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Muri ubu bushakashatsi, umuyoboro wa coil wa Stainless steel, imiterere y'amasoko yo gukurura no gukandagira y'uburyo bwo kuzingira amababa bukoreshwa muri roketi, ifatwa nk'ikibazo cyo kunoza. Iyo roketi imaze kuva mu muyoboro wo kurasa, amababa afunze agomba gufungurwa no gufatwa neza mu gihe runaka. Intego y'ubushakashatsi kwari ukugira ngo ingufu nyinshi zibitswe mu masoko zishobore gukoreshwa mu gihe gito gishoboka. Muri iki gihe, ikigereranyo cy'ingufu mu bitabo byombi cyasobanuwe nk'igikorwa cy'ingenzi mu buryo bwo kunoza. Umurambararo w'insinga, umurambararo wa coil, umubare wa coil, n'ibipimo byo kurenga bikenewe mu gishushanyo cy'isoko byasobanuwe nk'ibipimo byo kunoza. Hari imipaka ya geometrike ku bipimo bitewe n'ingano y'uburyo, ndetse n'imipaka ku kintu cy'umutekano bitewe n'umutwaro winjijwe n'amasoko. Algorithm ya honey bee (BA) yakoreshejwe mu gukemura iki kibazo cyo kunoza no gukora igishushanyo cy'isoko. Agaciro k'ingufu kabonetse hakoreshejwe BA karuta ako kabonetse mu bushakashatsi bwabanje bwo gushushanya ibizamini (DOE). Imisozi n'uburyo byakozwe hakoreshejwe ibipimo byabonetse mu kunoza byabanje gusesengurwa muri gahunda ya ADAMS. Nyuma y’ibyo, ibizamini by’igerageza byakozwe hifashishijwe imirasire yakozwe mu buryo nyabwo. Kubera iyo gerageza, byagaragaye ko amababa yafungutse nyuma ya milisegonda zigera kuri 90. Aka gaciro kari munsi cyane y’intego y’umushinga ya milisegonda 200. Byongeye kandi, itandukaniro riri hagati y’ibyavuye mu isesengura n’ibyavuye mu igerageza ni 16 ms gusa.
Mu ndege n'ibinyabiziga byo mu mazi, uburyo bwo kuzingira umuyoboro w'icyuma gikozwe mu cyuma gishyushye ni ingenzi cyane. Ubu buryo bukoreshwa mu guhindura no guhindura indege kugira ngo bunoze imikorere n'igenzura ry'indege. Bitewe n'uburyo bwo kuguruka, amababa azunguruka kandi agakura mu buryo butandukanye kugira ngo agabanye ingaruka z'ikirere1. Iki kibazo gishobora kugereranywa n'ingendo z'amababa y'inyoni zimwe na zimwe n'udukoko mu gihe cyo kuguruka no kwibira buri munsi. Mu buryo nk'ubwo, gliders zizunguruka kandi zigakura mu mazi kugira ngo zigabanye ingaruka za hydrodynamic no gukoresha neza 3. Indi ntego y'ubu buryo ni uguha inyungu z'ubwinshi bw'ibikoresho nko kuzingira propeller ya kajugujugu 4 mu kubika no gutwara. Amababa ya roketi nayo amanuka kugira ngo agabanye umwanya wo kubika. Bityo, misile nyinshi zishobora gushyirwa ku gace gato k'icyuma gikurura indege 5. Ibice bikoreshwa neza mu kuzingira no gukuramo indege akenshi ni amasoko. Mu gihe cyo kuzingira, ingufu zibikwamo kandi zigakurwamo indege mu gihe cyo kuzingira. Bitewe n'imiterere yayo yoroshye, ingufu zibikwa n'izirekurwa zirangana. Isoko ry'indege ryagenewe ahanini sisitemu, kandi iyi miterere itanga ikibazo cyo kunoza indege6. Kubera ko nubwo irimo ibintu bitandukanye nk'umurambararo w'insinga, umurambararo wa koyili, umubare w'izunguruka, inguni ya helix n'ubwoko bw'ibikoresho, hari kandi ibipimo nk'uburemere, ingano, ikwirakwizwa ry'umuvuduko muto cyangwa ingufu ntarengwa ziboneka7.
Ubu bushakashatsi bugaragaza imiterere n'uburyo amasoko y'amazi akoreshwa mu gukurura amababa akoreshwa mu buryo bwa roketi. Kubera ko ari mu muyoboro wo kururutsa mbere yo kuguruka, amababa aguma apfunyitse ku buso bwa roketi, kandi nyuma yo kuva mu muyoboro wo kururutsa, arapfunduka igihe runaka agakomeza gukandagirwa hejuru. Iyi gahunda ni ingenzi ku mikorere myiza ya roketi. Mu buryo bwo kuzunguruka bwakozwe, gufungura amababa bikorwa n'amasoko yo kuzunguruka, naho gufunga bigakorwa n'amasoko yo gukanda. Kugira ngo hakorwe isoko rikwiye, hagomba gukorwa uburyo bwo kuyungurura. Mu buryo bwo kuyungurura amababa, hari uburyo butandukanye bwo gukoresha mu nyandiko.
Paredes n'abandi.8 basobanuye ikintu cy'ingenzi cyane mu buzima bw'umuruho nk'igikorwa cy'ingenzi mu gushushanya amasoko ya helical, banakoresha uburyo bwa quasi-Newtonian nk'uburyo bwo kunoza. Ibintu bihinduka mu kunoza byagaragaye nk'umurambararo w'insinga, umurambararo wa coil, umubare w'impinduka, n'uburebure bw'impeshyi. Ikindi gipimo cy'imiterere y'isoko ni ibikoresho byakozwemo. Kubwibyo, ibi byatekerejweho mu bushakashatsi bwo gushushanya no kunoza. Zebdi n'abandi. 9 bashyizeho intego zo gukomera cyane n'uburemere buke mu gikorwa cy'ingenzi mu bushakashatsi bwabo, aho uburemere bwari ingenzi. Muri uru rubanza, basobanuye ibikoresho by'isoko n'imiterere ya geometrike nk'ibintu bihinduka. Bakoresha algorithme ya genetiki nk'uburyo bwo kunoza. Mu nganda z'imodoka, uburemere bw'ibikoresho ni ingirakamaro mu buryo bwinshi, kuva ku musaruro w'imodoka kugeza ku ikoreshwa rya lisansi. Kugabanya uburemere mu gihe banonosora amasoko ya coil kugira ngo asubikwe ni ubushakashatsi buzwi cyane10. Bahshesh na Bahshesh11 bagaragaje ibikoresho nka E-glass, carbone na Kevlar nk'ibintu bihinduka mu kazi kabo mu bidukikije bya ANSYS hagamijwe kugera ku buremere buke n'imbaraga nyinshi zo gukurura mu miterere itandukanye ya suspension spring composite. Uburyo bwo gukora ni ingenzi mu iterambere ry’amasoko avanze. Bityo, ibintu bitandukanye bihinduka mu kibazo cyo kunoza, nk'uburyo bwo gukora, intambwe zafashwe muri icyo gikorwa, n'urukurikirane rw'izo ntambwe12,13. Mu gushushanya amasoko ya sisitemu zihindagurika, umurongo karemano w'imikorere y'isi ugomba kwitabwaho. Ni byiza ko umurongo karemano wa mbere w'imikorere y'isiba nibura inshuro 5-10 z'imikorere karemano y'isiba kugira ngo hirindwe ko habaho ubwiyongere14. Taktak n'abandi 7 bahisemo kugabanya uburemere bw'isoko no kongera umubare karemano wa mbere nk'imikorere ifatika mu gishushanyo cy'amasoko ya coil. Bakoresheje uburyo bwo gushakisha imiterere, ingingo y'imbere, uburyo bukora, n'uburyo bwa algorithme ya genetiki muri Matlab optimization tool. Ubushakashatsi ku isesengura ni igice cy'ubushakashatsi ku isesengura ry'amasoko, kandi Finite Element Method ikunzwe muri uru rwego15. Patil n'abandi 16 bateguye uburyo bwo kunoza mu kugabanya uburemere bw'isoko ya helical compression bakoresheje uburyo bwo gusesengura kandi bagerageza ingano y'isesengura bakoresheje uburyo bwa finite element. Ikindi kintu kigenderwaho mu kongera akamaro k'isoko ni ukwiyongera kw'ingufu ishobora kubika. Uru rubanza kandi rutuma isoko rigumana akamaro karyo igihe kirekire. Rahul na Rameshkumar17 Bashaka kugabanya ingano y'isoko no kongera imbaraga mu miterere y'isoko ry'imodoka. Bakoresheje kandi algorithme z'imiterere y'uturemangingo mu bushakashatsi bwo kunoza.
Nkuko bigaragara, ibipimo mu bushakashatsi bwo gukora neza biratandukanye bitewe na sisitemu. Muri rusange, ibipimo by'ubukana n'ubukana bw'imitsi ni ingenzi muri sisitemu aho umutwaro itwara ari wo ugena. Guhitamo ibikoresho biri muri sisitemu ntarengwa y'uburemere hamwe n'ibi bipimo bibiri. Ku rundi ruhande, imirongo karemano igenzurwa kugira ngo hirindwe amajwi mu buryo buhindagurika cyane. Muri sisitemu aho akamaro k'ingufu ari ngombwa, ingufu zirakongerwa. Mu bushakashatsi bwo gukora neza, nubwo FEM ikoreshwa mu bushakashatsi bw'isesengura, bigaragara ko algorithme za metaheuristic nka algorithme ya genetiki14,18 na algorithme ya gray wolf19 zikoreshwa hamwe n'uburyo bwa Newton bwa kera mu byiciro bimwe na bimwe. Algorithme za metaheuristic zakozwe hashingiwe ku buryo bwo guhindura ibintu karemano bwerekeza ku rwego rwiza mu gihe gito, cyane cyane bitewe n'ingaruka z'abaturage20,21. Hamwe n'ikwirakwizwa ry'abaturage mu gace gashakishwa, birinda optima yo mu gace kandi byerekeza kuri optima mpuzamahanga22. Bityo, mu myaka ya vuba aha byakunze gukoreshwa mu bibazo nyabyo by'inganda23,24.
Ikibazo cy'ingenzi ku buryo bwo kuzingira bwakozwe muri ubu bushakashatsi ni uko amababa, yari afunze mbere yo kuguruka, afungura igihe runaka nyuma yo kuva mu muyoboro. Nyuma y'ibyo, ikintu gifunga gifunga ibaba. Kubwibyo, amasoko ntagira ingaruka ku mikorere y'indege. Muri iki gihe, intego yo kuzingira kwari ukugira ngo ingufu zabitswe zirusheho kwiyongera kugira ngo hihutishwe ingendo z'isoko. Umurambararo w'umuzingo, umurambararo w'insinga, umubare w'imizingo n'impinduka byasobanuwe nk'ibipimo byo kuzingira. Bitewe n'ingano nto y'isoko, uburemere ntibwafatwaga nk'intego. Kubwibyo, ubwoko bw'ibikoresho busobanurwa nk'ubudahinduka. Ingaruka z'umutekano ku mihindagurikire ya mekanike zigenwa nk'imbogamizi ikomeye. Byongeye kandi, ingano ihindagurika y'ingano iragaragara mu rwego rw'uburyo. Uburyo bwa BA metaheuristic bwatoranyijwe nk'uburyo bwo kuzingira. BA yakundwaga kubera imiterere yayo yoroshye kandi yoroshye, no kubera iterambere ryayo mu bushakashatsi ku kuzingira mekanike25. Mu gice cya kabiri cy'ubushakashatsi, imvugo zirambuye z'imibare ziri mu rwego rw'igishushanyo mbonera cy'ibanze n'igishushanyo mbonera cy'uburyo bwo kuzingira. Igice cya gatatu kirimo algorithm yo kuzingira n'ibyavuye mu kuzingira. Igice cya 4 gikora isesengura muri gahunda ya ADAMS. Isuzuma ry’uko amasoko y’amazi akoreshwa rikorwa mbere yo kuyatunganya. Igice cya nyuma kirimo ibyavuye mu bushakashatsi n’amashusho y’ibizamini. Ibyavuye mu bushakashatsi byagereranyijwe n’ibyakozwe mbere y’abanditsi bakoresheje uburyo bwa DOE.
Amababa yakozwe muri ubu bushakashatsi agomba kwizinga yerekeza ku buso bwa roketi. Amababa arazenguruka kuva aho apfundikiwe kugeza aho apfundikiwe. Kuri ibi, hakozwe uburyo bwihariye. Ku ishusho ya 1 hagaragara imiterere ipfundikiwe n'ipfundikiwe5 muri sisitemu yo guhuza roketi.
Ku ishusho ya 2 hagaragara ishusho y'igice cy'imikorere. Iyi mikorere igizwe n'ibice byinshi bya mekanike: (1) igice cy'ingenzi, (2) umugozi w'ibaba, (3) icyuma gifata, (4) umubiri ufunga, (5) igishishwa cyo gufunga, (6) agapira ko guhagarara, (7) isoko yo gufunga na (8) amasoko yo gukanda. Umugozi w'ibaba (2) uhujwe n'isoko yo gufunga (7) binyuze mu gasanduku ko gufunga (4). Ibice byose uko ari bitatu bizenguruka icyarimwe nyuma y'uko roketi igurutse. Muri uku kugenda kuzenguruka, amababa ahindukira aho ari. Nyuma y'ibyo, agapira (6) gakoreshwa n'isoko yo gukanda (8), bityo kagafunga imikorere yose y'umubiri ufunga (4)5.
Modulus irashya (E) na modulus irashya (G) ni ibipimo by'ingenzi by'imiterere y'isoko. Muri ubu bushakashatsi, insinga y'icyuma ikoresha amashanyarazi menshi (umugozi wa Music ASTM A228) yatoranyijwe nk'ibikoresho by'isoko. Ibindi bipimo ni umurambararo w'insinga (d), umurambararo w'ikigereranyo cya coil (Dm), umubare w'imirongo (N) n'impinduka mu isoko (xd ku masoko yo gukanda na θ ku masoko yo gukanda)26. Ingufu zibikwa ku masoko yo gukanda \({(SE}_{x})\) na torsion (\({SE}_{\theta}\)) zishobora kubarwa uhereye kuri equation. (1) na (2)26. (Agaciro ka modulus ikoresha amashanyarazi (G) ku isoko yo gukanda ni 83.7E9 Pa, naho agaciro ka modulus ikoresha amashanyarazi (E) ku isoko yo gukanda ni 203.4E9 Pa.)
Ingano za mekanike z’iyi sisitemu zigena mu buryo butaziguye imiterere y’ubuso bw’impeshyi. Byongeye kandi, imiterere y’aho roketi izaba iherereye nayo igomba kwitabwaho. Ibi bintu bigena imipaka y’ibipimo by’impeshyi. Indi mbogamizi y’ingenzi ni umutekano. Igisobanuro cy’umutekano cyasobanuwe birambuye na Shigley et al.26. Umutekano w’impeshyi yo gukanda (SFC) usobanurwa nk’umuvuduko ntarengwa wemewe ugabanijwemo umuvuduko w’uburebure buhoraho. SFC ishobora kubarwa hakoreshejwe ingano. (3), (4), (5) na (6)26. (Ku bikoresho by’impeshyi byakoreshejwe muri ubu bushakashatsi, \({S}_{sy}=980 MPa\)). F ihagarariye imbaraga muri iki gipimo naho KB ihagarariye Bergstrasser factor ya 26.
Igipimo cy’umutekano wa torsion cy’impeshyi (SFT) gisobanurwa nka M kigabanyijwe na k. SFT ishobora kubarwa uhereye kuri equation. (7), (8), (9) na (10)26. (Ku bikoresho byakoreshejwe muri ubu bushakashatsi, \({S}_{y}=1600 \mathrm{MPa}\)). Muri equation, M ikoreshwa kuri torque, \({k}^{^{\prime}}\) ikoreshwa kuri spring constant (torque/rotation), naho Ki ikoreshwa kuri stress correction factor.
Intego nyamukuru yo kunoza muri ubu bushakashatsi ni ukongera ingufu z'impeshyi. Umushinga w'intego wakozwe kugira ngo haboneke \(\overrightarrow{\{X\}}\) ukongera ingufu \(f(X)\). \({f}_{1}(X)\) na \({f}_{2}(X)\) ni imikorere y'ingufu z'impeshyi yo gukanda no gukurura, uko bikurikirana. Impinduka n'imikorere yabazwe ikoreshwa mu kunoza bigaragara muri ibi bikurikira.
Imbogamizi zitandukanye zishyirwa ku gishushanyo cy'isoko zitangwa muri ibi bikurikira. Ibigereranyo (15) na (16) bigaragaza ibintu by'umutekano ku misongero yo gukanda no gukurura, uko bikurikirana. Muri ubu bushakashatsi, SFC igomba kuba nini kurusha cyangwa ingana na 1.2 naho SFT ikaba nini kurusha cyangwa ingana na θ26.
BA yahumetswe n'ingamba zo gushaka imbuga z'inzuki27. Inzuki zishakisha mu kohereza imbuga nyinshi mu mirima y'uburumbuke n'imbuga nke mu mirima y'uburumbuke buke. Bityo, umusaruro mwinshi uva mu buvuzi uragerwaho. Ku rundi ruhande, inzuki zishakisha zikomeza gushaka ahantu hashya h'uburumbuke, kandi niba hari ahantu hatanga umusaruro kurusha mbere, imbuga nyinshi zishakisha zizerekeza muri aka gace gashya28. BA igizwe n'ibice bibiri: gushakisha mu gace no gushakisha ku isi yose. Gushakisha mu gace ku baturage benshi hafi y'ahantu hato (ahantu h'abantu b'abahanga), nk'inzuki, no gushakisha ahantu hato ku zindi mbuga (ahantu heza cyangwa hatoranijwe). Gushakisha mu buryo butunguranye bikorwa mu gice cy'ishakisha ku isi yose, kandi iyo habonetse agaciro keza, sitasiyo zimurirwa mu gice cy'ishakisha mu gace mu isubiramo rikurikira. Algorithm irimo ibipimo bimwe na bimwe: umubare w'inzuki zishakisha (n), umubare w'ahantu hashakishwa (m), umubare w'ahantu h'abantu b'abahanga (e), umubare w'abashakisha mu bice by'abantu b'abahanga (nep), umubare w'abashakisha mu bice by'abantu b'abahanga. Aho hantu (nsp), ingano y'aho batuye (ngh), n'umubare w'isubiramo (I)29. Kode y'ikosa ya BA igaragara ku Ishusho ya 3.
Algorithm igerageza gukora hagati ya \({g}_{1}(X)\) na \({g}_{2}(X)\). Kubera buri subiramo, agaciro keza karagenwa kandi umubare w'abantu uteranyirizwa kuri izi gaciro mu rwego rwo kubona agaciro keza. Inzitizi ziragenzurwa mu bice by'ishakisha byo mu gace no ku isi. Mu gushakisha byo mu gace, niba ibi bintu bikwiye, agaciro k'ingufu karabarirwa. Niba agaciro gashya k'ingufu karuta agaciro keza, shyira agaciro gashya ku gaciro keza. Niba agaciro keza kabonetse mu bisubizo by'ishakisha karuta ikintu kiriho ubu, ikintu gishya kizashyirwa mu cyegeranyo. Ishusho y'urutonde rw'ishakisha ryo mu gace igaragara ku Ishusho ya 4.
Umubare w’abaturage ni kimwe mu bipimo by’ingenzi muri BA. Bigaragara mu bushakashatsi bwabanje ko kwagura umubare w’abaturage bigabanya umubare w’isubiramo risabwa kandi byongera amahirwe yo gutsinda. Ariko, umubare w’isuzumabikorwa nawo uriyongera. Kuba hari umubare munini w’ahantu nyaburanga ntacyo bigiraho ingaruka zikomeye ku mikorere. Umubare w’ahantu nyaburanga ushobora kuba muto niba atari zeru30. Ingano y’umubare w’inzuki zo mu bwoko bwa scout (n) ikunze gutoranywa hagati ya 30 na 100. Muri ubu bushakashatsi, hakozwe ibintu 30 na 50 kugira ngo hamenyekane umubare ukwiye (Imbonerahamwe ya 2). Ibindi bipimo bigenwa bitewe n’umubare w’abaturage. Umubare w’ahantu nyaburanga (m) ni (hafi) 25% by’umubare w’abaturage, naho umubare w’ahantu nyaburanga (e) mu hantu nyaburanga ni 25% bya m. Umubare w’inzuki zigaburira (umubare w’abashakisha) watoranyijwe kuba 100 ku hantu nyaburanga na 30 ku handi hantu nyaburanga. Gushakisha mu nkengero ni igitekerezo cy’ibanze cya algorithme zose z’impinduka. Muri ubu bushakashatsi, hakoreshejwe uburyo bwo gupima abaturanyi. Ubu buryo bugabanya ingano y'agace ku gipimo runaka mu gihe cyose cyo gusubiramo. Mu gihe kizaza, agaciro gato k'agace30 gashobora gukoreshwa mu gushakisha neza.
Kuri buri kibazo, hakozwe ibizamini icumi bikurikiranye kugira ngo harebwe niba uburyo bwo kongera gukoresha uburyo bwo gutunganya ibintu bushoboka. Ku ishusho ya 5 hagaragazwa ibyavuye mu gutunganya uburyo bwo gutunganya ibintu bukoreshwa mu buryo bwa torsion kuri gahunda ya 1, no ku ishusho ya 6 - kuri gahunda ya 2. Amakuru y’ibizamini atangwa kandi mu mbonerahamwe ya 3 na 4 (imbonerahamwe irimo ibyavuye mu gutunganya uburyo bwo gutunganya ibintu bukoreshwa mu buryo bwa torsion iri mu makuru y’inyongera S1). Umubare w’inzuki wongera imbaraga mu gushakisha agaciro keza mu isubiramo rya mbere. Mu isuzuma rya 1, ibyavuye mu bizamini bimwe na bimwe byari munsi y’urugero ntarengwa. Mu isuzuma rya 2, bigaragara ko ibyavuye mu gutunganya byose biri hafi y’urugero ntarengwa bitewe n’ubwiyongere bw’abaturage n’ibindi bipimo bifatika. Biragaragara ko agaciro kari mu isuzuma rya 2 gahagije kuri iyo algorithm.
Mu gihe cyo kubona agaciro ntarengwa k'ingufu mu gusubiramo, hatangwa kandi ikintu cy'umutekano nk'imbogamizi ku bushakashatsi. Reba imbonerahamwe y'ikintu cy'umutekano. Agaciro k'ingufu kabonetse hakoreshejwe BA kagereranywa n'ako kabonetse hakoreshejwe uburyo bwa 5 DOE muri Imbonerahamwe ya 5. (Kugira ngo byorohe gukora, umubare w'izunguruka (N) ry'isoko rya torsion ni 4.9 aho kuba 4.88, naho ihindagurika (xd) ni 8 mm aho kuba 7.99 mm mu isoko rya pressure.) Bigaragara ko BA ari nziza. BA isuzuma agaciro kose binyuze mu gushakisha mu gace no ku isi. Muri ubu buryo ashobora kugerageza andi mahitamo vuba.
Muri ubu bushakashatsi, Adams yakoreshejwe mu gusesengura ingendo z'uburyo bw'ibaba. Adams yabanje guhabwa icyitegererezo cya 3D cy'uburyo bw'ibaba. Hanyuma sobanura isoko hamwe n'ibipimo byatoranijwe mu gice kibanziriza iki. Byongeye kandi, hari ibindi bipimo bigomba gusobanurwa mu isesengura nyaryo. Ibi ni ibipimo by'umubiri nk'imibanire, imiterere y'ibikoresho, gukoranaho, gukoranaho, n'uburemere. Hari isano iri hagati y'umugozi w'icyuma n'icyuma gifata. Hari ingingo 5-6 zifatanye. Hari ingingo 5-1 zifatanye. Igice nyamukuru gikozwe mu bikoresho bya aluminiyumu kandi zifatanye. Ibikoresho by'ibindi bice ni icyuma. Hitamo igipimo cy'uburyo bw'ibaba, gukomera kw'aho rihurira n'ubujyakuzimu bw'aho rihurira bitewe n'ubwoko bw'ibikoresho. (icyuma kidafunze AISI 304) Muri ubu bushakashatsi, igipimo cy'ingenzi ni igihe cyo gufungura uburyo bw'ibaba, kigomba kuba kiri munsi ya 200 ms. Kubwibyo, komeza urebe igihe cyo gufungura ibaba mu gihe cy'isesengura.
Kubera isesengura rya Adams, igihe cyo gufungura ibaba ni milisegonda 74. Ibisubizo byo kwigana kuva kuri 1 kugeza kuri 4 bigaragara ku Ishusho ya 7. Ishusho ya mbere ku Ishusho ya 5 ni igihe cyo gutangira kwigana kandi amababa ari mu mwanya wo gutegereza kuzingira. (2) Igaragaza aho ibaba riherereye nyuma ya milisegonda 40 iyo ibaba ryazungurutse dogere 43. (3) igaragaza aho ibaba riherereye nyuma ya milisegonda 71. Nanone ku ifoto ya nyuma (4) igaragaza iherezo ry'ihindukira ry'ibaba n'aho rifunguye. Kubera isesengura rishingiye ku buryo buhindagurika, byagaragaye ko uburyo bwo gufungura ibaba ari bugufi cyane ugereranyije n'agaciro kari ku ntego ka 200 ms. Byongeye kandi, mu gupima amasoko, imipaka y'umutekano yatoranijwe mu gaciro ko hejuru cyane katanzwe mu nyandiko.
Nyuma yo kurangiza inyigo zose zo gushushanya, gutunganya no kwigana, hakozwe icyitegererezo cy’uburyo bwo gukora no gushyira hamwe. Hanyuma icyitegererezo cyarageragejwe kugira ngo harebwe ibyavuye mu kwigana. Banza ufate igikonoshwa kinini hanyuma ugipfunyike. Hanyuma amababa yarekuwe ava aho yari afungiwe maze hakorwa videwo yerekana uko amababa yazungurukaga kuva aho yari afungiwe kugera aho yari afungiwe. Iki gipimo cyakoreshejwe kandi mu gusesengura igihe mu gufata amashusho.
Ku ishusho ya 8 hagaragara amashusho ya videwo afite inomero ya 1-4. Ishusho ya 1 ku ishusho igaragaza igihe cyo kurekura amababa apfunyitse. Iki gihe gifatwa nk'igihe cya mbere cya t0. Ishusho ya 2 na 3 zigaragaza aho amababa aherereye kuri 40 ms na 70 ms nyuma y'igihe cya mbere. Mu gusesengura ibishushanyo mbonera bya 3 na 4, bigaragara ko ibaba rihagaze neza kuri 90 ms nyuma ya t0, kandi gufungura ibaba kurangira hagati ya 70 na 90 ms. Ibi bivuze ko igeragezwa rya simulation na prototype bitanga igihe kimwe cyo gushyiraho ibaba, kandi igishushanyo cyujuje ibisabwa mu mikorere y'uburyo.
Muri iyi nkuru, amasoko yo gukurura no gukanda akoreshwa mu buryo bwo gupfunyika amababa aratunganywa hakoreshejwe BA. Ibipimo bishobora kugerwaho vuba hakoreshejwe inshuro nke. Isoko yo gukurura ifite amanota 1075 mJ naho isoko yo gukanda ifite amanota 37.24 mJ. Aya gaciro ni 40-50% kurusha ubushakashatsi bwa DOE bwabanje. Isoko ryinjijwe muri ubwo buryo kandi ryasesenguwe muri gahunda ya ADAMS. Ubwo yasesengurwaga, byagaragaye ko amababa yafungutse mu masegonda 74. Aka gaciro kari munsi cyane y'intego y'umushinga ya milisegonda 200. Mu bushakashatsi bwakurikiyeho, igihe cyo guhindukira cyapimwe kingana na milisegonda 90. Iri tandukaniro rya milisegonda 16 hagati y'isesengura rishobora guterwa n'ibintu bifitanye isano n'ibidukikije bitakozwe muri porogaramu. Bikekwa ko algorithme yo gukora neza yabonetse bitewe n'ubushakashatsi ishobora gukoreshwa mu miterere itandukanye y'amasoko.
Ibikoresho by'impeshyi byari byaragenwe mbere kandi ntibyakoreshejwe nk'impinduka mu kunoza. Kubera ko ubwoko bwinshi butandukanye bw'impeshyi bukoreshwa mu ndege na roketi, BA izakoreshwa mu gushushanya ubundi bwoko bw'impeshyi hakoreshejwe ibikoresho bitandukanye kugira ngo hagerwe ku gishushanyo cyiza cy'impeshyi mu bushakashatsi bw'ejo hazaza.
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