Optimization of the closed-loop controller of a discontinuous capsule drive using a neural network

Zarychta, Sandra; Balcerzak, Marek; Denysenko, Volodymyr; Stefański, Andrzej; Dąbrowski, Artur; Lenci, Stefano

doi:10.1007/s11012-023-01639-4

Cited by 7 publications

(3 citation statements)

References 25 publications

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“…the thrust bearing of the above-pressure beam (Figure 1). Such application of load to spring friction set of model 18 -578 trolley is connected with feature of design of elastically -roller slides with polymer damper with limitation of roller from falling out (Figure 4) [15,16]. At the same time, the spring-friction set of the trolley is located on the side of the external rail thread.…”

Section: Resultsmentioning

confidence: 99%

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Simulation of spring-friction set of freight car truck, taking into account track profile

Abdullayev,

Tokmurzina-Kobernyak,

Ashirbayev

et al. 2024

ijirss

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The purpose of this article is the mathematical modeling of a spring-friction set of a freight car trolley depending on the profile of the railway track. The article uses the methodology of the results of the generalized model of power interaction of friction pairs "pressure beam-friction wedge" and "friction wedge-friction bar" of the spring-friction set of the cart 18-578 in the mechanical system "track-car-load," in a particular case cart from which such models of the e of the freight car 18-100 can be obtained. The manuscript contains a software study using a computer simulation of a freight wagon trolley, which complements the experimental studies. The mathematical (symbolic) method in the computer algebra system MathCAD (a type of computer-aided design system) is used to solve the equations of equilibrium of the supercharger beam as a real object. In the course of the experimental study, a computational mathematical model of the force action of friction pairs of spring-absorbing trolley apparatuses was developed, and the results of calculations of the reaction of the friction bar to the friction wedge were mathematically obtained. The optimal parameters were obtained analytically, and the indicators of the angles of inclination of the contact surfaces of the trolley of the freight car were justified.

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Section: Resultsmentioning

confidence: 99%

“…F , i.e. symmetrical application of external load relative to longitudinal axis of symmetry of above-pressure beam, as in bogie of model 18-100 [14,15]. Elastic forces of sets of springs 62…”

Section: Resultsmentioning

confidence: 99%

Simulation of spring-friction set of freight car truck, taking into account track profile

Abdullayev,

Tokmurzina-Kobernyak,

Ashirbayev

et al. 2024

ijirss

View full text Add to dashboard Cite

show abstract

“…Moreover, an experimental study of the vibro-impact self-propulsion technique was reported, as shown in figure 4(b), where a mathematical model was developed for studying the dynamical characteristics of the capsule robot in the nonsmoothed multibody system [35][36][37]. In addition, a closed-loop control system for the capsule robots based on the neural network was proposed, which improved the continuity and stability of motion by establishing the relationship between the controller and the system state through machine learning [38]. Until now, many optimization methods have been carried out to improve the structural models and dynamic models of the capsule robots, but some complex factors such as the surface viscosity, surface wrinkling, and intestinal motility have not been deeply studied, which limits the applications of these models in the actual environments.…”

Section: Locomotion Of Capsule Robotsmentioning

confidence: 99%

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Hua,

Deng,

Gołdasz

et al. 2024

Smart Mater. Struct.

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As a new type of medical equipment, capsule robots are actuated wirelessly by space magnetic field, which have important application advantages in the diagnosis and treatment of gastrointestinal diseases. Active locomotion is the basis of medical operation for capsule robots, as well as an important guarantee to avoid misdetection and retention in the body. Furthermore, the pose estimation of the capsule robots in the gastrointestinal tract can provide accurate information for medical operation and improve work efficiency. Specific medical operation is one of the ultimate goals of capsule robots, and it is the key to realize the non-invasive diagnosis and treatment technology. Moreover, replacing traditional chemical batteries with wireless power transfer technology not only reduces the dimensions of the capsule robots, but also provides unlimited possibilities for the development of medical operations. In this work, the state-of-the-art capsule robots are reviewed according to the research directions of the locomotion, pose, medical operation and wireless power transmission reported from 2018 to 2023. In light of the four main directions of the capsule robots, some important research achievements and approaches are summarized. In particular, some outstanding advances on innovative structure, efficient methodology and appropriate application of the capsule robots are introduced in details. Finally, an overview of the significant issues occurred in the capsule robots is reported, and the developing trends are discussed.

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Friction modelling and the use of a physics-informed neural network for estimating frictional torque characteristics

Olejnik,

Ayankoso

2023

Meccanica

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This paper presents an exploration of friction modeling encompassing theoretical and practical aspects, utilizing a planar or 2D contact system. Various white-box friction models, including static and dynamic variants, are introduced, highlighting the superior capability of dynamic models in comprehensively capturing friction effects, substantiated through numerical simulation. Practical aspects of friction measurement and data-driven friction modeling are elucidated. The discourse extends to the development of grey-box and black-box friction models. A significant contribution lies in the proposition of a physics-informed neural network-based friction modeling approach, presenting it as an advanced and preferable alternative for friction estimation. To exemplify its efficacy, a case study of a torsion-based frictional contact scenario, employing Physics-Informed Neural Network (PINN) and the Nelder–Mead (N–M) algorithm for concurrent dynamics and friction model identification, was examined. Experimental data from a double torsion pendulum system, characterized by discontinuous dynamics, is employed for training. Results demonstrate the PINN’s superiority, providing more accurate representation of stick–slip phases at the contact zone and exhibiting faster performance compared to the N–M algorithm. The paper concludes by deliberating on challenges, prospects, and future directions in friction modeling.

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Optimization of the closed-loop controller of a discontinuous capsule drive using a neural network

Cited by 7 publications

References 25 publications

Simulation of spring-friction set of freight car truck, taking into account track profile

Simulation of spring-friction set of freight car truck, taking into account track profile

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Friction modelling and the use of a physics-informed neural network for estimating frictional torque characteristics

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