Partner: Paweł Chodkiewicz

Warsaw University of Technology (PL)

Recent publications
1.Chodkiewicz P., Lengiewicz J., Zalewski R., Discrete element method approach to modelling VPP dampers, MATEC Web of Conferences, ISSN: 2261-236X, DOI: 10.1051/matecconf/201815702014, Vol.157, No.02014, pp.1-8, 2018
Abstract:

In this paper, we present a novel approach to modeling and analysis of Vacuum Packed Particle dampers (VPP dampers) with the use of Discrete Element Method (DEM). VPP dampers are composed of loose granular medium encapsulated in a hermetic envelope, with controlled pressure inside the envelope. By changing the level of underpressure inside the envelope, one can control mechanical properties of the system. The main novelty of the DEM model proposed in this paper is the method to treat special (pressure) boundary conditions at the envelope. The model has been implemented within the open-source Yade DEM software. Preliminary results are presented and discussed in the paper. The qualitative agreement with experimental results has been achieved.

Keywords:

VPP, discrete element method, Yade DEM, modelling, smart structures, smart materials

Affiliations:
Chodkiewicz P.-Warsaw University of Technology (PL)
Lengiewicz J.-IPPT PAN
Zalewski R.-other affiliation

Conference papers
1.Hołobut P., Chodkiewicz P., Macios A., Lengiewicz J., Internal localization algorithm based on relative positions for cubic-lattice modular-robotic ensembles, IROS, IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016-10-09/10-14, Daejeon, South Korea (KP), DOI: 10.1109/IROS.2016.7759473, pp.3056-3062, 2016
Abstract:

Module localization is an important aspect of the operation of self-reconfigurable robots. The knowledge of spatial positions of modules, or at least of the overall shape which the modules form, is the usual prerequisite for reconfiguration planning. We present a general, decentralized algorithm for determining the positions of modules placed on a cubic grid from local sensor information. The connection topology of the robot is arbitrary. We assume that a module can sense the presence of its immediate neighbors on the grid and determine their positions in its own local coordinate system, but cannot sense the orientations of the coordinate systems of its neighbors. Since orientation cannot be directly communicated between modules, the modules can only exchange information about the relative positions of their neighbors. The algorithm aggregates this information over the entire network of modules and narrows down the set of valid positions for each module as far as possible. If there exists a unique locally-consistent assignment of coordinates to all modules then it is found.

Affiliations:
Hołobut P.-IPPT PAN
Chodkiewicz P.-Warsaw University of Technology (PL)
Macios A.-Warsaw University of Technology (PL)
Lengiewicz J.-IPPT PAN

Conference abstracts
1.Chodkiewicz P., Zalewski R., Lengiewicz J., Dem modeling of vacuum packed particles dampers, SolMech 2018, 41st SOLID MECHANICS CONFERENCE, 2018-08-27/08-31, Warszawa (PL), pp.208-209, 2018