Abstract This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.
This article discusses the influence of Tungsten Inert Gas (TIG) surfacing of duplex cast steel on its hardness and structure. The samples of 24Cr-5Ni-2.5Mo ferritic-austenitic cast steel were subjected to single-overlay processes with the use of solid wire having the chemical composition similar to that of the duplex cast steel. As a result of the surfacing, the welds were obtained that had no welding imperfections with a smooth transition to the base material. In the test without the heat treatment, directly below the fusion line, we observe a ferrite band with a width of approximately 200 m without visible austenite areas. Some of the samples were then solution treated (1060°C). Both variants, without and after solution heat treatment, were subjected to testing. Significant changes in the microstructure of the joint were observed after the heat treatment process (heat affected zone and weld microstructure changes). In both areas, an increase in the austenite volume fraction after solution heat treatment was observed. Changes in the microhardness of the ferrite in the HAZ area directly below the fusion line were also observed.
Abstract The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained.