Mechatronics: Ideas for Industrial Applications (eBook)

Foreword 6
Contents 8
About the Editors 13
Part IControl and Automation 15
Rational Use of Primary Energy in Single-Family Residential Houses 16
1 Introduction 16
2 Analysis of Annual Energy Demands and Sulfur Dioxide Emissions to the Atmosphere in a Single-Family Residential Building 18
2.1 The Assumptions and Analysis Range 18
2.2 The Calculation of Annual Sulfur Dioxide Emissions and Building Demands for Primary Energy 19
3 Results of the Analysis 19
4 Conclusions 21
References 21
Determination of Jiles-Atherton Model Parameters Using Differential Evolution 23
1 Introduction 23
2 Principles of Jiles-Atherton Model of Magnetic Hysteresis 24
3 Determination of Jiles-Atherton Model’s Parameters Using Differential Evolution 26
4 Results of Modelling 27
5 Conclusion 28
References 28
The Application of Microcontrollers Diagnostic System for Evaluation of Stirling Engine 31
1 Introduction 31
2 The Stirling Engine Testing Facilities 35
3 The Thermocouple Circuit for Temperature Monitoring 37
4 Engine Adjustment 39
5 Conclusions 40
References 41
Simulation Model of PEM Fuel Cell Operating at Hydrogen and Oxygen 43
1 Introduction 43
2 Mathematical Model of PEM Fuel Cell 44
2.1 Reversible Open Circuit Voltage 44
2.2 Voltage Losses 45
2.3 Operating Voltage Equation 46
3 Measurement of Polarization Curve 47
4 Estimation of Parameters of Polarisation Curve 48
5 Summary 50
References 50
Development of Wireless Passive Sensing Platform – Communication Issues 52
1 Introduction 52
2 Concept of Sensing Platform 54
3 Communication Principles 56
4 Investigation 57
5 Results and Discussion 58
6 Conclusions and Future Works 59
References 59
Value of the Internet of Things for the Industry – An Overview 61
1 Introduction 61
2 Definition 62
3 Standardization Support for the Internet of Things 62
4 Technology Overview 63
4.1 General Architecture 63
4.2 Key Technologies 64
5 Applications 66
6 Conclusion 72
References 72
Programming and Computer Simulation of an Experimental Station for Automatic Launching of Badminton Shuttlecocks 74
1 Introduction 74
2 Mechanical Design of the Station 76
3 Electronics 77
4 The Shuttlecock during Flight 79
4.1 The Parameters of the Ailerons 80
4.2 Initial Conditions 80
5 Numerical Simulation of the Trajectory of Motion 80
5.1 Drag Force 81
5.2 Terminal Velocity 81
5.3 Lift Force 82
5.4 Buoyancy Force 82
5.5 Equations of Motion 82
5.6 Numerical Solution in Simulink 83
6 Conclusions 88
References 89
Experimental Investigations of Stability in a Hybrid Stepper Motor 90
1 Introduction 90
1.1 Scope of the Research 90
1.2 Physical System 91
2 Mathematical Model 92
3 Experimental Set-Up 94
4 Methodology and Results 94
5 Concluding Remarks 99
References 99
Influence of the Controller Settings on the Behaviour of the Hydraulic Servo Drive 100
1 Introduction 100
2 Impact of the Dynamics of Servo Valves on the Adjustment of the Electrohydraulic Servo Drives 101
3 Structure of the Lab Workstation 104
4 Results of the Experimental Tests 106
5 Summary 109
References 109
Intelligent Monitoring and Optimization of Micro- and Nano-Machining Processes 110
1 Introduction 110
2 The State of the Art 111
3 Description of the System 112
4 Experimental Results 116
5 Conclusions and Perspectives 118
References 118
Analog Electronic Test Board for an Estimation of Time Characteristics of the Basic Elements of Automatic Control Systems 120
1 Introduction 120
2 Subsystems of the Analog Electronic Test Board 121
2.1 Power Supply 121
2.2 Generator of Test Signals 121
2.3 Proportional, Integral and Differentiation Components 123
2.4 First and Second-Order Basic Elements 124
2.5 Summing Amplifiers, Negative Feedback Loop and Signal Routing 125
3 Numerical Estimation of RLC Components 127
4 The Experimental Station 129
4.1 Final View of the Electronic Board 129
4.2 Measurements 130
5 Conclusions 133
References 133
Improved Control System of PM Machine with Extended Field Control Capability for EV Drive 134
1 Introduction 134
2 Operation Modes of the ECPMSM Machine 135
3 Vector-Controlled ECPMSM Drive 139
4 EV Drive Components with ECPMSM Machine 140
5 Summary 140
References 141
The Positioning of Systems Powered by McKibben Type Muscles 142
1 Introduction 142
2 Experimental Set-Up 143
3 Measurement and Control Software 145
4 Experimental Results 147
5 Summary 149
References 149
Solenoid Actuator for a Camless Control System of the Piston Engine Valve 150
1 Introduction 150
2 Mockup Design and Actuator Control 151
2.1 Actuator Power and Control Design 152
2.2 Actuator Numerical Simulations 152
3 Power and Automatic Control 153
4 Valve Deceleration – Test Results 154
5 Static Force and Current – Test Results 156
6 Conclusions 156
References 157
Controller Tuning Method by Shaping Its Output Step Response 158
1 Introduction 158
2 Presentation of the Problem 159
3 Description of the New Tuning Method 159
4 Calculations for the Second Order Object with the First Order Expected Regulator Response 160
5 Stability of Described Control System 161
6 Analysis of Control System Example 161
7 Conclusion 163
References 163
Vector Faxing System 165
1 Introduction 165
2 Implementation of the Fax System 166
3 Summary 174
References 174
Part IIRobotics 175
Personal Lower Limb Rehabilitation Robot for Children 176
1 Introduction 176
2 Existing Systems 176
2.1 Mechanical Walk Simulation 177
2.2 Autonomous Exoskeleton 177
2.3 Automated Stationary Orthosis 177
3 Rehabilitation Platform 179
3.1 Design Assumptions 179
3.2 Robot Design 179
3.3 Robot Tests 181
3.4 Obtained Results 181
4 Summary 182
References 182
Some Problems of Navigation System for Criminalistic Robot 184
1 Introduction 184
2 System Requirements 186
3 Equipment 186
4 Control Algorithm 187
4.1 Platform Turning 187
5 Simulations 188
6 Experiments 188
6.1 MOBOT Test 189
6.2 GRYF Test 190
7 Summary 191
References 191
Neural Network Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip 193
1 Introduction 193
2 Kinematic Controller for WMR 194
3 Dynamic Model of a WMR 196
4 Feed-Forward Neural Networks 197
5 Control Algorithm and Stability 199
6 Simulation Results 202
7 Conclusions 206
References 207
Advanced Task Tracking Control Design for Robotic-Like Systems 208
1 Introduction 208
2 Material and Task-Based Constraints on Robotic-Like Systems 210
2.1 Wheeled Robotic-Like Vehicles 211
2.2 Underactuated Robotic-Like Systems 211
2.3 Robotic-Like Systems with “Conservation Laws” 212
2.4 Multi-constrained Robotic-Like Systems 214
3 Multi-option Modeling Framework 214
3.1 Constraints on Robotic-Like Systems 214
3.2 Modeling Robotic-Like Systems Dynamics in Quasi-Coordinates 217
3.3 Automation of the GPME for Easy Computer Equation Generation 221
4 Advanced Control Platform Design – A Fusion of Modern Control Oriented Modeling, Control Algorithms and Embedded Controllers 222
5 Advanced Tracking Control Design – Simulation Studies 223
5.1 A Space Vehicle Model – A Multi-constrained System 223
5.2 A Fire Track Model – Modeled in Quasi-Coordinates 227
5.3 A Three Link Planar Manipulator Model with a Failure of One Actuator during Tracking a Task-Based Motion 228
5.4 Error Function Driven Dynamics Reference Motion for the Unicycle and Its Tracking 230
6 Towards Implementations 231
7 Conclusions 232
References 233
Exploration Mobile Robot, Project and Prototype 235
1 Introduction 235
2 Mechanical Structure and Design 236
2.1 Suspension 236
2.2 Main Supporting Structure 237
2.3 Drivetrain 237
2.4 Video Camera Supporting Structure 238
3 Control Algorithm 239
3.1 Manual Mode Control Algorithm 239
3.2 Autonomous Mode Control Algorithm 240
4 Conclusions 241
References 242
Determination of Motion Parameters with Inertial Measurement Units – Part 1: Mathematical Formulation of the Algorithm 243
1 Introduction 243
2 Methods of Determination of Motion Parameters of Wheeled Mobile Robots 244
3 Method of Determination of Motion Parameters of a Wheeled Mobile Robot Using Inertial Measurement Units 246
3.1 Notation 246
3.2 Corrections and Filtration 247
4 Conclusions and Future Works 253
References 254
Determination of Motion Parameters with Inertial Measurement Units – Part 2: Algorithm Verification with a Four-Wheeled Mobile Robot and Low-Cost MEMS Sensors 256
1 Introduction 256
2 The Object of Investigations 257
3 Measurement and Control System 258
4 Experiment Design 259
5 Results 260
5.1 Experiment Variant 1 – 90-Degree Right Turn 261
5.2 Experiment Variant 2 – Motion along a Straight Line on an Inclined Plane 264
5.3 Experiment Variant 3 – Motion along a Straight Line and on the Horizontal Ground 266
6 Conclusions and Future Works 269
References 270
Synchronized Trajectory Tracking Control of 3-DoF Hydraulic Translational Parallel Manipulator 271
1 Introduction 271
2 Construction of the Test Stand 272
2.1 Kinematics 273
2.2 Dynamics 274
2.3 Simulation 275
3 Control Design 275
4 Experimental Results 277
5 Conclusions 278
References 279
Part IIIMeasuring Techniques and Systems 280
Wireless Temperature Measurement System Based on the IQRF Platform 281
1 Introduction 281
2 Components of the System 282
2.1 Transceiver Modules 282
2.2 Temperature Sensor 283
3 Structure of the System 283
4 Tests of the System 286
5 Summary 287
References 288
Arm EMG Wavelet-Based Denoising System 289
1 Introduction – EMG 289
2 Wavelet Denoising in EMG 290
3 Upper Arm EMG Filterning 290
4 Data Analysis 294
5 Conclusion 295
References 295
Assessment of Temperature Coefficient of Extremely Stable Resistors for Industrial Applications 297
1 Introduction 297
2 Object of Study 298
3 Test Stand 300
4 Results 301
4.1 Time of Indication Stabilization after Powering Up of Measurement Loop 301
4.2 The Parameters Change of the Resistor in Subsequent Heating Cycles and Hysteresis 302
4.3 The Rate of Change of Temperature, and the Value of the Temperature Coefficient 304
4.4 The Temperature Characteristics of the Indication Changes – Statistical Analysis, Comparison with Model 304
5 Conclusion 306
References 306
Magnetoelastic Characteristics of Constructional Steel Materials 307
1 Introduction 307
2 Investigated Materials 308
3 Methodology of Measurements 308
3.1 Measurement System 308
3.2 Tested Samples 310
3.3 Measuring Procedure 311
4 Experimental Results 311
5 Conclusions 314
References 314
Sensor Fusion Based Tool-Workpiece Contact Detection in Micro-Milling 316
1 Introduction 316
2 Machine and Equipment 317
3 Method and Data Processing 318
3.1 Cutting Forces Signal Processing 319
3.2 Acceleration Signal Processing 320
3.3 Signal Fusion 321
4 Experiment Results 321
5 Summary 324
References 324
Kinematic Analysis of the Finger Exoskeleton Movement in Distal and Proximal Interphalangeal Joints 325
1 Introduction 325
2 Kinematics of the Movement Mechanism 326
3 Results 330
4 Discussion 332
References 333
Resistance of MAX 6325 Reference Voltage Source on Supply Voltage Variation 334
1 Introduction 334
2 Reference Source Utilizing Zener Diodes 334
3 Test Stand 335
3.1 General Idea 335
3.2 Variable Power Supply System 336
3.3 Voltage Measurement Circuit 336
4 Measurement Method 337
4.1 Investigation of Single Supply Voltage Change Impact on the Tested Reference Source 337
4.2 Investigation of Impact of Multiple Supply Voltage Changes on the Tested Reference Source 337
5 Measurement Results 337
6 Conclusion 340
References 341
Test Stand for Temperature Characteristics of Ultra-Precise Resistors 342
1 Introduction 342
2 Precise Resistance Measurement Methods 343
3 Test Stand Idea 343
3.1 General Idea 343
3.2 Resistance Measurement Circuit Idea 344
3.3 Heat Source 345
3.4 Temperature Measurement 345
3.5 Analog Voltage Multiplexer 346
4 Test Stand Implementation 346
5 Exemplary Results 347
6 Conclusion 349
References 349
Magnetovision Scanner System Investigation of Magnetic Field Disturbance Sources 350
1 Introduction 350
2 Methodology of Measurements 351
2.1 Measurement System 351
2.2 Tested Samples 352
2.3 Measuring Procedure 352
3 Experimental Results 353
4 Conclusions 357
References 358
Analysis of Vibration of Rotors in Unmanned Aircraft 359
1 Introduction 359
2 Mathematical Description 360
3 Simulations 363
4 Conclusions 366
References 367
Non-destructive Testing of Cylindrical Ferromagnetic and Non-magnetic Materials Using Eddy Current Tomography 368
1 Introduction 368
2 Tomography Setup 369
3 Results of Investigation 370
4 Conclusions 375
References 375
Preparation, Processing and Selected Properties of Modern Melt-Quenched Alloys 376
1 Introduction 376
2 Thermal and Magnetoelastic Treatment of Co-Based Amorphous Alloys 377
3 Rapidly Quenched Bilayers, Trilayers, N-layers – Towards Pseudobulk Metallic Glasses 383
4 New Quasibinary Compositions for High BS Soft Magnetic Materials 387
5 Shaping of Metallic Glasses 388
6 Conclusion 389
References 390
Platform Supporting the Esophageal Impedance Analysis 392
1 Introduction 392
2 Impedance Analysis Platform 394
3 Reflux Episodes Maximal Values 398
4 Conclusions 399
References 400
Application of Eddy Current Sensor System and LDV Device for Ultrasonic Vibrations Measurements 401
1 Introduction 401
2 Test Stand Configuration 402
3 Measurements in Eddy Current Sensor Measuring Range 404
4 Comparison of Eddy Current Sensor and LDV Device 406
5 Summary 407
References 408
Moving Object Detection and Localization Using Stereo Vision System 410
1 Introduction 410
2 Methodology 411
2.1 Stereo Vision 411
2.2 Camera Parameters 412
2.3 Triangulation 412
2.4 Object Detection Algorithm 413
3 Results 414
4 Conclusions 416
References 417
Part IVMechatronics 418
Stress Analysis of Stiffened Cylindrical Shells Under a Static Load 419
1 Introduction 419
2 The Fursow Method 420
3 Numerical Models 422
3.1 The Simplified Model 422
3.2 Extended Model 423
4 Conclusions 426
References 426
Multiaxial Fatigue Test Stand Concept – Stand and Control Design 428
1 Introduction 428
2 Description of the Fatigue Test Stand 429
3 Parameters and Construction of the Test Stand 432
4 Remarks and Conclusions 435
References 436
Mechatronic Approach in Inspection of Water Supply Networks 437
1 Introduction: Problem Statement 437
2 Problem Solution 438
2.1 Water Tank Inspection Robot 438
2.2 Pipe Inspection Robot 441
3 Summary 444
References 444
Artificial Intelligence in Integrated Diagnostics of the Rotating System with an Active Magnetic Bearing 445
1 Introduction 445
2 Test Stand 446
3 Magnetic Reaction Forces of the Bearing 447
4 Characteristics of the Diagnostic System and Its Software 447
5 Concept of the System Development with Artificial Intelligence Methods 449
6 Verification of Proper Operation of the Designed Module 451
7 Summary 452
References 453
The Modified Graph Search Algorithm Based on the Knowledge Dedicated for Prediction of the State of Mechatronic Systems 454
1 Introduction 454
2 A Definition of the Considered Problem 455
3 Modifications of the Dijkstra’s Algorithm 457
4 Summary 461
References 461
Modeling and Simulation of the Hybrid Powertrain for the Use in Urban Vehicle 462
1 Introduction 462
2 Configuration and Analysis of Hybrid Powertrain 463
2.1 Model of the Combustion Engine 463
2.2 Model of the Planetary Gear 464
2.3 Model of the Electric Motor 464
2.4 Model of Electric Motor Controller 464
2.5 Model of Battery Assembly 465
2.6 Model of Drag Resistance 466
2.7 Model of Driving Wheels 466
2.8 Model of the Driver’s Behavior 467
3 Simulation Results 467
3.1 Electric Mode 467
3.2 Hybrid Mode 469
4 Conclusions 470
References 470
Mathematical Modeling and Parameters Identification of the Mechatronical System Used in the Constructed Hexapod Robot 472
1 Introduction 472
2 The Servodrive Construction 473
3 The Servodrive Control 473
4 Results 474
The Driving Torque Measurement 475
6 Servodrives’ Current vs. Torque Characteristics 476
7 Servodrives’ Angle vs. Time Characteristics 478
8 Positioning Accuracy 479
9 Conclusions 480
References 480
Author Index 481