проведено сравнение и выявление недостатков существующих методов решения рассматриваемой проблемы. Предложена идея нового подхода на базе онлайн оптимизации. The problem under consideration is improvement of the energy efficiency of a control system of parallel-running pump units. Known methods used to solve this problem are considered. Their advantages and disadvantages are shown. Finally, the idea of a new approach, which is based on online optimization, is proposed.

scholarly journals A comparative Analysis of PV Cell Mathematical Model

2021 ◽  
Vol 1795 (1) ◽  
pp. 012042
Author(s):  
M. Rasheed ◽  
O. Y. Mohammed ◽  
S. Shihab ◽  
Aqeel Al-Adili
Keyword(s):  
Mathematical Model ◽  
Comparative Analysis ◽  
Pv Cell

scholarly journals Mathematical model and calculation results of the kerosene aerosol combustion rate

2020 ◽  
Vol 1565 ◽  
pp. 012022
Author(s):  
V A Poryazov ◽  
K M Moiseeva ◽  
A Yu Krainov ◽  
D A Krainov
Keyword(s):  
Mathematical Model ◽  
Combustion Rate ◽  
Calculation Results

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

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