Search results for: M. Kania

Authors: Adam Kurnicki, Bartłomiej Stanczyk, Bartosz Kania

Abstract:

This paper presents development of the light-weight manipulator with series elastic actuation for medical telediagnostics (USG examination). General structure of realized impedance control algorithm was shown. It was described how to perform force measurements based mainly on elasticity of manipulator links.

Keywords: telediagnostics, elastic manipulator, impedance control, force measurement

Procedia PDF Downloads 441

Authors: Sony Hartono, Azka Decana, Vilia Yohana, Annisa Luthfianihuda, Yuni Faizah, Tati Andriani, Dewi Kania, Fachri Zulfiqar, Sugiar Yusup, Arman Nugraha

Abstract:

Landslide is a geological hazard that is quite common in some areas in Indonesia and have disadvantages impact for public around. Due to the high frequency of landslides in Indonesia, and extensive damage, landslides should be specifically noted. Landslides caused by a soil or rock unit that has been in a state of unstable slopes and not in ideal state again, so the value of ground resistance or the rock been passed by the value of the forces acting on the slope. Based on this fact, authors held a geological engineering mapping at Muria Mountain, Kudus, Central Java province which is known as an agriculture and religion tourism area. This geological engineering mapping is performed to determine landslides potential at Muria Mountain. Slopes stability will be illustrated by a number called the “factor of safety” where the number can describe how much potential a slope to fall. Slopes stability can be different depending on the physical and mechanical characteristics of the soil and slope conditions. Testing of physical and mechanical characteristics of the soil conducted in the geotechnical laboratory. The characteristics of the soil must be same when sampled as well as in the test laboratory. To meet that requirement, authors used "undisturb sample" method that will be guarantee sample will not be distracted by environtment influences. From laboratory tests on soil physical and mechanical properties obtained characteristics of the soil on a slope, and then inserted into a Geological Information Software that would generate a value of factor of safety and give a visualization slope form area of research. Then, as a result of the study, obtained a map of the ground movement distribution map and i is implications for landslides potential areas.

Keywords: factor of safety, geological engineering mapping, landslides, slope stability, soil

Procedia PDF Downloads 383

Authors: P. Brunne, K. Ciechowska, K. Gajc, K. Gawin, M. Gawin, M. Kania, J. Kindracki, Z. Kusznierewicz, D. Pączkowska, F. Perczyński, K. Pilarski, D. Rafało, E. Ryszawa, M. Sobiecki, I. Uwarowa

Abstract:

Big amount of space debris constitutes nowadays a real thread for operating space crafts; therefore the main purpose of PW-Sat2’ team was to create a system that could help cleanse the Earth’s orbit after each small satellites’ mission. After 4 years of development, the motorless, low energy consumption and low weight system has been created. During series of tests, the system has shown high reliable efficiency. The PW-Sat2’s deorbit system is a square-shaped sail which covers an area of 4m². The sail surface is made of 6 μm aluminized Mylar film which is stretched across 4 diagonally placed arms, each consisting of two C-shaped flat springs and enveloped in Mylar sleeves. The sail is coiled using a special, custom designed folding stand that provides automation and repeatability of the sail unwinding tests and placed in a container with inner diameter of 85 mm. In the final configuration the deorbit system weights ca. 600 g and occupies 0.6U (in accordance with CubeSat standard). The sail’s releasing system requires minimal amount of power based on thermal knife that burns out the Dyneema wire, which holds the system before deployment. The Sail is being pushed out of the container within a safe distance (20 cm away) from the satellite. The energy for the deployment is completely assured by coiled C-shaped flat springs, which during the release, unfold the sail surface. To avoid dynamic effects on the satellite’s structure, there is the rotational link between the sail and satellite’s main body. To obtain complete knowledge about complex dynamics of the deployment, a number of experiments have been performed in varied environments. The numerical model of the dynamics of the Sail’s deployment has been built and is still under continuous development. Currently, the integration of the flight model and Deorbit Sail is performed. The launch is scheduled for February 2018. At the same time, in cooperation with United Nations Office for Outer Space Affairs, sail models and requested facilities are being prepared for the sail deployment experiment under micro-gravity and low pressure conditions at Bremen Drop Tower, Germany. Results of those tests will provide an ultimate and wide knowledge about deployment in space environment to which system will be exposed during its mission. Outcomes of the numerical model and tests will be compared afterwards and will help the team in building a reliable and correct model of a very complex phenomenon of deployment of 4 c-shaped flat springs with surface attached. The verified model could be used inter alia to investigate if the PW-Sat2’s sail is scalable and how far is it possible to go with enlarging when creating systems for bigger satellites.

Keywords: cubesat, deorbitation, sail, space, debris

Procedia PDF Downloads 262