dr hab. Paweł Malczyk

Stopień naukowy Dr hab. inż. Stanowiska Profesor uczelni Kierownik Zakładu Teorii Maszyn i Robotów Kontakt Tel.: (+48) 22 234 75 13 E-mail: Pawel.Malczyk(at)pw.edu.pl Gmach Nowy Lotniczy, pokój 229 Konsultacje

Zainteresowania naukowe

• Kinematyka i dynamika układów wieloczłonowych
• Metody sterowania optymalnego
• Modelowanie i sterowanie obiektami z zastosowaniem języka uczenia maszynowego
• Obliczenia wysokiej wydajności

Zajęcia dydaktyczne

• Podstawy automatyki i sterowania I
• Basics of Automation and Control I
• Metody obliczeniowe optymalizacji
• Dynamika i sterowanie robotów
• Seminarium dyplomowe magisterskie

Informacje w bazach danych

• ORCID
• Scopus
• Publons
• ResearchGate
• Google Scholar
• Repozytorium PW

Wybrane publikacje

Publikacje w czasopismach

• Pikuliński, M., Malczyk, P., Aarts, R.: Data-driven inverse dynamics modeling using neural-networks and regression-based techniques. Multibody System Dynamics, 1–26, https://doi.org/10.1007/s11044-024-10024-2, Springer 2024.
• Pękal M., Malczyk P., Wojtyra M., Frączek J.: Divide-and-conquer-based approach for the reaction uniqueness analysis in overconstrained multibody systems. Multibody System Dynamics, Vol. ??, Iss. ?, 1–30, Springer 2024.
• Turno S., Malczyk P.: FPGA acceleration of planar multibody dynamics simulations in the Hamiltonian–based divide–and–conquer framework, Multibody System Dynamics, 2023, vol. 57, nr 1, s.25-53. DOI:10.1007/s11044-022-09860-x
• Maciąg P., Malczyk P., Frączek J.: Joint–coordinate adjoint method for optimal control of multibody systems, w: Multibody Syst Dynamics, 2022, DOI:10.1007/s11044-022-09851-y
• Pikuliński Maciej, Malczyk Paweł: Adjoint method for optimal control of multibody systems in the Hamiltonian setting, w: Mechanism and Machine Theory, 2021, https://doi.org/10.1016/j.mechmachtheory.2021.104473
• Maciąg Paweł, Malczyk Paweł, Frączek Janusz: Hamiltonian direct differentiation and adjoint approaches for multibody system sensitivity analysis, w: International Journal for Numerical Methods in Engineering, 2020, DOI:10.1002/nme.6512
• Malczyk P., Frączek J., Gonzalez F., Cuadrado J.: Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation, Nonlinear Dynamics, 2018, DOI: https://doi.org/10.1007/s11071-018-4593-3.  
• Strawa Natalia, Malczyk Paweł: Modeling and control of a simplified high-speed vehicle moving in reduced-pressure conditions, w: Archive of Mechanical Engineering, vol. 66, nr 3, 2019, ss. 355-377, Numer artykułu:5,  DOI:10.24425/ame.2019.129680
• Chadaj, K., Malczyk, P., Frączek, J.: A Parallel Recursive Hamiltonian Algorithm for Forward Dynamics of Serial Kinematic Chains, IEEE Transactions on Robotics, Vol. 33(3), 2017, DOI: 10.1109/TRO.2017.2654507.
• Chadaj, K., Malczyk, P., Frączek, J.: A parallel Hamiltonian formulation for forward dynamics of closed-loop multibody systems, Multibody System Dynamics, Vol. 39(1), 2017, pp. 51-77, DOI: 10.1007/s11044-016-9531-x.
• Malczyk, P., Frączek, J.: Molecular dynamics simulation of simple polymer chain formation using divide and conquer algorithm based on the augmented Lagrangian method, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, Vol. 229(2), pp. 116-131, DOI: 10.1177/1464419314549875, 2015.
• Woliński, Ł., Malczyk, P. Dynamic Modeling and Analysis Of a Lightweight Robotic Manipulator in Joint Space. The Archive of Mechanical Engineeering, Vol. LXII(2), 2015.
• Malczyk, P., Frączek J.: A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correction, Nonlinear Dynamics, Vol. 70(1), 871-889, 2012 DOI: 10.1007/s11071-012-0503-2.
• Malczyk, P., Frączek, J.: Parallel algorithm for constrained multibody system dynamics with many degrees of freedom, International Journal of Applied Mechanics and Engineering, 15(3):779–791, 2010.
• Malczyk, P., Frączek, J., Evaluation of parallel efficiency in modeling of mechanisms using commercial multibody solvers, The Archive of Mechanical Engineering, Vol. LVI (3), 237-249, 2009.
• Malczyk, P., Frączek, J.: Cluster Computing of Mechanisms Dynamics Using Recursive Formulation, Multibody System Dynamics, 2008 (20), Springer, pp. 177-196.

Rozdziały w książkach

• Pikuliński Maciej, Malczyk Paweł: Optimal Control of Open–Loop Multibody Systems Recovered from Data, W: Optimal Design and Control of Multibody Systems / Nachbagauer Karin, Held Alexander (red.), IUTAM Bookseries, 2024, vol. 42, Cham, Springer Nature Switzerland, s.99-109, ISBN 9783031499999. DOI:10.1007/978-3-031-50000-8_9
• Maciąg Paweł, Malczyk Paweł, Frączek Janusz: Stabilizacja przestrzennego wahadła o dwóch stopniach swobody z zastosowaniem metody adjoint, W: Postępy Robotyki, Tom I i II. Prace Naukowe Politechniki Warszawskiej, Elektronika / Mazur Alicja, Zieliński Cezary (red.), Prace Naukowe Politechniki Warszawskiej. Elektronika, 2022, nr 197, Oficyna Wydawnicza Politechniki Warszawskiej, s.181-190, ISBN 978-83-8156-410-
• Pikuliński Maciej, Malczyk Paweł: On Handling Discontinuities in Adjoint-based Optimal Control of Multibody Systems, W: 26th International Conference on Methods and Models in Automation and Robotics (MMAR), 2022, Institute of Electrical and Electronics Engineers, s.98-103, ISBN 978-1-6654-6858-9. DOI:10.1109/MMAR55195.2022.9874268
• Pikuliński Maciej, Malczyk Paweł: Sterowanie optymalne mechanizmem płaskim identyfikowanym z danych, W: Postępy Robotyki, Tom I i II. Prace Naukowe Politechniki Warszawskiej, Elektronika / Mazur Alicja, Zieliński Cezary (red.), Prace Naukowe Politechniki Warszawskiej. Elektronika, 2022, nr 197, Oficyna Wydawnicza Politechniki Warszawskiej, s.191-200, ISBN 978-83-8156-410-6
• Malczyk Paweł, Chadaj Krzysztof, Frączek Janusz: Parallel Hamiltonian Formulation for Forward Dynamics of Free-Flying Manipulators, w: Aerospace Robotics III / Sąsiadek Jerzy (red.), GeoPlanet: Earth and Planetary Sciences, 2019, Springer Nature Switzerland AG, ISBN 978-3-319-94516-3, ss. 1-15, DOI:10.1007/978-3-319-94517-0_1

Publikacje konferencyjne

• Maciąg Paweł, Malczyk Paweł, Frączek Janusz: The Discrete Hamiltonian-Based Adjoint Method for Some Optimization Problems in Multibody Dynamics, w: Multibody Dynamics 2019 - Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics / Kecskeméthy Andrés, Flores Francisco Geu (red.), Computational Methods in Applied Sciences, 2020, ISBN 978-3-030-23131-6, ss. 359-366, Numer artykułu:43, DOI:10.1007/978-3-030-23132-3_43
• Maciąg Paweł, Malczyk Paweł, Frączek Janusz: Direct sensitivity analysis of planar multibody systems in the Hamiltonian framework, w: Advances in Mechanism and Machine Science / Uhl Tadeusz (red.), 2019, ISBN 978-3-030-20130-2, ss. 3097-3106, Numer artykułu:305, DOI:10.1007/978-3-030-20131-9_305
• Malczyk P., Frączek J., González F, Cuadrado J.: Index-3 Divide And Conquer Algorithm For Efficient Multibody Dynamics Simulations. In the Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2017, Prague, Czech Republic, 2017.
• Chadaj, K., Malczyk, P., Frączek, J. The performance of the Hamiltonian divide and conquer algorithm on parallel architectures. In Proceedings of The Fourth Joint International Conference on Multibody System Dynamics - IMSD 2016, Montreal, Canada, May 29–June 2, 2016.
• Malczyk, P., Chadaj, K., Frączek, J. Parallel Hamiltonian Formulation For Forward Dynamics Of Free-Flying Manipulators. In Proceedings of the 3rd Conference on Aerospace Robotics 17-18 November 2015, Warsaw, Poland.
• Chadaj, K., Malczyk, P., Frączek, J. Hamiltonian Based Parallel Formulation For Open-Loop Multibody System Dynamics. In Proceedings of the 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015. DOI: 10.6567/IFToMM.14TH.WC.OS11.017.
• Chadaj, K., Malczyk, P., Frączek, J. Efficient parallel formulation for dynamics simulation of large articulated robotic systems. In Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics, 24-27 August, 2015, Międzyzdroje, Poland.
• Chadaj, K., Malczyk, P., Frączek, J. Parallel recursive Hamiltonian formulation for constrained multibody system dynamics. In Proceedings of the ECCOMAS Multibody Dynamics 2015 Thematic Conference, Barcelona, Spain, 2015.
• Malczyk, P., Chadaj, K., Frączek, J. A Parallel Algorithm For Multi-rigid Body System Dynamics Based On The Hamilton’s Canonical Equations. Proceedings of The Third Joint International Conference on Multibody System Dynamics - IMSD 2014, Busan, Korea, June 30–July 3, 2014.
• K. Chadaj, P. Malczyk, J. Frączek. Analiza dynamiki układów wieloczłonowych z zastosowaniem algorytmów równoległych we współrzędnych Hamiltona. (rozszerzone streszczenie) Materiały XXIV Międzynarodowej Konferencji Naukowej Teorii Maszyn i Układów Mechatronicznych, 21-24 września 2014 r., Piechowice.
• P. Malczyk, K. Chadaj, J. Frączek. Efficient formulation for open loop multibody system dynamics based on Hamilton’s canonical equations. In Proceedings of the 12th CONFERENCE on Dynamical Systems - Theory and Applications, Łódź, December 2-5, 2013.
• Mukherjee, R., Malczyk, P. Efficient Approach For Constraint Enforcement In Constrained Multibody System Dynamics, In Proceedings of the ASME 2013 IDETC/CIE Conferences, International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Portland, Oregon, USA 2013.
• Mukherjee, R., Malczyk, P. Parallel Algorithm For Modeling Multi-Rigid Body System Dynamics With Nonholonomic Constraints, In Proceedings of the ASME 2013 IDETC/CIE Conferences, International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Portland, Oregon, USA 2013.
• Mukherjee, R., Malczyk, P. A Generalized, Optimal Complexity, Parallel Algorithm For Modeling Nonholonomic Constraints in Multi-rigid Body System Dynamics. Proceedings of the ECCOMAS Multibody Dynamics 2013 Thematic Conference, ISBN 978-953-7738-22-8, Zagreb, Croatia, 2013.
• Malczyk, P., Frączek, J.: Molecular dynamics simulation of simple polymer chain using parallel multibody algorithm based on augmented Lagrangian method. Proceedings of The Second Joint International Conference on Multibody System Dynamics - IMSD 2012, Stuttgart, Germany, May 29–June 1, 2012
• Malczyk, P., Frączek, J.: Parallel efficiency of Lagrange multipliers based divide and conquer algorithm for dynamics of multibody systems. In Proceedings of the ASME 2011 IDETC/CIE Conferences, 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Washington DC, USA 2011.
• Malczyk, P., Frączek, J., Tomulik, P.: A parallel algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections. In Proceedings of the ECCOMAS Multibody Dynamics 2011 Thematic Conference, ISBN 978-2-8052-0116-5, Brussels, Belgium, 2011.
• Malczyk P., Frączek J., Cuadrado J., Parallel Index-3 Formulation for Real-Time Multibody Dynamics Simulations, The First Joint International Conference on Multibody System Dynamics - IMSD 2010, Lappeenranta, Finland, 25-27 May 2010.
• Malczyk P., Frączek J., Lagrange Multipliers Based Divide and Conquer Algorithm for Dynamics of General Multibody Systems, ECCOMAS Thematic Conference, Multibody Dynamics 2009, 29 June - 2 July 2009 - Warsaw University of Technology, Warsaw, Poland;
• Malczyk P., Frączek J., Cluster Computing of Mechanisms Dynamics using Recursive Formulation, Proceedings of the 12th World Congress in Mechanism and Machine Science (CD-ROM), June 17-21, Besançon, FRANCE;
• Malczyk P., Frączek J.: The Performance Comparisons of Different Approaches for Forward Dynamics of Mechanisms. Proceedings (CDROM) of Multibody Dynamics 2007, Advances in Computational Multibody Dynamics, ECCOMAS Thematic Conference, Milan, 25-28 June 2007.