Advanced Mechatronics Solutions (eBook)

Preface 6
Contents 7
Part IAutomatic Control 17
1 The weak isolability of the structure of binaryresiduals of multiple faults 18
1 Introduction 18
2 Preliminaries 19
3 The multiple fault distinctiveness matrix 21
4 The binary isolability metric 21
5 Illustrative example 23
6 Final remarks 24
References 25
2Operational limits in vibration diagnostics 27
1 Introduction 27
2 Assessment of vibrations of the hydraulic unit electric motor 28
3 Statistical determination of operational limits 30
4 Conclusion 32
References 32
3Securing communication layer of uBUS protocol 33
1 Introduction 33
2Communication protocol uBUS 34
2.1 MODBUS protocol 34
2.2 uBUS protocol 34
3 uBUS application protocol specification 35
3.1 MultiSlave extension 35
3.2 Securing communication of uBUS protocol 36
3.3 Implementation of 32-bit encryption on the MultiSlave device 37
4 Implementation of uBUS protocol in real systems 37
4.1 Solar water heating system 37
4.2 System for acquisition of environmental data via wireless sensors 37
5 Conclusions 38
Acknowledgement 38
References 38
4Application of Neural Networks in Fault Classification ofa kind of Clutch Mechanism Retainer 39
1 Introduction 39
2 Material and method 40
3 Signal Processing and Feature Extraction 41
4 ANFIS Modeling 42
5 Discussion and Conclusions 42
References 45
5Model-based Predictive Control of IC Engine Involvingan Algebraic Link between Plant Inputs and Outputs 47
1 Introduction 47
2 Predictive model of an IC engine 48
2.1 LOLIMOT 48
2.2 Generating the predictive model of an IC engine 48
2.2.1 Tested Engine 49
2.2.2 Simulation model 49
2.2.3 Predictive model based on LOLIMOT 49
3 Model-based predictive control of an IC engine 49
4 Simulation results 51
5 Experimental results 51
6 Conclusions 52
Acknowledgment 52
References 52
6 Modeling of Kinematics, Dynamics and Design of Electronics Control Unit for an Experimental Robot withHybrid Locomotion 53
1 Introduction 53
1.1 Robots with hybrid locomotion 53
1.2 Goals of the project 54
2 Design of the experimental robot 54
2.1 Study of design variants and modelling of kinematics and dynamics 54
2.2 Mechanical design and styling 56
2.3 Sensors and distributed control 56
3 Conclusion 57
Acknowledgement 58
References 58
7 Sensorless Speed Control of BLDC Motor using EKFwith Computed Inputs and Disturbance 59
1 Introduction 59
1.1 Sensorless control of BLDC 59
2 Implementation of sensorless control using EKF 60
2.1 Model of BLDC motor 60
2.2 Nonlinear state space model 61
2.3 Rotor angle EKF estimation 61
2.4 Simulation and experimental results 62
3 Conclusion 64
Acknowledgement 64
References 64
8Step response identification of inertial model foroscillatin 65
1 Introduction 65
2 Oscillating model identification 66
3 Concluding remarks 70
References 70
9An Improved Extraction Process of Moving Objects' Silhouettes in Video Sequences 71
1 Introduction 71
2 Extraction Process 72
1.1 Determination of Moving Regions 73
1.2 Removal of Small Connected Regions 73
1.3 Extraction of Moving Objects 74
3 Experimental Results 75
4 Conclusions 78
References 79
10Optimal Sensor Placement for Fault InformationSystem 80
1 Introduction 80
2 Theoretical background 81
2.1 Fault Information System 81
2.2 The measure of fault isolability for Fault Information System 82
3 Optimisation Problem Formulation 82
3.1 Solving problem with Branch-and-Bound algorithm 83
4 Three Tank System example 84
5 Conclusion 85
References 85
11 A comparison of industrial installations modellingmethods for the purpose of HAZOP support 86
1 Introduction 86
2 Description of industrial installation example 87
3 Modelling of example installation using PExSim package 87
4 Modelling of example installation using process graph 88
5 Modelling of example installation using DFM graph 89
6 Summary 91
References 91
12The concept of public cargo transporting pipeline system 92
1 Introduction 92
2 General assumptions for the system 93
3 The concept and optimal geometry of capsules 93
4 Modelling the system dynamics 94
5 Terminals 95
6 Propelling of capsules 96
7 Guiding the capsules in the pipe 96
8 Other elements necessary to safe operation of the system 98
9 Conclusions 98
References 99
13 Assessment of the measurement method precision ininterlaboratory test by using the robust “Algorithm S” 100
1 Introduction 100
2 Rules of the scattering data assessment by using of robustmethods 102
3 Robust analysis “Algorithm S” 104
4 Example of using “Algorithm S” 107
5 Summary 108
References 109
14Innovative car back door actuator 110
1 Introduction 110
2 Inventive methods 111
3 Design process 111
3.1 Requirements for the design 111
3.2 Concept evaluation 112
3.3 Modelling and optimization 113
3.4 Control system and software design 113
4 Final Concept - Prototype 114
5 Conclusion 115
References 115
Part IIBiomedical Engineering 116
15 Magnetic Resonance quantification of myocardial perfusion reserve using Fermi function model:comparison to visual qualification 117
1 Introduction 117
2 Materials and methods 118
3 Theory and Calculation 118
4 Results 120
5 Discussion 121
References 122
16Impact of breathing mechanics, body postureand physique on heart rate variability 123
1 Introduction 123
2 Method 124
3 Results 125
4 Discussion 126
5 Conclusion 127
References 128
17 Dependence of sleep apnea detection efficiencyon the length of ECG recording 129
1 Introduction 129
2 Material and methods 130
2.1 Computer program features 130
2.2 Data description 130
2.3 Heart rate variability indices 131
2.4 Classification with Support Vector Machine method 131
3 Results 132
4 Discussion and conclusions 132
References 133
18 Sensitivity Analysis of the Material Parameters of the Ceramics on the Inner Radius of the Hip JointEndoprosthesis Head 135
1 Introduction 135
2 Experiments 136
3 Calculation of the material parameters of the bioceramics 136
4 Conclusion 139
References 140
19 Multibody model of dynamics and optimization ofmedical robot to soft tissue surgery 141
1 Introduction 141
2 Optimization model of Robin Hearth 1 medical robot to softtissue surgery 143
3 Kinetics model of Robin Hearth 1 with PID controller 144
4 Conclusions 146
References 146
20 Characterization of low-LET radiation fields forirradiation of biological samples using recombinationchamber 147
1 Introduction 147
2 Ionization Chambers 148
3 Material and methods 149
4 Influence Of The Elements Of The Stand 150
5 Results of RIQ measurements 151
6 Discussion and conclusions 151
References 152
21 Modular measurement system dedicated as diagnosticequipment in biomedical research studies 153
1 Introduction 153
2 System Architecture 154
3 Detection of Cardiac Insufficiency 155
4 Development directions 156
5 Conclusions 156
References 157
22Conception of Turning Module for Orthotic Robot 158
1 Introduction 158
1.1 The ‘Veni-Prometheus’ System for Verticalization and Aiding Motion 158
1.2 Turning methods in contemporary orthotic robots and exoskeletons 159
2 Conception of the turning module kinematics 160
2.1 Direct control of the lower limbs 160
2.2 Indirect control of the lower limbs 161
3 Discussion 162
4 Conclusions 162
References 162
23Evaluation of cost-efficient auditory MEG stimulation 164
1 Introduction 164
2 Development of auditory source for MEG 165
2.1 Properties 165
3 Results 167
4 Conclusions 169
Acknowledgement 169
References 169
24 Detection and evaluation of breast tumors on the basis of microcalcification analysis 170
1. Introduction 170
2. The algorithm of identification of microcalcification localization. 171
3. The results of identifying the localization of microcalcifications. 173
4. Application of artificial nenural networks in microcalcificatins classification. 174
5. The results of microcalcifications classification. 175
6. Summary. 175
References 176
25Control Bilateral Teleoperation By Compensatory ANFIS 178
1 Introduction 178
2 ANFIS Controller With Compensatory Fuzzy 179
2.1 Learning Algorithm 180
3 Description of the Teleoperation System 181
4 Experiment Results 181
5 Conclusion 183
References 183
26 Validation of Finite Element Method Solver forUtilization in Eddy Current Tomography 184
1 Introduction 184
2 Validation of magneto dynamics solver on the Helmholtz coilmodel and on long coil model 185
2.1 Utilized model of Helmholtz coils 185
2.2 Utilized model of long coil 186
2.3 Simulation results 186
2.4 Results analysis and comparison with analytical values. 187
3 Tests for eddy current depth in materials 188
3.1 Utilized model 188
4 Conclusion 189
References 189
27 Numerical simulation of the effect of supplying arteriesocclusion on cerebral blood flow 191
1 Introduction 191
2 Material and methodology 192
3 Results 193
4 Discussion 195
References 196
28 X-ray and neutron radiography studies of archeologicalobjects 197
1 Introduction 197
2 Methodology 198
3 Results and discussion 198
4 Conclusions 201
Acknowledgements 202
References 202
Part III Mechatronics Products: Design,Manufacturing and Testing 203
29 Finite Element Analysis of High-Speed Solid RotorInduction Machine with Copper Cage 204
1 Introduction 204
2 Electromagnetic model description 205
3 Calculation results 206
4 Conclusions 209
References 209
30 Initial assessment of multi-mass absorber influence on machine tool vibrations 210
1 Introduction 210
2 Model and its structure 211
2.1 Basic model 211
2.2 Added model 212
2.3 Interface 212
3 Optimization 213
4 Results 214
5 Conclusions 215
Acknowledgement 215
References 215
31 Dynamic Simulation of Progressive Crank Train 216
1 Introduction 216
2 Crankshaft design 217
3 Crank train dynamics simulation 217
4 Results of Multi-body dynamics solution 217
4.1 Main bearing friction losses 217
4.2 Torsional vibration 219
4.3 Main bearings load 220
5 Conclusion 221
Acknowledgement 221
32 Design of a Special Purpose Permanent Magnet Motor 222
1Introduction 222
2 Design requirements 223
3 Design of the machine 224
4 Controller of the machine 225
5 Measurement of the first prototype and re-design 226
6 Conclusion 226
Acknowledgement 227
References 227
33 Transport Duty Cycle Measurementof Hybrid Drive Unit for Mixing Drum 228
1 Introduction 228
2 Measurement 229
2.1 System Solution 229
2.2 System Performance 231
3 Results 232
4 Conclusions 232
References 233
34 Temperature Field Optimization on the Mould Surface 234
1 Introduction 234
2 Heat Radiation Model 235
2.1 Infrared Heater Representation 235
2.2 Mould Representation 235
2.3 Calculation and Optimization of Heat Radiation Intensity 236
3 Mathematical Model of the Heat Conduction 237
4 Example of the Calculation of the Temperature Field 238
5 Conclusion 238
References 239
35 21st Century Lecturer – from University to Secondaryand Primary Schools 240
1 Introduction 240
2 Structure of the project 241
2.1 Key Activity No. 1 241
2.2 Key Activity No. 2 241
2.3 Key Activity No. 3 241
2.4 Key Activity No. 4 242
2.5 Key Activity No. 5 242
2.6 Key Activity No. 6 242
3 ICT in the education process 242
4 Education programme 243
5 Conclusions 244
Acknowledgement 245
References 245
36 Ultra-precision machine system feedback-controlled with hexapod-type measurement device for six-degree-of-freedom relative motions between tool and workpiece 246
1 Introduction 246
2 Machine system based on 6-DOF motion feedback control 247
3 Extensible strut with compensation device 248
4 Improvement of test bed 248
5 Expermental resul 249
5.1 Constant temperature test 249
5.2 Fluctuated temperature test 250
6 Conclusion 250
References 251
37 Analysis of the Influence of Input Function ContactParameters of the Impact Force Processin the MSC. ADAMS 252
1 Introduction 252
2 Theoretical background of contact forces in theMSC.ADAMS software environment 253
3 Introduction to the solutions of impact forces in a tensioningmechanism 256
4 Creation of a virtual prototype in the MSC.ADAMSenvironment 257
5 Sensitivity analysis of the contact parameters for a flexiblebody impacting a solid one (flex to solid) 258
6 Summary 261
Acknowledgements 262
References 262
38 Experimental measurements of levitation force generatedby high-temperature superconductors in magnetic field 263
1 Introduction 263
1.1 Superconductivity 264
2 Research post 265
3 Test results 266
4 Conclusions 268
References 268
39 Accuracy of the Parts from Iron Powder Manufacturedby Injection Moulding 269
1 Introduction 269
2 Material 270
3 Tests 271
4 Conclusion 274
References 274
40 New mechatronic stabilographic device –design and software 275
1 Introduction 275
2 Design of the stabilographic device 276
3 Software for the stabilographic device 277
4 Discussion 279
5 Conclusion 279
Acknowledgements 280
References 280
41 E-vehicle energy consumption optimization based on fleetand infrastructure information 281
1 Introduction 281
2 Problem statement 282
3 Vehicle model 283
3.1 Control structure 283
4 Route definition 284
4.1 Route parametrization 284
4.2 Route decomposition 285
5 Optimization procedure 285
6 Results 285
7 Conclusions 286
References 286
Acknowledgments 286
42 The effect of the Halbach array on FSPM machine magnetic field 287
1 Introduction 287
2 FSPM machine analyses 288
2.1 FSPM Design 288
2.2 Magnetic field analyses 289
2.3 Halbach arays modification and modeling 289
3 Conclusion 291
Acknowledgement 292
Reference 292
43 Limits of spatial sensitivity in eddy current tomographyof spindle-shaped elements 293
1 Introduction 293
2 Measuring setup and method of investigation 294
3 Results of investigation 297
4 Conclusion 297
References 297
44 The Analysis of Bennett’s linkage as a part of deployablemechanism 299
1 Introduction 299
1.2 Deployable mechanisms 299
2 Bennett’s linkage geometry and computations 301
3 Conclusions 304
References 304
45 Selection of electric driving modules for orthotic robot 305
1 Introduction 305
2 Structure of the driving module 305
3 Ways of selecting the driving motors 306
4 Computations of the driving module 307
5 Model study of the actuators 309
6 Summary and conclusions 310
References 310
46 Modelling and Verification of PiezoelectricVibration Energy Harvester 312
1 Introduction 312
2 Model of Piezoelectric Vibration Energy Harvester 312
3 Measurement and Model Verification 314
4 Proposal of 2 DOF Piezoelectric Vibration Energy Harvester 315
5 Conclusions 317
Acknowledgement 317
References 317
Part IV Metrology and Nanometrology 318
47 Miniature displacement sensor 319
1 Introduction 319
2 Demonstrator of the technology 320
3 Test stand 321
4 Testing of the demonstrator 322
5 Summary and conclusions 323
References 323
48 Liquid-filled adjustable optical wedge applied fordeflection of the laser beam 325
1 Introduction 325
1.1 Principle of operation 325
1.2 Experimental results 326
Acknowledgements 328
References 328
49 Master artifacts for testing the performance of probes forCNC machine tools 329
1 Introduction 329
2 Probe testing method with moving master artifact 330
3 3D inner hemisphere, araldite master artifact 331
4 2D steel ring gauge 331
5 Ring gauge with a cut 333
6 Conclusions 334
References 334
50 Acoustic detector of argon content in air-argon mixture 335
1 Introduction 335
2 Methods of argon detection 336
3 Acoustic argon detection 336
4 A prototype of an acoustic sensor for argon detection 337
5 Final remarks 339
References: 340
51 Precision increase in automated digital imagemeasurement systems of geometric values 341
1. Introduction 341
2. The formulation of the task of the algorithmic errorcompensation of the geometric values measurementinformation 342
3. Algorithmic compensation of random errors of video images 342
4. Algorithmic compensation of dynamic errors of video images 343
5. The algorithmic processing of the video image sequence withthe measuring information about geometric values 344
Conclusions 345
References 345
52Methods for verifying the dimensional and materialproperties on industrial CT scanners according toVDI / VDE 2630 Blatt 1.3. 347
1 Introduction 347
2 Accuracy tests of the computer tomographs according toVDI/VDE guidelines. 348
3 Proposal of study procedure with results 349
3.1 Determination of the parameter GS 349
3.2 Determination of the parameter GG 351
3.3 Determination of the parameter GF 351
4 Conclusions 352
Acknowledgements 352
References 352
53 AFM studies of stiction properties of ultrathin polysiliconfilms 353
1 Introduction 353
2 Experimental details 354
3 Results and discussion 355
4 Conclusions 358
5 Acknowledgements 358
54 Systematic errors of measurements on a measuring armequipped with a laser scanner on the results of opticalmeasurements 360
1 Introduction 360
2 Investigation setup 361
3 Description of the method 362
4 Results 363
5 Discussion of results 364
6 Conclusions 365
References 365
55 Compensation of influence of element's eccentric positioning on the result of roundness deviation measurement of discontinuous sections by radial method 366
1 Introduction 366
2 The influence of eccentric positioning of element's section onthe result of roundness deviation measurement. 367
3 Simulation study 368
3.1 Simulation study – traditional algorithm 369
3.2 Simulation study - improved algorithm 370
4 Experimental studies 370
5 Conclusions 371
References 371
56 Proposal of a wireless measurement system fortemperature monitoring of biological active materials 372
1 Introduction 372
2 Measuring system requirements 373
3 Concept and implementation of hardware parts 374
3.1 Measuring probe 374
3.2 Receiver module 375
4 Design and implementation of software 375
4.1 Firmware 376
4.2 Middleware 376
5 Conclusions 377
Acknowledgement 377
References 377
57 Reconstruction of dopant vertical position from Kelvinprobe force microscope images 378
1 Introduction 378
2 KPFM setup 379
3 Donor's vertical position reconstruction 381
4 Conclusions 382
References 383
Acknowledgments 383
58 Study of the clock signal quality impact on the PWMsignal generated in FPGA 384
1 Introduction 384
2 Test equipment 385
2.1 FPGA with development board 385
2.2 Atmega8 385
2.3 Oscilloscope 385
3 Results 386
4 Conclusions 388
5 Acknowledgements 388
6 References 388
59 Correction of the influence of not ideal geometricprofile on the conductivity of reference cell 389
1 Introduction 389
2 Measurement system for reproduction of the EC unit 390
3 Budget of systematic errors 391
4 Manufacturing errors 393
5 Experimental results 397
6 Conclusions 399
References 400
60 Errors and uncertainties of imbalanced bridge-circuits asprimary converters for RTD sensors 401
1 Introduction 401
2 Transfer coefficients of the bridge-circuit as R/U converter 403
3 Accuracy Analysis of Bridge Transfer Coefficients 405
4 Tolerances of Industrial Pt100 Sensors 411
5 Uncertainty of transfer impedance r21 for a few variants ofthe bridge-circuit with Pt100 sensors 411
5.1 Example calculations: case ‘1’- one sensor, 4R10 bridge with external nullcorrection, current supply 411
5.2 Summary - limited error and uncertainty formulas and values 413
6 Conclusions 413
References 414
61 Evaluation of damping characteristics of a damper withmagneto-rheological fluid 415
1 Introduction 415
2 Experimental research 416
3 Methodology of analytical data processing 418
4 Results 422
5 Conclusions 423
References 423
62Method of evaluation the measurement uncertainty of the minimal value of observations and its application in testing of plastic products 425
1 Introduction 425
2 Measurement results 427
3 Theory of minimal value uncertainties 428
4 Evaluation of uncertainties from experimental results 431
5 Simulations by Monte Carlo method 432
6 Conclusions 433
References 434
63Method of upgrading the reliability of measurement inspection 435
1 Introduction 435
2 Theoretical background of the method 436
2.1 Additive correction 437
2.2 Multiplicative correction 439
3 Numerical example 441
4 Summary 442
References 442
Part V Nanotechnology, MEMS, New Materials 443
64Magnetic measurement of lamination punched with the press 444
1 Introduction 444
2 Equations and figures 445
2.1 Theory of standardized device for magnetic measurement 445
2.2 Dimensions of measured samples 445
2.3 Measured data 445
3 Conclusion 449
Acknowledgement 449
References 449
65 Rheology of inks for various techniques of printedelectronics 450
1 Introduction 450
2 Materials and methods 451
3 Results and discussion 452
3.1 Viscosity of the inks 452
4 Conclusion 454
5 Acknowledgements 454
6 References 454
66 Specialized MEMS microphone for industrial application 455
1 Introduction 455
2 Product Specification and the Design Concept 456
3 Methodology of microphone design 456
4 Experiments 457
4.1 Electrical experiments on wafer level 457
4.2 Single structure mechanical experiments 459
4.3 Electrical experiments on single structures 459
4.4 Preliminary experiments on the microphone sensitivity 460
5 Summary 460
6 Acknowledgements 461
References 461
67Template design for craniometric landmarks identification 463
1 Introduction 463
2 Materials and methods 463
2.1 Evaluation of the effect of template smoothing 464
2.2 Effect of sampling rate 465
2.3 Effect of intensity inhomogeneity Bayesian correction 465
2.4 Effect of number of averaged images 465
2.5 Evaluation of the effect of body mass index 465
3 Results 465
4 Discussion and conclusions 467
References 468
68Stress assessment in steel truss structures on the basis of magnetoelastic effects 469
1 Introduction 469
2 Materials and methods 470
3 Experimental 471
4 Results and discussion 472
5 Conclusions 474
Acknowledgment 474
References 474
69Measurement system for investigating magnetic characteristics of soft magnetic materials in Rayleigh region 475
1 Introduction 475
2 Rayleigh region 476
3 Outline of the measurement methodology 476
4 Conception of the measurement system 478
5 Developed measurement system 479
6 Verification of functional properties of the developed system 481
7 Conclusion 482
References 482
70Fast alignment procedure for MEMS accelerometers 483
1 Introduction 483
2 Alignment methods 484
3 Experimental application of the alignment procedure 484
4 A simplified procedure 487
5 Conclusions 488
Acknowledgments 488
References 488
71Contact Area Evaluation Experiment Verified by Computational Model in MBS 490
1 Introduction 490
2 Analytical contact models 490
3 Resistivity prediction 491
4 MBS model 492
5 Results discussion 493
5.1 Experiment 493
5.2 Comparison 493
6 Conclusions 495
Acknowledgement 495
References 495
72Validation of Analytical Calculation of Contact Pressure 496
1 Introduction 496
2 Analytical models 496
2.1 Contact model Greenwood & Tripp
2.2 Contact model Hertz 497
2.3 Contact model Lagemann 497
2.4 Contact model Pasaribu & Shipper
3 FEM modeling 499
3.1 Material model 499
3.2 Boundary conditions 499
3.3 Correction of model deformations 500
3.4 Convergence challenges 500
4 Results discussion 500
5 Conclusions 501
Acknowledgement 501
References 501
73Impact of graphene coatings on nanoscale tribological properties of miniaturized mechanical objects 502
1. Introduction 502
2. Matericals and Methods 503
2.1 Test Specimens 503
2.2 Measurement Equipment 503
3. Result 504
3.1 Hardness 504
3.2 Friction Coefficient 506
3.3 Young's Modulus 507
4. Conclusion 507
Acknowledgements 508
References 508
74Distance determination from the magnetic dipole with magnetometry and Levenberg-Marquardt algorithm 509
1 Introduction 509
2 Modelling of the magnetic field distribution 510
3 Experimental results 512
4 Conclusions 514
References 514
75Magnetoelastic effect for three type magnetic materials under torque load 515
1 Introduction 515
2 Method of investigation 515
3 Results 516
4 Conclusions 520
References 520
76 Tribological behavior of graphene-coated mechanical elements 521
1 Introduction 521
2 Materials and methods 522
2.1 Test Samples 522
2.2 Tribological Tests 522
3 Results 523
3.1 Electrocoppered Samples 523
3.2 Cyanide Copper Plated Samples 524
4 Conclusion 526
Acknowledgements 526
References 526
Part VI Photonics, Vision Systems and ImageProcessing 527
77Workshop tomographic system for 3D refractive indexinvestigations in optical fibers 528
1 Introduction 528
2 Tomographic systems and measurement methodology 529
2.1 Mach-Zehnder interferometer based tomographic system 529
2.2 Shearing interferometer based tomographic system 529
2.3 Tomographic measurement methodology 530
2.4 Wavefront analysis 531
3 Results 531
4 Conclusions 533
References 533
78Holographic cameras for active 3D data capture 534
1 Introduction 534
2 Registration and reconstruction process in DH 535
3 Configurations of holocamera 536
4 Experimental results 537
5 Conclusions 539
Acknowledgements 539
References 539
79Accurate DHM method for topography characterization of reflective microoptics 540
1 Introduction 540
2 Measurement setup 541
3 Measurement method 542
4 Experimental results 544
5 Conclusion 544
Acknowledgments 545
References 545
80 Control of the End Effector Position Based on MotionCapture 546
1 Introduction 546
2 Used Approach 547
2.1 Overall concept of the Solution 547
2.2 The Designed Method 548
3 Achievements and Discussion 550
4 Conclusion 551
5 Acknowledgement 551
6 References 551
813D white light interference microscope with specialized illumination for better sample imaging and observation 552
1 Introduction 552
2 3D microscope based on white light interferometry 553
3 Color imaging with white light interferometry 554
3.1 Side illumination for imaging of low reflective and diffusive samples 555
4 Summary 557
References 557
82The WUT database for modeling the visual quality 558
1 Introduction 558
2 Test scenes 559
3 Database 562
3.1 Encoding parameters and calculated metrics 562
3.2 Subjective experiment 563
3.3 Download and usage 565
4 Conclusion 566
References 567
83Multimodal perception in subjective quality evaluation of compressed video 568
1 Introduction 568
2 The experiment 569
3 Results 571
4 Conclusions 573
References 573
Part VIIRobotics 574
84A Wiimote 3D Localization Scheme without Channel Constraints 575
1 Introduction 575
2 Wiimote 3D Localization System 576
3 IR LED Switching Technique 577
4 System Integration and Experiments 578
5 Conclusion 580
6 Acknowledgements 580
7 References 580
85Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot - Part 1. Theoretical Considerations. 581
1 Introduction 581
2 Four-Wheeled Skid-Steered Mobile Robot 582
3 Robot Kinematics 584
4 Posture Controller 586
4.1 Desired motion and errors 586
4.2 Structure of analyzed control system 587
4.3 Velocity limits for posture controllers 588
4.4 Selected solutions of posture controllers 589
4.5 Drive controller 595
4.6 Posture controller tuning methodology 596
5 Summary and Future Works 600
Acknowledgements. 601
References 601
86Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot - Part 2. Dynamics Model of the Robot and Simulation Research of Posture Controllers. 603
1 Dynamics Model of the Robot 603
2 Simulation Research 607
2.1 Desired trajectory and robot parameters 608
2.2 Quality indexes 610
2.3 Values of controller parameters 610
2.4 Illustration of problem with non-zero final errors 611
2.5 Comparative analysis of posture controllers 612
3 Conclusions and Future Works 617
Acknowledgements 618
References 618
87Adaptive Control of Electro-Mechanical Actuator using Receptive Field Weighted Regression 619
1 Introduction 619
1.1 Modelling and nonlinear control of an EMA 619
1.2 Local linear models and RFWR 620
2 Implementation of feedforward compensator using RFWR 620
2.1 Approximation of the model discontinuity due to dry friction 620
2.2 Feedforward compensator using full inverse dynamic model 621
2.3 Feedforward compensator using reduced dynamic model 621
2.4 Adaptivity of RFWR approximator 623
3 Conclusion 623
Acknowledgement 624
References 624
88A .NET application searching for deleted, modified and added statements into control programs of the KUKA industrial welding robot during its testing 625
1 Introduction 625
2 Testing a robot, motion programming a robot 626
3 A .NET application searching for deleted, modified and added statements into control programs of the KUKA industrial welding robot during its testing 627
4 Conclusion 632
References 633
89 A Task Planner for Autonomous Mobile Robot Based on Semantic Network 634
1 Introduction 634
2 Semantic network representation 635
3 Semantic network usage 637
4 Conclusion 638
Acknowledgement 638
References 638
90Visual environment mapping based on computer vision 640
1 Introduction 640
2 Mapping and localization 641
2.1 Phase correlation 641
2.2 Map stitching 642
2.3 Localization 642
3 Practical experiment 643
4 Conclusions 644
Acknowledgement 645
References 645
91Design & FEA and Multi Body System Analysis of Human Rescue Robot Arm
1 Introduction 647
2 Geometry and 3D Model 648
3 Static Analysis 649
4 Multi Body System Analysis 649
4.1 Kinematic 650
4.2 Transient Structural 650
5 Results and Discussion 650
5.1 Static Analysis 650
5.2 Kinematic Analysis 651
5.3 Transient Structural Analysis 651
6 Conclusions and Future Works 652
References 652
92 Enhancement of Autonomous Robot Navigation viaSensor Failure Detection 653
1 Introduction 653
2 Time series data monitoring method 654
3 Practical experiments 655
4 Conclusions 658
5 Acknowledgement 658
References 658
93The Development of the Autonomous Indoor Robot 659
1 Introduction 659
2 The Construction Design and Sensory System 659
3 Main Control Software 661
4 Achievements 662
5 Conclusion 663
Acknowledgement 664
References 664