Yuri L. Karavaev¹, Ph.D. in Physic-mathematic science, Associated Professor of Mechatronic systems Department, e-mail: karawaew_yura@mail.ru

Anton V. Klekovkin¹, Ph.D. student of Mechatronic systems Department, e-mail: klanvlad@mail.ru

Kirill S. Efremov¹, Ph.D. student of Mechatronic systems Department, e-mail: ks.efremov18@gmail.com

Viacheslav Shestakov¹, Master student of Mechatronic systems Department, e-mail: slafik9526@gmail.com

¹Izhevsk State Technical University named after M.T. Kalashnikov

This paper is dedicated to solve a task of autonomous obstacle avoidances, which arise on a path of motion of a highly maneuverable omniwheel mobile robot. Design description and a system architecture of the mobile robot are described. Mobile robot functionality is realized by means of instrumentality of the ROS meta-operating system. Experimental research results, the developed control algorithm for the created prototype of a mobile robot are described.

Keywords: omniwheel robot, lidar, navigation, simultaneous localization and mapping (SLAM).

References

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2. Algorithms for four-wheel robots control at the moving on cross country  / М.I. Evstigneev, Yu.V. Litvinov, V.V. Mazulina, G.М. Mischenko // Proceedings of Higher Schools. Instrument Making. 2015. Vol. 58. No 9. P. 738–741.
3. Boucher S. Obstacle detection and avoidance using turtlebot platform and xbox kinect // Department of Computer Science, Rochester Institute of Technology. 2012. P. 56.
4. Karavaev Yu.L., Klekovkin А.V., Lesin S.K. The multi-sensor information-measuring system for moving in non-determined medium // Intelligence Systems at Manufacturing. 2016. No. 4. P. 111–115.
5. Borisov A.V., Kilin A.A., Mamaev I.S., Dynamics and Control of an Omniwheel Vehicle // Regular and Chaotic Dynamics. 2015. Vol. 20. No. 2. P. 153–172.
6. Karavaev Yu.L., Kilin А.А. Dynamics of a super robot with an internal omniwheel platform // Nonlinear Dynamics. 2015. Vol. 11. No. 1. P. 187–204.
7. Kilin А.А., Karavaev Yu.L. Kinematic model for a super robot control with an unstable omni-wheel platform // Nonlinear Dynamics. 2014. Vol. 10. No 4. P. 497–511.
8. ROS: an open-source Robot Operating System / Quigley M. et al. // ICRA workshop on open source software. 2009. Vol. 3. No. 3.2. P. 5.
9. Grisetti G., Stachniss C., Burgard W. Improved techniques for grid mapping with rao-blackwellized particle filters // IEEE transactions on Robotics. 2007. Vol. 23. No. 1. P. 34–46.
10. Experimental investigations of a highly maneuverable mobile omniwheel robot / A.A. Kilin, P. Bozek, Y.L. Karavaev, A.V. Klekovkin, V.A. Shestakov // International Journal of Ad­vanced Robotic Systems. 2017. Vol. 14. No. 6. P. 1–9.
11. Ge S. S., Cui Y. J. Dynamic motion planning for mobile robots using potential field method // Autonomous Robots. 2002. Vol. 13. No. 3. P. 207–222.
12. Wang Y., Chirikjian G.S. A new potential field method for robot path planning // Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on. – IEEE. 2000. Vol. 2. P. 977–982.

Ilia G. Rukovitsyn¹, Ph.D. in Technical Sciences, Senior Researcher, е-mail: irukovitsyn@mail.ru

Vladislav A. Asadulin¹, Ph.D. in Technical Sciences, Head of Scientific-research department, е-mail: kabinet925@gmail.com

¹Main Scientific Research Test Center of the Russian Ministry of Defence

The article deals with the elastic rotor of a turboexpander with a system of active magnetic suspension, as well as  ssues related to the device of magnetic suspension for an elastic rotor. To maintain the longitudinal axis of the rotor in the central position on the active magnetic bearings, it is necessary to take into account vibrations and dynamic loads arising during the rotation of the rotor, which can have a strong impact on stability of the electroniccontrol system of the electromagnetic suspension. As the example of the developed mathematical model of the elastic rotor of the turboexpander with the use of the finite element method, the analysis of the dynamic characteristics of the rotor is carried out. The results of studies of a turboexpander rotor dynamics with a magnetic suspension system are presented, the analysis of which gives a comprehensive idea of the most importantfeatures of oscillations of the turboexpander elastic rotor on magnetic bearings.

Keywords: rotor, magnetic suspension, critical rotor speed, gyroscopic forces, robotic systems.

References

1. Leontiev М.K., Davydov А.L., Degtiarev S.А. Dynamics of rotor systems based on magnetic bearings // Gas-turbine Technologies. 2011. No 3. P. 16–22.
2. Zhuravlev Yu.N. Active Magnetic Bearings: Theory, Design, Usage. San-Petersburg: Politekhnika (Polytechnic), 2003. – 206 p.
3. Rukovitsyn I.G. Development of a rotor mathematic model on the magnetic hanger // Proc. of the IV Scientific-practice Conference of Young Specialists and Students in memory of the Chief Structural Engineer Academician V.A. Kuznetsov. М.: Bauman Moscow State Technical University, 2007. P. 197–205.
4. Leontiev М.K., Davydov А.L., Degtiarev S.А. Dynamics of rotor systems with magnetic bearings // Bulletin of Moscow Aviation Institute. 2012. Vol. 19. No 1. P. 91–101.
5. Kostiuk А.G. Turbomachines Dynamics and Strength: 3^rd edit. М.: Publishing House of the National Research University "Moscow Power Engineering Institute", 2007. – 476 p.
6. Gienta G. Kinetic Energy Storage. Theory and Practice of Advanced Flywheel Systems. М.: Mir (World), 1988. – 430 p.
7. Identification of rotor dynamic behavior in the magnetic hanger system / А.S. Abduragimov, V.P. Vereschagin, А.V. Rogoza, I.G. Rukovitsyn, А.P. Sarychev // Electromechanics Issues. Proc. Of VNIIEM. 2014. Vol. 143. P. 7–10.
8. Rotor dynamic analysis of RM12 jet engine rotor using ANSYS // Department of mechanical engineering, Blekinge institute of technology, Karlskrona, Sweden 2012. URL: https://ru.scribd.com/document/270818534/RotorDynamic-Analyis-of-Rm21-Enginer (дата обра­ще­ния: 20.08.2018).
9. Rotor dynamic analysis of 3D-modeled gas turbine rotor in ANSYS. URL: http://www.solid.iei.liu.se/Publications/Master_thesis/2009/LIU-IEI-TEK-A--0900654--SE_JoakimSamuelsson.pdf (дата обращения: 20.08.2018).
10. Erik Swanson, Chris D. Powell, Sorin Weissman. A Practical Review of Rotating Machinery Critical Speeds and Modes. URL: http://www.sandv.com/downloads/0505swan.pdf (дата обращения: 20.08.2018).

Valentin Teraud¹, Doctor of Technical Science, Senior Researcher, е-mail: ldrnww@gmail.com

¹Mechanics Research Institute of Lomonosov Moscow State University

The process of loss of stability (localization of deformations) in the creep of stretch samples is considered. On the basis of the Drucker stability postulate, a mathematical inequality is obtained for the stable stretching of the sample. Using the known experimental data on the creep of various materials and applying the theoretical Drucker criterion, the instants of instability of the beginning of the unstable stretching (the moment of neck formation) were obtained.

Keywords: creep, deformation localization, necking, stability, theory.

References

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5. Teraud V.V. Experimental criteria for location of creep deformations in rectangular specimens at high temperature // Bulletin of Mechanical Engineering. 2017. No 7. P. 28–34.
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8. Hora P., Tong L., Reissner J. A prediction me­thod for ductile sheet metal failure in FE-simulation // Proc. of NUMISHEET’96 Conference. MI. USA. 1996. P. 252–256.
9. Malygin G.A. Influence of the grain size on the resistance of micro and nanocrystalline me­tals against the neck like localization of plastic deformation // Physics of the Solid State. 2011. Vol. 53. No. 2. 363–368.
10. Nirmal K. Constant-load tertiary creep in ni­ckel-base single crystal superalloys // Materials Science and Engineering. 2006. Vol. 432. P. 129–141.
11. Drucker D. A definition of stable inelastic material // Trans. ASME. Ser. E. J. Appl. Mech. 1959. Vol. 6. No. 1. P. 101. (рус. перев.: Механика. Сб. перев., 1960. № 2. C. 55).
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13. Tsvelodub I.Yu. Stability Postulate and its Application in Creep Theory of Metal Materials. Novosibirsk: Institute of Hudrodynamics of Siberian Branch of the Russian Academy of Sciences, 1991. – 100 p.
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15. Experimental research of residual kinetics in strengthen hollow cylinder Д16Т simples at creep / V.P. Radchenko, V.А. Kirpichev, V.V. Lunin, А.P. Filatov, А.P. Morozov // Bulletin of Samara State Technical University. Series of Physics and Mathematic Sciences. 2016. T. 20. № 2. С. 290–305.
16. Guguloth K., Roy N. Creep deformation beha­vior of 9Cr1MoVNb (ASME Grade 91) steel // Materials Science & Engineering. 2017. Vol. 680. P. 388–404.
17. Yang X., Ling X. Application of a composite model in the analysis of creep deformation at low and intermediate temperatures. Preprints 2017, 2017050188 (doi:10.20944/preprints201705.0188.v1). P. 1–9.

Aleksander N. Polilov¹, Doctor of Technical Sciences, Professor, Head of the Laboratory of the Composite Structures Safety and Durability, е-mail: polilov@imash.ru

Nikolai A. Tatus¹, PhD in Technical Sciences, Senior Researcher of the Laboratory of the Composite Structures Safety and Durability, е-mail: nikalet@mail.ru

¹Blagonravov Institute of Mechanical Engineering of the RAS

The main non-traditional effects of polymeric composites application are discussed, and these effects are connected not only with mechanical & physical properties, but also with technological feature and with possibility of using of animate Nature optimum design principles. The analysis of effectiveness of composite branched, bio-inspired structure members are presented, and these members may be used as springs which can store elastic energy.

Keywords: composite material, effects of composite application, branched and shaped equistrong structure, Leonardo’s rule.

References

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Victor V. Ovchinnikov¹, Ph.D. (hab) in Technical Sciences, Professor of Material Science Department, Academician of International Academy of Informatization, e-mail: vikov1956@mail.ru

Marina A. Gureeva ², PhD in Technical Sciences, Associate Professor, Leading Expert of the Al Deformable Alloys Department, е-mail: vag1706@mail.ru

Aleksander M. Drits ², PhD in Technical Sciences, Director for Business Development, е-mail: Alexander.Drits@arconik.com

¹Moscow Polytechnical University

²«Arkonik-SMZ» Co.

This article is dedicated to the main directions of technology development for making wire for fusion welding of aluminum alloys. There are presented the main brand subsidiary wires used for welding of traditional wrought aluminium alloys of Al-Mn, Al-Mg, Al-Cu-Mn alloying systems. The outcomes of the work cycle, allowing to identify the main regularities of influence of additives on the structure and properties of scandium auxiliary system wires Al-Mg-Sc. The influence of scandium, contained in the filler wire on weldability of aluminum alloys. The modern technology of surface preparation wire by scalping, which combined with the mopping up of the surface of the aluminum parts for laser radiation, creates a basis for the elaboration of details and preparation technology wire bypassing the operation of chemical etching.

Keywords: aluminum alloys, filler wire chemical composition, roundness, surface defects, system alloys Al-Mg-Sc, scalping wire surface.

References

1. Drits А.М., Ovchinnikov V.V. Welding of Al Alloys (monography). М.: «Ore and Metals» Publishing House, 2017. – 440 p.
2. Grushko О.Е., Ovsyannikov V.V., Ovchinnikov V.V. Aluminum-lithium alloys: metallurgy, welding, metal science. М.: Nauka, 2014. – 298 p.
3. Drits А.М., Ovchinnikov V.V. Weldability and performance of welded joints of Al-Cu-Li system alloys // Metal Science and Metal Thermal Treatment. 2011. No 9. P. 45–49.
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5. Riazantsev V.I., Ovchinnikov V.V. Cyclic strength of Aluminum alloys welded joints // Blanc Production in Mechanical Engineering. 2008. No 12. P. 10–14.
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13. Yakushin B.F., Bakulo А.V., Shiganov I.N. Improvement of weldability of heat-strengthened aluminum alloys // Color Metals. 2016. No 5. P. 79–84.
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20. Rudzey G.F. Influence of weld defects and of number of  Влиянидефектов сварки и числа ремонтных проходов на сопротивление усталости сварных соединений из алюминиевых сплавов // Сварочное производство. 2013. № 11. С. 32–35.

Ilia P. Lian¹, Research Assistant of Vibromechanics Laboratory, е-mail: lyanilyaimash@yandex.ru

Grigory Ya. Panovko, Honoured Scientist of the Russian Federation, Ph.D. (hab.) of Technical Sciences, Professor, head of Vibromechanics Laboratory¹, Professor of Applied Mechanics Dpt.², е-mail: ganovko@yandex.ru

¹Blagonravov Institute of Mechanical Engineering of the RAS

²Bauman Moscow State Technical University

The article represents the results of modeling a granulated medium behavior on a vibrating surface. The system of equations of continuous medium mechanics is provided, as well as a rheological equation presenting a granulated medium as a non-Newtonian (dilatant) fluid. The numerical solution of the given system of equations is based on the modified method of large particles. The presented algorithm can be used for modeling the processes with granular media having different properties under periodical loads. The parametric analysis of vibration influence on the granular media behavior was conducted.

Keywords: granular medium, vibration, rough surface, modeling, method of large particles, vibrotransportation.

References

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