Controlling mechanical systems with position and velocity cascade loops is one of the most effective methods to operate this type of systems. However, when using low-rate sampling electronics, the implementation is not trivial and the resulting performance can be poor. This paper proposes effective tuning rules that only require establishing the bandwidth of the inner velocity loop and an estimation of the inertia of the mechanism. Since discrete-time mechatronic systems can also exhibit unstable behavior, several stability conditions are also derived. By using the proposed methodology, a P-PI control algorithm is developed for a desktop haptic device, obtaining good experimental performance with low sampling-rate electronics.
There are many financial ways to intensify the construction of new renewable energy sources installations, among others: feed in tariff, grants. An example of photovoltaic grant support in Poland is the “Mój Prąd” [My Electricity] program created in 2019. This program, with a budget of PLN 1 billion, is intended for households in which installations with a capacity range of 2–10 kWp have been installed. During its first edition 27,187 application were submitted. Over 98% of installations cost less than PLN 6,000/kWp. The total installed capacity is 151.3 MWp, which gives the average amount of co-funding per unit of power at the level of PLN 884.7/kWp. The average power of the installation on the national scale is 5.57 kWp, the indicator per 1000 inhabitants is 3.94 kWp, and per unit of area is 0.484 kWp/km2. These installations will produce around 143.5 GWh of electricity annually, contributing to the reduction of CO2 emissions by approximately 109,800 Mg per year. Most applications came from the Silesian Province (3855), which translated into the largest installed capacity of 21.82 MWp, as well as 4.81 kWp/1000 inhabitants and 1.77 kWp/km2 (over 3 times higher than the average in Poland). The installed capacity in the individual province was closely correlated with the population of the province (correlation coefficient – 0.95), while the installed capacity indicator per 1,000 inhabitants with insolation (0.80). The highest power ratio per 1000 inhabitants was achieved in the Podkarpackie Province and amounted to 5.05, and the lowest in the West Pomeranian Province (2.41).
Henri Bergson as well as Gaston Milhaud undertake a radical critique of the conception of radical determinism because they both think that mind is able to act in a free and creative manner. In the article, I examine to what degree their arguments, aimed to prove this autonomy, converge. I inquire whether their endorsement of freedom of the mental acts led the two philosophers to the same conclusions regarding the cognitive extent of the intellect and therefore the parallel description of the status of scientific cognition.
The work presents a structural and functional model of a distributed low level radio frequency (LLRF) control, diagnostic and telemetric system for a large industrial object. An example of system implementation is the European TESLA-XFEL accelerator. The free electron laser is expected to work in the VUV region now and in the range of X-rays in the future. The design of a system based on the FPGA circuits and multi-gigabit optical network is discussed. The system design approach is fully parametric. The major emphasis is put on the methods of the functional and hardware concentration to use fully both: a very big transmission capacity of the optical fiber telemetric channels and very big processing power of the latest series of DSP/PC enhanced and optical I/O equipped, FPGA chips. The subject of the work is the design of a universal, laboratory module of the LLRF sub-system. The current parameters of the system model, under the design, are presented. The considerations are shown on the background of the system application in the hostile industrial environment. The work is a digest of a few development threads of the hybrid, optoelectronic, telemetric networks (HOTN). In particular, the outline of construction theory of HOTN node was presented as well as the technology of complex, modular, multilayer HOTN system PCBs. The PCBs contain critical sub-systems of the node and the network. The presented exemplary sub-systems are: fast optical data transmission of 2.5 Gbit/s, 3.125 Gbit/s and 10 Gbit/s; fast A/C and C/A multichannel data conversion managed by FPGA chip (40 MHz, 65 MHz, 105 MHz), data and functionality concentration, integration of floating point calculations in the DSP units of FPGA circuit, using now discrete and next integrated PC chip with embedded OS; optical distributed timing system of phase reference; and 1GbEth video interface (over UTP or FX) for CCD telemetry and monitoring. The data and functions concentration in the HOTN node is necessary to make efficient use of the multigigabit optical fiber transmission and increasing the processing power of the FPGA/DSP/PC chips with optical I/O interfaces. The experiences with the development of the new generation of HOTN node based on the new technologies of data and functions concentration are extremely promising, because such systems are less expensive and require less labour.
Pluralism and multiculturalism are new terms in biblical studies . Pluralism used in social sciences means a conditio of society in which members of diverse ethnic, racial, religious or social groups maintain their unique cultural identities. Multicultu-ralism focuses on interactions between different groups and communities within the confines of a common society. This paper aims at analysing the practice and models of pluralism in the Bible and the evaluation of pluralism in the biblical context (from separatism in the Abraham days until the multicultural Christian community in the first century). Christianity existed as a pluralistic community from the beginning. Paul the Apostle presents the Church as the body of Christ and interactions within the Chri-stian community consisting of Jews and Gentiles are illustrated by relations between members of the body. The mission of the Church is based on various models of incul-turation (contextualisation). All of these models intersect with one another in different ways. Pluralism in the biblical studies manifests itself also in the use of different Bible translation strategies and various methods of biblical exegesis and interpretation.
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