Identification of Differential Drive Robot Dynamic Model Parameters

The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.

Analysis of the Kinetics of Swimming Pool Water Reaction in Analytical Device Reproducing Its Circulation on a Small Scale

The most common cause of diseases in swimming pools is the lack of sanitary control of water quality; water may contain microbiological and chemical contaminants. Among the people most at risk of infection are children, pregnant women, and immunocompromised people. The origin of the problem is a need to develop a system that can predict the formation of chlorine water disinfection by-products, such as trihalomethanes (THMs). THMs are volatile organic compounds from the group of alkyl halides, carcinogenic, mutagenic, teratogenic, and bioaccumulating. Long-term exposure, even to low concentrations of THM in water and air, may result in damage to the liver, kidneys, thyroid gland, or nervous system. This article focuses on analysis of the kinetics of swimming pool water reaction in analytical device reproducing its circulation on a small scale. The designed and constructed analytical device is based on the SIMATIC S7-1200 PLC driver of SIEMENS Company. The HMI KPT panel of SIEMENS Company enables monitoring the process and control individual elements of device. Value of the reaction rate constant of free chlorine decomposition gives us qualitative information about water quality, it is also strictly connected to the kinetics of the reaction. Based on the experiment results, the value of reaction rate constant was determined as a linear change of the natural logarithm of free chlorine concentration over time. The experimental value of activation energy based on the directional coefficient is equal to 76.0 [kJ×mol−1]. These results indicate that changing water temperature does not cause any changes in the reaction rate, while it still affects the value of the reaction rate constant. Using the analytical device, it is possible to constantly monitor the values of reaction rate constant and activation energy, which can be used to develop a new way to assess pool water quality.

New method of quantitative analysis of seminiferous epithelium in male guinea pigs

The aim of the study was the comparison of a newly developed method of quantitative analysis of the seminiferous epithelium (SE) cells with the traditional method based on stage classification according to Clermont. In 4000 sections of seminiferous tubules the following parameters have been evaluated: in procedure I--the frequency of cells at the particular stages of the SE cycle, in procedure II--the frequency of particular cell types forming SE. In the two procedures, 17,726 and 14,670 cells were assessed, respectively. In both procedures, the mean values of the studied cells per animal (I--886.3 +/- 15.4; II--733.5 +/- 96.9) and the distribution of the particular types of cells were similar. The new method of quantitative analysis is less laborious and cheaper. It may be applied instead of the method used so far.