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
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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

Informacje w bazach danych

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.