Mechatronics 2017 - Ideas for Industrial Applications

Foreword

Contents

About the Editors

Modelling Industrial Robot Fanuc ARC Mate 100iB in LabVIEW

Abstract

1 Introduction

2 Building the Model in LabVIEW and Make a Program

3 Tests

4 Conclusions

References

Recognition of Text Commands and Control of the Mobile Robot Starter Kit 2.0

Abstract

1 Introduction

2 Text Recognition

2.1 Picture from the Kinect Sensor

2.2 Preprocessing the Image

2.3 Determine the Greatest Contour

2.4 Defining Text Lines

2.5 Specifying the Contour Coordinates

2.6 Point Characteristic Method

2.7 Microsoft Kinect Integration and Starter Kit 2.0

3 Summary and Conclusions

References

System for Positioning of the Roadheader in Roadways of Hard Coal Mines

Abstract

1 Introduction

2 Design and Principle of Operation

3 Measuring Technology

4 Position and Orientation of the Roadheader

5 Testing the Physical Model of the Positioning System

6 Conclusions

References

Biomechatronic Simulator for Fencing Training Using Virtual Reality Technology

Abstract

1 Introduction

2 Aim

3 Materials and Methods

4 Discussion

5 Conclusions

References

Application of Industrial Automatic Systems for Operating Parameters Identification of Mining Machines

Abstract

1 Introduction

2 Characteristics of the Examined System

3 Research Methodology

4 Test Results

5 Conclusions

Acknowledgments

References

Collection of Essential Methods Among the Beams Analysis as an Introduction into the Dynamic Reverse Task Solution of Bending Vibration within Mechatronic System

Abstract

1 Introduction

2 The Algorithm of Exact Method Obtaining Within the Solution of Transverse Vibrating Beam

3 The Algorithm of Exact Method Obtaining the Dynamical Flexibility of Transverse Vibrating Beam

4 The Algorithms of the Approximate Methods Obtained Within the Dynamical Flexibilities of Transverse Vibrating Beam

5 Graphs Different Category’s Concerning Models of Vibrating Beams

6 Conclusion

Acknowledgement

References

Tunable Model of a Servo Hydraulic Tester for Shock Absorbers Vibrational Evaluation

Abstract

1 Introduction

2 Updating Model Parameters

3 First-Principle Data-Driven

4 Tuning of the Model

5 Summary

References

Modelling and System Identification of a Monotube Shock Absorber

Abstract

1 Introduction

2 Nonlinear Models Applicable to Reproduce Shock Absorber Dynamics

2.1 Low-Content of a Priori Knowledge Models

2.2 High-Content of a Priori Knowledge Models

3 Shock Absorber Model and Experimental Results

3.1 Shock Absorber Model

3.2 Low-Content of a Priori Knowledge Model Validation Results

3.3 High-Content of a Priori Knowledge Model Validation Results

4 Summary and Conclusions

References

Particle Image Velocimetry Technique Applied to Flow Evaluation Through a Shock Absorber Intake Valve

Abstract

1 Introduction

2 Particle Image Velocimetry

3 Experimental Setup

4 Measurement Results

5 Summary

References

Concept, Physical Design and Simulator of IRYS Social Robot Head

Abstract

1 Introduction

2 System Concept

3 Physical Head with Upper Trunk

4 Simulator

5 High-Level Control System and Unified Control Interface

6 Expressing Emotions of a Robot Head

7 Conclusions and Future Works

Acknowledgements

References

Cognitive Maintenance and Polymorphic Production as the Leading Industry 4.0 Paradigms

Abstract

1 Introduction to Industry 4.0

2 Maintenance in Today’s Industry

3 Cognitive Maintenance

4 Knowledge-Integrated Manufacturing

5 Polymorphic Production

6 Summary

Acknowledgement

References

Concept of Coupling the Rehabilitation Treadmill with Foot Pressure Sensors

Abstract

1 Introduction

2 The Set Up of the Test Bench

3 Integration of Components

4 Algorithm of the System Operation

5 Test of an Operation System Accuracy

6 Conclusions

References

Forecasting of Methane Hazard State in the Exploitation Wall Using Neural-Fuzzy System

Abstract

1 Introduction

2 Characteristics of Monitoring, Assessment and Methane Hazard Prediction System

2.1 Measuring Devices of Methane Hazard Monitoring System

2.2 Concept of Methane Hazard Assessment and Prediction of Methane Hazard

3 Characteristics of Neural-Fuzzy System for Prediction of Methane Hazard in Region of Longwall

3.1 Identification of the Research Area

3.2 Characteristics of the Developed System

4 Test Results

5 Conclusions

References

Modular Approach to the Planning of the Robot’s Tasks in the Context of Holons and Graph-Based Methods

Abstract

1 Introduction

2 The Comparison of Classic and Advanced Methods of Planning of the Robotic Tasks

2.1 The Classic Form of Robots’ Programming

2.2 Programming by Example/Demonstration

2.3 Task-Level Programming

3 Holons

3.1 Introduction

3.2 Relationship Between Holons and the Source Code of a Program

4 The Petri Nets

4.1 Introduction

4.2 The Petri Nets as a Model of a Program of the Robot

5 The Example of Using the Modular Approach to the Robot’s Task Planning by Means of Holons and Petri Nets

6 Conclusions

References

Detection and Recording of Acoustic Emission in Discrete IGBT Transistors

Abstract

1 Introduction

2 Measuring Method

3 Operation

4 The Analysis of Obtained Results

5 Conclusion

References

Zero-Sum Differential Game in Wheeled Mobile Robot Control

Abstract

1 Introduction

2 {\varvec H}_{\infty } Optimal Control. Zero-Sum Differential Game

2.1 {\varvec L}_{2} - Gain. {\varvec H}_{\infty } Control Problem

2.2 Zero-Sum Differential Game

3 Approximation Solution

3.1 Approximation a Zero-Sum Differential Game

4 Wheeled Mobile Robot

4.1 WMR Kinematics

4.2 WMR Dynamics

5 Numerical Simulation

5.1 Desired Trajectory

5.2 Simulation of Differential Game

5.3 Simulation {\varvec H}_{\infty } Control Problem

6 Summary

References

Numerical Analysis of the Dynamic Impact of a Gun Barrel During Firing

Abstract

1 Introduction

2 Analytical Approach to the Issue

3 Subject and Purpose of Research

4 Experimental Studies

5 Numerical Analysis FEM

5.1 Assumptions for Construction of Models

5.2 Simulation and Results

6 Comparison of Results

7 Conclusions

Acknowledgements

References

Concept of Sensor for Mining Machines Powered by Pressure Changes

Abstract

1 Introduction

2 Concept

3 Demand of Energy for Wireless Sensor

4 Tests of Piezoelectric Generator

4.1 Model of Piezoelectric Pile

4.2 Energy Generated by the Pile of Piezoelectric Transducers

4.3 Test Results

5 Summary

References

Model of Dynamics of the Three Wheeled Mobile Platform

Abstract

1 Introduction

2 Dynamics of the Platform

2.1 Design of the Prototype of the Platform

2.2 Model of Dynamics

2.3 Description of the Dynamics of the Three-Wheeled Mobile Platform

3 Conclusions

References

Control of Bucket Conveyor’s Output

Abstract

1 Introduction

2 Characteristics of Bucket Conveyor Operation in the Jig’s Mineral Processing Node

3 Identification of Model

4 System for Automatic Control of Bucket Conveyor Speed

5 Verification Tests of Impact of Automatic Control on Energy Consumption of the Conveyor’s Motor

6 Summary

References

Magnetorheological Suspension Based on Silicone Oil

Abstract

1 Introduction

2 Experimental

3 Results and Discussion

4 Conclusions

Acknowledgment

References

Experimental Verification of the Filtration Phenomena in Hydraulic Systems

Abstract

1 Introduction

2 Model of the Filtration Phenomena for Hydraulic Systems

3 Experimental Tests of Cleanliness of the Hydraulic Fluid During the Flushing of the Hydraulic Power Packs

4 Estimation the Total Flux Value ? of Solid Particulates

5 Summary

References

Role of Didactical Stations in Education Process of Industrial Automatics Technical Staff

Abstract

1 Introduction

2 Desktop Didactical Stations

2.1 Desktop Didactical Stations Consisting of a PLC Controller and HMI Panel Are Designed to Allow Learning the Following Skills

2.2 Desktop Didactical Station Consisting of a PLC Controller and UHF Modem (Fig. 2) Can Be Used to Carry out Following Tasks

2.3 Desktop Didactical Station Consisting of an Industrial Computer

2.4 Desktop Didactical Station Equipped with Frequency Inverter

3 Object Didactical Stations and Industrial Network Didactical Stations

3.1 Object Didactical Station - Processing Line Simulation

3.2 Plotter Didactical Station

3.3 Serial I/O – Industrial Network Station

4 Conclusions

References

Image-Based Method for Knee Ligament Injuries Detection

Abstract

1 Introduction

2 Methodology

2.1 Developed Algorithm

3 Results

4 Conclusions

Acknowledgements

References

Application of Surface Electromyographic Signals for Electric Rotor Control

Abstract

1 Introduction

2 Construction of Stationary Mechatronic Rotor

3 Simulation of Operation of Stationary Mechatronic Rotor

4 Conclusions

References

Voltage Source Inverter Synchronization with the Use of FFT Algorithm

Abstract

1 Introduction

2 Structure of Investigated System

3 Basics of Radix-2 DIT

4 Relationship Between FFT Data Vector Length and Frequency Resolution

5 Investigated Control System Properties and Computer Simulations Results

6 Real-Time Experimental Test Bench and Chosen Results

7 Conclusions

References

Experimental Research Assessing Threat of EOD Technicians from Explosive Blast

Abstract

1 Introduction

2 Methodology

3 Results

4 Conclusions

References

Theoretical Analysis of Piezoelectric Transformers in Different Configurations

Abstract

1 Introduction

2 Fundamentals

2.1 Piezoelectric Materials

2.2 Lagrangian Formalism for Piezoelectric Devices

3 Equations of Motion

3.1 PT Configurations

3.2 Assumptions

3.3 Derivation of the Equations of Motion for the Two-Segments E31–E33 Type PT (Classical Rosen–Type PT [1, 2])

3.4 Derivation of the Equations of Motion for the Two-Segments PT of the e33–e33 Type

3.5 Derivation of the Equations of Motion for the Two-Segments e31–e31 Type PT

3.6 Derivation of the Equations of Motion for the Three-Segments E31–E31 Type PT with the Driving Segment in the Middle (“Middle–Driving” – “Md”)

3.7 Derivation of the Equations of Motion for the Three-Segments E31–E31 Type PT with the Generating Segment in the Middle (“Middle–Generating” – “Mg”)

4 Results

4.1 Formulas

4.2 Input Data

4.3 Calculation Results

5 Discussion

6 Conclusions

References

Fracture Surface Analysis of the EN AW-2017A-T4 Specimens with Rectangular Section

Abstract

1 Introduction

2 Materials and Methods

2.1 Studied Material

2.2 Fatigue Experiments

2.3 Fracture Form and Roughness Measurements

3 Results and Discussion

3.1 Fracture Surface Geometry

3.2 Propagation and Rupture Roughness Analysis

4 Conclusions

References

Autonomous Robot Control System for Automation of Manipulations

Abstract

1 Purpose of Research

2 Research Concept and Plan

2.1 Research Method

3 Design Assumptions of Projected System

4 Technical Realization

4.1 Computer Operation of a Robot

4.2 Workspace Monitoring

4.3 Artificial Intelligence Application

5 Anticipated Research Result

References

Advantages of Using Industrial Sensor Interfaces at the Machine Design Stage

Abstract

1 Introduction

2 Classic Approach to the Topic

3 Purpose of the Technology

4 Summary

References

Bisection Method for Measuring Integral Nonlinearity of Precision Thermometry Bridges

Abstract

1 Introduction

2 Method of Measurement by AC Bridge

3 Reasons for Nonlinearity of AC Bridges

4 Method of Controlling the Bridge Integral Nonlinearity

5 Discussion of Method Used in Practice

6 Bisection Method

6.1 Methodology for Measuring Nonlinearity

6.2 Selecting the Number of Control Points

6.3 Device for Controlling Nonlinearity

6.4 Experimental Results

References

Applications of Composite Piezoelectric Transducers in Innovative Mechatronic Systems

Abstract

1 Introduction

1.1 Innovative Traffic Surveillance Systems with Piezoelectric Transducers

2 Measurements of the Dynamic Response of the Road Barrier

3 Conclusions

References

Sensor-Less Bilateral Teleoperation System Based on Non Linear Inverse Modelling with Signal Prediction

Abstract

1 Introduction

2 Problem Statement

3 Inverse Model with Prediction of Input and Output Signals

4 Experiment

5 Conclusions

Acknowledgments

References

Time Constant and Model-Free Signal Prediction in Communication Channel of Teleoperation System

Abstract

1 Introduction

2 Problem Statement

3 The Prediction Block

4 Experiment

5 Conclusions

Acknowledgment

References

Analysis of Selected Factors’ Influence on the Specific Range of Modern Jet Transport Aircraft as a Complex Mechatronic System

Abstract

1 Introduction

2 Data Sources

3 Flight Data Characteristics

4 Stable Segment Quality

5 Tail Number Specific Cruise Stability

6 Tail Number Specific Cruise Stability

7 Results

7.1 Variants and Gross Mass Effect on Cruise Performance

7.2 Air Temperature

7.3 Optimal Altitude

7.4 Mach Number

8 Conclusion

References

Investigation of Newly Developed Microwave Heated Moisture Analyzer Measurements of Ketchup and Milk Samples in Climatic Chamber

Abstract

1 Introduction

2 Materials and Methods

3 Results

4 Discussion

References

Computer Aided Planning of Adept Six-300 Robot Trajectories

Abstract

1 Introduction

2 The Characteristics of the Program Tobject

3 The Determination of the Geometric Parameters

3.1 Parameters of the Station Frame

3.2 Parameters of the Gripper

4 The Calculations of an Exemplary Desired Trajectory and Its Realization

4.1 The Position and Orientation of the Manipulation Object

4.2 The Exemplary Desired Trajectory of the Manipulator

4.3 The Realization of the Desired Trajectory of the Manipulation Object

5 Summary

References

Control of Selected Operational Parameters of the Scraper Conveyor to Improve Its Working Conditions

Abstract

1 Introduction

2 Computational Model of AFC

3 Algorithm for Controlling the AFC Operation

4 Results of Analysis of the Algorithm Use

5 Conclusions

Acknowledgments

References

Power Quality in the “Shore to Ship” System – The Improvement of the Unbalanced Voltage Factor

Abstract

1 Introduction

2 The Quality of Electricity in STS System; Voltage Unbalance

3 Improving the Rate of Voltage Unbalance in the STS System Using Shunt Active Filter

4 The Simulation Research on the Shunt Active Filter in STS System

5 Conclusions

References

Mathematical Modelling and Selecting the Parameters of Magnetic Circuit of Disk Torque Converter

Abstract

1 Introduction

2 Design of Electromagnetic Torque Converter

2.1 Mathematical Model of Electromagnetic Torque Converter

2.2 Calculation of Spatial Distribution of Magnetic Field in the Air Gap of Converter

3 Implementation of Mathematical Model and Simulations of Torque Converter

4 Summary

References

Modelling the Anthropomorphic Mechanical Hand

Abstract

1 Introduction

2 Process of Human-Like Mechanical Hand Modeling

2.1 Main Development Goals for Our Anthropomorphic Hand Prototype

2.2 Concept of the Hand Construction

2.3 The Finger Construction

2.4 The Knuckle Design

2.5 Wrist Construction

3 Existing Projects for Comparison

3.1 FESTO ExoHand

3.2 Shadow Dexterous Hand

3.3 NASA Robonaut Hand

4 Conclusions

References

Uncertainty Analysis of the Two-Output RTD Circuits on the Example of Difference and Average Temperature Measurements

Abstract

1 Introduction

1.1 Theoretical Background About the Uncertainty of Multivariable Measurements

1.2 A Few Words About RTD Sensor Temperature Measurements

1.3 Related Works

2 Basic Formulas of a Single RTD Element

3 Temperature Difference Measurement in Two-Channel Circuit

4 Example Structures of the 2D Temperature Measuring Circuits

4.1 The Measurement of a Difference and an Average of Temperatures in the Loop with a Common Supply Current

4.2 A Differential Amplifier with Classic Bridge-Circuit

4.3 The Unconventional Double-Current Circuit

5 The Uncertainty of Temperature Difference and Average Measured Simultaneously (Two Sensors in One Circuit)

5.1 Theoretical Background of the Multivariable Measurements

5.2 Numerical Example

6 Conclusions

References

Interactive Controller Aiding the Process of Upper Limb Rehabilitation

Abstract

1 Introduction

2 Research Objective

3 Device Structure

4 Methodology of Verification Tests

5 Results

6 Discussion

7 Conclusions

References

Double Physical Pendulum with Magnetic Interaction

Abstract

1 Introduction

1.1 Object of Investigations

2 Experimental Rig

2.1 Sensory System

3 Experiment

3.1 Moment of Force of Magnets Characteristics

3.2 Pendulum’s Time Series Recording

4 Conclusions

References

Model of Trough-Beam Laser Sensor for Determining the Real Position and Real Response Time

Abstract

1 Introduction

2 Unit Examined

3 Methodology of Research

4 Through-Beam Laser Sensor Model

5 Comparison of Model and Experiment Results

6 Conclusions

References

Application of the Parametric Identification While Modelling the Dynamics of the Electro-Hydraulic Drive

Abstract

1 Introduction

2 Mathematical Identification Model

3 Algorithm of the Model Identification of the Electro-Hydraulic Drive

3.1 Systems with Parameters Variable Over Time

3.2 Robust Estimation of the Parameters of the Electro-Hydraulic Servo-Drive Model

4 Comparison of the Efficiency of Estimation Algorithms of the Model Parameters – Model Verification

5 Summary

References

Author Index