This paper is focused on the impacts of the biodegradable hydraulic and transmission fluid (Universal Tractor Transmission Oil) on operation of tractor hydraulic and transmission systems. The fluid was used in the hydraulic and transmission systems of a Zetor Proxima 6321 tractor. Fluid samples were taken from the Zetor Proxima 6321 tractor at intervals of 250 engine hours. These samples were subjected to an infrared spectroscopy analysis in order to measure the total acid number and perform the ferrography analysis. This paper proves minimal impacts of the biodegradable hydraulic fluid on operation of the Zetor Proxima 6321 tractor. The biodegradable fluid meets the requirements for the operation of agricultural tractors in terms of low impacts on the wear of hydraulic components.
Energy balance of the photovoltaic system is influenced by many factors. In this article the effect of tilt and azimuth angle changes of the photovoltaic system energy production is analyzed. These parameters have significant impact on the amount of solar radiation which hits on the photovoltaic panel surface and therefore also on the energy absorbed by the module surface. The main aim of research was identification of the optimal position of photovoltaic system installation in the southern Slovakia regions. The experimental apparatus had two setups consisting of polycrystalline photovoltaic modules. The first setup was used for identification of the tilt angle changes in the range (0–90°). The second one was focused on the detection of the azimuth angle effect to the energy production. The measurement results were statistically processed and mathematically analyzed. Obtained dependencies are presented as two-dimensional and three-dimensional graphical relations. Regression equations characterize time relations between the tilt or azimuth angle and the energy produced by the photovoltaic system in Southern Slovakia. Obtained simplified mathematical model was verified by analytical model. Presented models can be used for the dimensioning and optimization of the photovoltaic system energy production.
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 2 nd 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.
The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot's behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables -heading angle and distance, and two output variables -the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.
This article deals with thermophysical properties of red and white bricks. If we want to protect the high standard of quality building materials, we need to know the physical parameters which can evaluate the quality. The most important for building materials are mainly thermophysical, mechanical parameters and parameters which can determine the structure of materials. The article presents results of thermophysical parameters measurements of red and white bricks during the temperature stabilization for different values of moisture content. For our measurements, we have chosen a hot wire method and a dynamic plane source method. Both methods are classified as transient methods and they are very convenient for measurements of thermophysical parameters of materials with a compact structure. The results of measurements show that temperature and moisture content have a significant effect on thermophysical parameters of bricks.
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