Challenges in Automation, Robotics and Measurement Techniques (eBook)

Preface 6
Contents 7
About the Editors 15
Part I Control and Automation 17
1 Hierarchical Models in Modern Control Theory 18
Abstract 18
1 Introduction: Heterogeneous Models and Hierarchical Modeling 18
2 Hierarchical Models of Multiagent Systems 20
3 The Diffuse Bomb Model 23
4 ``Hierarchical Automation'' in Organization-Technical Systems 24
5 Conclusion 26
References 27
Neural Modelling of a Yeast Fermentation Process Using Extreme Learning Machines 28
1 Introduction 28
2 Structures of Neural Model 29
3 Training of Neural Models 30
3.1 Classical Approach 30
3.2 Extreme Learning Machines 31
4 Simulation Results 32
4.1 Training of Classical Neural Models 33
4.2 Training of Extreme Learning Machines 34
5 Conclusions 36
References 38
Project and Simulation of a Portable Device for Measuring Bioelectrical Signals from the Brain for States Consciousness Verification with Visualization on LEDs 39
1 Introduction 39
2 Brain Computer Interface Technology 40
3 Prototype Design and Analog Frontend LTSpice Simulation 42
4 Signal Processing 46
5 Electrodes Design and Housing 47
6 Discussion and Future Work 49
References 49
4 Descriptor Fractional Discrete-Time Linear System and Its Solution---Comparison of Three Different Methods 50
Abstract 50
1 Introduction 50
2 Preliminaries 51
3 Shuffle Algorithm Method 52
4 Drazin Inverse Method 54
5 Weierstrass-Kronecker Decomposition Method 56
6 Example 57
6.1 Case of Shuffle Algorithm Method 58
6.2 Case of Drazin Inverse Method 59
6.3 Case of Weierstrass-Kronecker Decomposition Method 60
6.4 Comparison of the Results 61
7 Concluding Remarks 62
Acknowledgment 63
References 63
Implementation of Dynamic Matrix Control Algorithm Using a Microcontroller with Fixed-Point Arithmetic 64
1 Introduction 64
2 Dynamic Matrix Control 65
3 Hardware Platform 67
4 Process Description 68
5 Implementation 70
6 Experimental Results 72
7 Conclusions 73
References 73
6 Design of Control System for an Electrohydraulic Drive Based on the Valve with PMSM Motor 75
Abstract 75
1 Introduction 75
2 Test Stand and Control System 76
2.1 Assumptions 76
2.2 Test Stand Structure 76
2.3 Testing 80
3 Conclusion 82
Acknowledgments 82
References 82
7 Electrohydraulic Valve with Two Stepping Motors 84
Abstract 84
1 Introduction 84
2 Design of Proportional Valve with One and with Two Stepping Motors 85
3 Electrohydraulic Servo Drive with a New Valve 87
4 Conclusion 89
References 90
8 Controlling the Direction of Rotation of the Motor Using Brain Waves via Ethernet POWERLINK Protocol 91
Abstract 91
1 Introduction 91
2 Electroencephalography and Placement of Electrodes 92
3 EEG Equipment Used in Research 93
4 Sie0107 Ethernet POWERLINK 94
5 Controlling the Direction of Rotation of the Motor 95
6 Conclusion 97
References 97
9 System Responsive to ICT Security Incidents in the LAN 99
Abstract 99
1 Introduction 100
1.1 Review of Existing Solutions 100
1.2 Assumptions for the RSSISI System Design 100
1.3 Sources of Information 101
1.4 The Method of Data Analysis 102
1.5 Storage Location 102
1.6 Feedback 102
2 Collection of the LAN Flows 102
2.1 Organization of the Collecting Cash 103
3 Analysis of Flows and Automated Risk Prevention 104
4 Hazard Data Storage 109
5 Analysis of Risks in the WEB Server 109
6 Summary 111
References 111
Practical Aspects of Hammerstein Models for Nonstationary and Nonlinear Processes 113
1 Introduction 113
2 Theoretical Aspects 115
2.1 Model Structure Identification 115
2.2 Hammerstein Models 116
2.3 Model Adaptation 116
3 Practical Considerations 116
3.1 Data Collection and Preprocessing 117
3.2 Close Loop Identification 117
4 Real Case 118
5 Conclusions and Further Research 122
References 122
11 Robust Scheduling Subject to Multi-project Environment Constraints 124
Abstract 124
1 Introduction 125
2 Related Work 126
3 Illustrative Example 127
4 Problem Formulation 129
5 Conditions Sufficient for Projects Portfolio Acceptance 132
6 Concluding Remarks 134
References 134
12 Selected Aspects of Automatic Maneuver Control to Avoid Moving Obstacles Resulting from the Simulation Analysis of the Course of Aircraft Movement 136
Abstract 136
1 Introduction 136
2 The Trajectory of Avoidance Maneuvers 137
3 Control Laws and Desired State Variables 138
4 Analysis of the Results of Simulation Tests 141
5 Conclusions 146
References 148
13 Existence of Metzler Matrices with Given Spectra of Positive Stable Linear Systems and Electrical Circuits 149
Abstract 149
1 Introduction 149
2 Continuous-Time Linear Systems and Problem Formulation 150
3 Problem Solution 151
4 Positive Electrical Circuits 156
5 Concluding Remarks 160
Acknowledgment 160
References 161
14 Existence of System Matrices with Given Spectra of Positive Stable Discrete-Time Linear Systems 163
Abstract 163
1 Introduction 163
2 Discrete-Time Linear Systems and Problem Formulation 164
3 Problem Solution 165
4 Concluding Remarks 170
Acknowledgment 170
References 170
Two- and Three-Layer Recurrent Elman Neural Networks as Models of Dynamic Processes 172
1 Introduction 172
2 Elman Neural Network with Two Layers 173
3 Elman Neural Network with Three Layers 174
4 Training of Recurrent Elman Neural Networks 175
5 Simulation Results 178
6 Summary 182
References 182
16 Extension of Model Functionalities for Multi-echelon Distribution Systems Through the Introduction of Logical Constraints 183
Abstract 183
1 Introduction 183
2 Multi-echelon Systems 185
3 Hybrid Approach 185
4 Illustrative Example---Two-Echelon Capacitated Vehicle Routing Problem 187
4.1 Logical Constraints in 2E-CVRP 188
5 Computational Examples (2E-CVRP) 188
6 Conclusions 191
Appendix A 193
References 193
Shooting Methods to Solve Optimal Control Problems with State and Mixed Control-State Constraints 195
1 Introduction 195
2 Necessary Optimality Conditions for a General Optimal Control Problem with State and Mixed State-Control Constraints 197
3 Indirect Multiple Shooting Technique 203
4 Direct Multiple Shooting Technique 204
5 A Case Study 205
6 Conclusions 210
References 211
Power Factor Correction with ARM"AE Cortex"AE---M4 Processor 212
1 Introduction 212
2 Average Current Method 213
3 Simulation Results 215
4 Power Factor Correction with STM32F407 216
5 Conclusions 218
References 219
19 Concept and Design of New Type Valve with Helix Type Spool 220
Abstract 220
1 Introduction 220
2 Valve Construction 222
2.1 Concept and Design 222
2.2 Operation Modes 223
2.3 Modelling 224
3 Conclusion 226
References 226
20 Structure and Functionalities of Ship Autopilot Simulator 228
Abstract 228
1 Introduction 229
2 Heading Control Structure 230
3 Track Control Structure 230
4 Adjustments 231
5 Statuses and Tunings 232
6 Simulations 234
7 Conclusions 235
References 235
Server Power Consumption: Measurements and Modeling with MSRs 237
1 Introduction 237
2 Experimental Setting 238
3 Results of Experiments 239
3.1 Scenario 1---Computation Server 239
3.2 Scenario 2---Software Router 242
3.3 Scenario 3---Video Stream Transcoding 243
4 Model Identification 243
5 Model Validation 245
6 Conclusions 247
References 247
Multi-agent System for On-Line Game Matchmaking 249
1 Introduction 249
2 Problem Description 250
3 Modeling the Problem 251
3.1 Full Model 251
3.2 Decomposition 253
3.3 Greedy Algorithm 253
4 Multi-agent System 254
4.1 User Agent 254
4.2 Server Agent 254
4.3 Match Generation Algorithm 255
5 Implementation and Experiments 256
5.1 Player Data Generation 256
5.2 Exact Solution 256
5.3 Multi-agent System Solution 257
6 Conclusions 259
References 259
Evaluation of High Efficiency Operating Rules for Grate-Fired Boilers 261
1 Introduction 261
1.1 Rationale 262
1.2 Grate Boiler Combustion 262
2 Approach 263
3 Methodology 264
4 Exemplary Results 267
4.1 Results Discussion 268
5 Conclusions and Further Research 269
References 270
24 Detection of Artefacts from the Motion of the Eyelids Created During EEG Research Using Artificial Neural Network 271
Abstract 271
1 Introduction 271
2 Placement of Electrodes and Equipment Used in Research 272
3 Artefacts and Their Classification 273
4 Detection of Artefacts by Artificial Neuron Networks 274
5 Conclusion 278
References 278
Gradient Approach to Curve Fitting with Incomplete Data 280
1 Introduction 280
2 Methodology 281
3 Results 283
3.1 Simulation Example 283
3.2 Industrial Example 286
4 Conclusions and Further Research 288
References 289
26 A Non Integer Order Model of Frequency Speed Control in AC Motor 290
Abstract 290
1 An Introduction 290
2 A Speed Control Rule for Induction AC Motor 291
3 Transfer Function Models of Speed Control 292
3.1 Cost Functions Used in Model Estimation 292
3.2 An Integer Order Transfer Function Model 293
3.3 The Proposed Non Integer Order Models 293
4 The Oustaloup Approximation 293
5 Experimental Results 294
6 Final Conclusions 300
Acknowledgments 300
References 300
27 An Estimation of Accuracy of Oustaloup Approximation 302
Abstract 302
1 An Introduction 303
2 Non-integer Order Integrator 303
3 The Oustaloup Approximation 304
4 Cost Functions Describing the Accuracy of Approximation 305
5 Simulation Results 306
6 Final Conclusions 309
Acknowledgements 309
References 309
Low-Cost Multifunction Controller Prototype for Sawmill Wood Processing 311
1 Introduction 311
2 Sawmill Automation 312
2.1 Climate Control 313
2.2 Surveillance System 314
2.3 Wood Drying Control 314
3 Multifunction Controller Prototype 315
4 IEC 61131-3 Drying Program 316
5 HMI Operator Panel 318
6 Summary 319
References 319
29 Application of SURF Algorithm for Real-Time Estimation of Angle and Central Point of a Tracked Object 321
Abstract 321
1 Introduction 321
2 Vision System and Mathematical Background 322
3 Experimental Results 326
4 Conclusion 328
Acknowledgment 328
References 328
Classes of Digraph Structures Corresponding to Characteristic Polynomials 330
1 Introduction 330
1.1 Characteristic Polynomial 331
1.2 Digraphs 332
1.3 Digraph Creation 333
2 Problem Formulation 334
3 Classes of Digraph Structures 334
4 Example 336
4.1 Class mathcalK1 336
4.2 Class mathcalK2 337
4.3 Class mathcalK3 338
5 Concluding Remarks 340
References 340
Reachability of Standard and Fractional Continuous-Time Systems with Piecewise Constant Inputs 341
1 Introduction 341
2 Reachability of Standard Continuous-Time Linear Systems with Piecewise Constant Inputs 342
3 Reachability of Fractional Continuous-Time Systems with Piecewise Constant Inputs 345
4 Concluding Remarks 349
References 349
Output Constraint Handling in Analytical MPC Algorithms Based on Hammerstein Models with Presumed Trajectory of Future Control Changes 350
1 Introduction 350
2 Analytical MPC Algorithms Based on Hammerstein Models 351
3 Mechanism of Output Constraint Handling 355
4 Simulation Experiments 357
5 Summary 359
References 359
Realisation of Positive Continuous-Time Linear Systems Consisting of n Subsystems with Different Fractional Order 361
1 Introduction 361
2 Fractional Order Model 362
3 Problem Solution 364
4 Numerical Example 367
5 Concluding Remarks 369
References 369
34 Research Study of the Micro Cogeneration System with Automatic Loading Unit 372
Abstract 372
1 Introduction 373
2 Testing Workbench with Automatic Measuring System 374
3 Test Bench Research 376
3.1 Theoretical Basis of the Analyses 376
4 Results of Test Bench Research 377
5 Summary and Conclusions 382
References 382
35 Research on a Micro Cogeneration System with an Automatic Load-Applying Entity 384
Abstract 384
1 Introduction 385
2 Presentation of the Testbed with an Automatic Measuring System 385
3 Testbed Research 386
3.1 Results of the Testbed Research 386
4 Conclusions 390
References 391
Part II Robotics 393
Performance of Feedback Linearization Based Control of Bicycle Robot in Consideration of Model Inaccuracy 394
1 Introduction 394
2 Experimental Setup 395
3 Mathematical Model 396
4 Jacobian Linearization of the Model 397
5 Feedback Linearization 397
5.1 Definitions and FBL Procedure 398
5.2 FBL of the Bicycle Robot Model 399
6 Discrete-Time Model of the Plant 400
7 Linear Quadratic Control 401
8 Simulations and Experiment 402
9 Conclusions 404
References 404
Robust Actuator Fault-Tolerant LQR Control of Unmanned Bicycle Robot. A Feedback Linearization Approach 406
1 Introduction 406
2 Model of the Robot, FBL Linearization 407
2.1 Continuous-Time 2DOF Model of the Robot 407
2.2 Feedback Linearization of the Plant 408
2.3 Discrete-Time Model of the Plant 409
3 Actuator Failure Models 409
4 LQR Control of the Model and Its Modifications 410
5 Optimal State-Feedback for FBL Control 411
6 Actuator Failure in Standard LQR Notation, Cut-Off Constraints and Modeling Errors 412
7 Simulation Comparison of Control Performance 412
7.1 Experiment Conditions 412
7.2 Performance Indices 413
7.3 Conclusion 413
8 Summary 415
References 415
Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System 417
1 Introduction 417
2 State of the Art 418
3 Experimental Setup and Ambodied Agent Structure 419
4 Virtual Receptor 420
5 Control Subsystem and Virtual Effector 423
6 Verification 424
7 Conclusions 425
References 425
Visual Marker Based Shape Recognition System for Continuum Manipulators 428
1 Introduction 428
2 Manipulator Design 429
3 Manipulator Modeling 430
4 External Absolute Positioning System 431
4.1 Marker Detection Precision 431
5 Soft Robotics System Setup 434
5.1 Experimental Setup 436
6 Conclusion and Future Work 437
References 437
40 Survey of Turning Systems Used in Lower Extremity Exoskeletons 439
Abstract 439
1 Introduction 439
1.1 Exoskeletons and Orthotic Robots 439
1.2 The `Veni-Prometheus' System for Verticalization and Aiding Motion 440
2 Survey of Turning Mechanisms Used in Exoskeletons 441
2.1 Kinematics of BLEEX Exoskeleton 441
2.2 Kinematics of Ekso Exoskeleton 442
2.3 Kinematics of IHMC Mobility Assist Exoskeleton 444
2.4 Kinematics of Mindwalker Exoskeleton 445
2.5 Kinematics of Rex Exoskeleton 446
3 Discussion 447
4 Conclusion 448
References 448
Exposure Control Algorithm for Maker Detection in Robotic Application 450
1 Introduction 450
2 Markers 451
3 Marker Detection Quality 452
4 Algorithm 454
5 Experimental Setup 455
6 Summary 457
7 Further Work 457
References 457
Evaluating Map-Based RGB-D SLAM on an Autonomous Walking Robot 459
1 Introduction 459
2 Map-Based RGB-D SLAM 460
2.1 Back-End 461
2.2 Front-End 462
2.3 Dense Environment Mapping 463
2.4 Implementation on the Walking Robot 463
3 Evaluation Procedure 464
4 Results 465
5 Conclusions 468
References 470
Reasoning with Four-Valued Logic in Multi-robotic Search-and-Rescue Problem 472
1 Introduction 473
2 Problem Definition 474
3 Reasoning Engine 475
3.1 4ql Characteristics 475
3.2 Underlying Logic 476
3.3 Reasoning Modules 477
3.4 Exemplary Scenario Analysis 479
4 MultiLight System 480
4.1 Gui Module 480
4.2 Observer Module 481
4.3 Planner Module 482
5 Experiments 483
6 Conclusions 487
References 487
Modern Sensors in Mobile Robot Teleoperation 489
1 Introduction 489
2 Existing Approaches to Mobile Robot Teleoperation 490
3 Modern Sensors for Human Actions Acquisition 492
4 Created Mobile Platform and Teleoperation Stands 494
5 Experiments and Results 495
6 Conclusions 497
References 498
Robot System Design Procedure Based on a Formal Specification 499
1 Introduction 499
2 State of the Art 500
3 An Embodied Agent 501
4 Procedure of Developing Robot System Specification 504
5 Transformation of the Specification into Code 506
6 Conclusions and Future Work 509
References 509
Performance of Coaxial Propulsion in Design of Multi-rotor UAVs 511
1 Introduction 511
2 Related Work 512
3 Experimental Setup 513
3.1 Test Bench 513
3.2 Analyzed Propulsion Units 514
3.3 Experiment Assumptions 515
4 Experimental Results 516
4.1 Conclusions 518
5 Evaluation 518
6 Future Work 518
References 519
47 Concept Analysis and Development of an Innovative Remotely Controlled Portable Tyre Puncturing Device (R-TPD) 520
Abstract 520
1 Introduction 521
2 Problem Statement 522
3 Concept and Evolution 524
4 Demonstrator 527
5 Conclusions 531
Acknowledgments 532
References 532
Fast Self-collision Detection Method for Walking Robots 535
1 Introduction 535
2 Related Work 537
3 Paper Contribution 538
4 Collision Detection 538
4.1 CAD Model-Based Collision Detection 538
4.2 Approximation of Collision Detection Model 541
5 Conclusions and Future Work 543
References 544
Incremental Version Space Merging Approach to 3D Object Model Acquisition for Robot Vision 546
1 Introduction 546
2 The Application Problem 548
3 Incremental Version-Space Learning 549
3.1 Basic Approach---IVSM 549
3.2 The Novel IVSM-ID Algorithm 550
4 Concept Learning for the Cone 551
4.1 The Training Images 552
4.2 Version-Spaces Created by IVSM-ID 553
5 Summary 554
References 555
50 Simulation-Based Design of Mobile Ad Hoc Network for Tracking and Monitoring 557
Abstract 557
1 Introduction 558
2 Problem Formulation 559
3 MANET for Tracking and Monitoring 559
3.1 Off-Line Deployment 559
3.2 On-Line Deployment 561
3.3 Evaluation of Deployment Strategies 563
4 MANET Simulators and Performance Evaluation 563
4.1 Implementation 563
4.2 Case Study Results 565
4.2.1 Off-Line Deployment 565
4.3 On-Line Deployment 566
5 Summary 569
References 569
Control of an Electro-Hydraulic Manipulator by Vision System Using Central Point of a Marker Estimated via Kalman Filter 571
1 Introduction 572
2 The Testbed 572
3 Implementation of Kalman Filter 574
4 The Experiment 575
5 Conclusions 578
References 579
Perception Subsystem for Object Recognition and Pose Estimation in RGB-D Images 581
1 Introduction 581
2 RGB-D Perception Subsystem 582
2.1 Feature Extraction 583
2.2 Correspondence Estimation 583
2.3 Correspondence Grouping 584
2.4 Hypothesis Projection 585
2.5 Hypothesis Verification 585
3 Experimental Verification of the Perception Subsystem 585
3.1 Off-Line Verification 585
3.2 On-line Verification with Kinect Sensor 585
3.3 On-line Verification in the Object Picking Task 586
4 Summary 589
References 590
53 The Comparison of Keypoint Detectors and Descriptors for Registration of RGB-D Data 592
Abstract 592
1 Introduction 592
2 Related Work 593
3 System Architecture and Algorithms 594
3.1 Architecture 594
3.2 Kabsch Algorithm 595
3.2.1 Centroids 595
3.2.2 Rotation 596
3.2.3 Translation 596
3.3 KAZE Detector/Descriptor 596
3.4 AKAZE Detector/Descriptor 597
3.5 SURF Detector/Descriptor 597
3.6 ORB Detector/Descriptor 598
3.7 BRISK Detector/Descriptor 598
4 Experimental Results 599
4.1 Freiburg_Room 599
4.2 Freiburg_Desk 600
4.3 Freiburg3_Long_Office_Household 602
5 Conclusions 603
References 604
Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform 606
1 Introduction 606
2 Agent Oriented Distributed Robot Control System 607
3 Navigation System Structure and Behaviour 608
3.1 System Functions 609
3.2 System Components 609
3.3 Distribution of Components in the RAPP Platform 611
3.4 Distribution of Navigation Components of the Nao Robot 612
4 Navigation System Structure Implementation and Verification 613
5 Conclusions 615
References 615
WUT Visual Perception Dataset: A Dataset for Registration and Recognition of Objects 617
1 Introduction 617
2 Benchmarking the Machine Perception 618
3 Data Acquisition 619
3.1 Turntable 619
3.2 Monocular Camera 620
3.3 Structured Light 621
3.4 Textured Stereovision 621
4 Datasets 623
4.1 3D Model Dataset 623
4.2 Turntable Dataset 623
4.3 Approaching Sensor Dataset 624
4.4 Pose Estimation Test Dataset 625
4.5 Test Scenes Dataset 625
5 Summary 625
References 626
56 Navigation for Satellites 628
Abstract 628
1 Problem Description 628
2 Proposed Method 632
3 Experiments 636
4 Conclusions 639
Acknowledgments 639
References 639
Detection and Recognition of Compound 3D Models by Hypothesis Generation 640
1 Introduction 640
2 Inference System Description 641
3 Concepts 3D 642
4 Results 646
4.1 Dataset 646
4.2 Detection and Recognition of 3D Objects 646
5 Conclusions 648
References 648
58 Autonomous Agricultural Robot---Conception of Inertial Navigation System 650
Abstract 650
1 Introduction 650
2 The Construction of the Robot 653
3 Conception of Inertial Navigation System 654
4 Mobile Platform 657
5 Summary 658
References 659
Fast Grasp Learning for Novel Objects 661
1 Introduction 661
2 Related Work 662
3 Problem Formulation 663
3.1 Object Model 664
3.2 Contact Model 664
3.3 Query Density 665
3.4 Modifications 665
4 Experiments 667
5 Conclusions 671
References 671
Prediction-Based Visual Servo Control 673
1 Introduction 673
2 The Control Structure of a Visual Servo 674
3 Behaviors and Transition Functions 675
3.1 Control Subsystem 675
3.2 Virtual Effector 678
3.3 Virtual Receptor 682
4 Experiments 682
5 Conclusions 683
References 684
Low-Cost Canoe Counting System for Application in a Natural Environment 685
1 Introduction 685
2 Methods and Algorithms Used 686
2.1 Application of Background Subtraction 686
2.2 Recognition of Water Objects 688
2.3 Tracking and Counting of Water Objects 689
3 Experiments 691
3.1 Water Objects Recognition 691
3.2 Water Objects Tracking 693
4 Conclusions 694
References 695
Hypothesis Generation in Generic, Model-Based Object Recognition System 696
1 Introduction 696
2 Inference System Description 697
2.1 System Structure 697
2.2 Concept of Concepts 698
2.3 Hypothesis Generation 698
2.4 Modifications of CSP Problem 699
3 Exemplary 2D Concepts 700
3.1 Edge Segmentation 700
3.2 Edge Concepts 701
4 Results 703
4.1 Material 703
4.2 2-D Results 703
4.3 Performance 703
5 Discussion 703
5.1 Edge Fragmentation 703
References 705
63 New Trends in the Use of Robotic Devices in Motor Rehabilitation of Upper Limbs 707
Abstract 707
1 Introduction 708
2 Arguments for the Application of Mechatronic Devices in Supporting Rehabilitation 708
2.1 Current Medical Studies and Future Challenge to Robotized Technology 708
2.2 Robotic Devices for Motor Rehabilitation Currently Used in Therapeutic Practice 709
3 Initial Development of Rehabilitation Robotics 710
4 Mechanical Structure of Robotic Devices for Movement Rehabilitation 712
4.1 End-Effector Based Devices 712
4.2 Exoskeleton-Based Devices 713
5 New Solutions in Control 714
5.1 Virtual Reality 714
5.2 Haptics Interfaces 714
5.3 Human-Robot Communication 715
6 Summary 715
Acknowledgements 716
References 716
Part III Measuring Techniques and Systems 718
64 Multi-camera Vision System for the Inspection of Metal Shafts 719
Abstract 719
1 Introduction 719
2 Inspection Method 722
3 Developing the Automatic Optical Inspection System 726
4 Conclusions 727
References 727
65 Piezoelectric Gravimeter of the Aviation Gravimetric System 729
Abstract 729
1 Introduction 729
2 Analysis of the Scientific Researches 730
3 The Equation of Motion AGS 731
4 Design of Piezoelectric Gravimeter 733
5 Results and Discussion 736
6 Conclusions 736
References 736
66 Methodology of Reduction of the Offset Voltage in Hall-Effect Sensors 738
Abstract 738
1 Introduction 738
2 Outline of the Multiple-Pin Hall-Effect Sensor 739
3 Procedure of Searching for Optimal Pin Connection of Hall-Effect Sensor 740
4 Experimental Setup for Reducing Offset Voltage of the Hall-Effect Sensor 741
5 Experimental Results 743
6 Conclusion 744
Acknowledgements 744
References 744
67 Propagation of Distributions Versus Law of Uncertainty Propagation 746
Abstract 746
1 Introduction 746
2 Measurement Model 747
3 Calculation of Standard Uncertainty 747
4 Law of Uncertainty Propagation 748
5 Propagation of Distributions 748
6 Comparison of the Method 749
7 Practical Example of Calculation 751
8 Conclusion 753
References 754
68 Assessment of Graphene Coatings Influence on Tribological Properties of Surfaces 755
Abstract 755
1 Introduction 756
2 Experimental 757
3 Results 760
4 Conclusion 762
Acknowledgement 762
References 762
69 Setup for Stereovision Simulation for Mutual Navigation of Satellites Formation 763
Abstract 763
1 Introduction 763
2 General Idea of Setup for Stereovision Simulation 764
2.1 Image Display System 764
2.2 Remote Vision System 765
2.3 Image Processing System 766
3 Setup Hardware Implementation 766
4 Setup Test---Camera Calibration 767
5 Conclusion 769
Acknowledgements 769
References 769
70 Issues and Problems with Measuring the Temperature in the Hive 770
Abstract 770
1 Introduction 771
2 Development of Temperature Measurement System 772
3 Environmental Studies---Measurement Stripes in Wax Foundation 774
4 Environmental Studies---Experimental Setup on Hive with Measurement Frames 776
5 Conclusions 777
References 778
71 Research of Metal Film Resistor's Temperature Stability According to Their Nominal Wattage 779
Abstract 779
1 Introduction 779
2 Object of Study 780
3 Test Stand 781
4 Measurements Results 783
5 Conclusion 786
References 786
72 Automated System for Testing Ferromagnetic Materials 788
Abstract 788
1 Introduction 788
2 System Setup 789
3 Measurement Process 791
4 Results 795
5 Conclusion 796
References 796
73 Anisotropic Vector Preisach Model of Domain Rotation and Domain Wall Movement 797
Abstract 797
1 Introduction 797
2 Superposition of Preisach Planes 798
3 Magnetization Mechanisms 799
3.1 Domain Wall Movement 799
3.2 Domain Rotation 800
4 Anisotropy 800
5 Magnetization Characteristics 801
6 Results 803
References 803
74 Validation of the Model of Anhysteretic Magnetisation Curve of Isotropic Soft Magnetic Materials 804
Abstract 804
1 Introduction 804
2 Anhysteretic Magnetization Curve in Jiles-Atherton Model 805
3 Tested Material 807
4 Magnetic Measurements 807
5 Results of Modelling of Anhysteretic Magnetization Curve 807
6 Conclusions 809
Acknowledgment 809
References 809
75 Test Stand for Measuring Magnetostriction Phenomena Under External Mechanical Stress with Foil Strain Gauges 811
Abstract 811
1 Introduction 811
2 Magnetostriction Effect---Overview 812
2.1 Magnetostriction Effect 812
2.2 Measurements of Magnetostriction 813
3 Test Stand Idea and Implementation 814
3.1 General Idea 814
3.2 Investigated Sample 815
3.3 Strain Gauge Measurement of Deformation 816
3.4 Other Components of the Test Stand 817
3.5 Complete Test Stand 818
4 Example Results 818
5 Conclusion 820
References 820
76 Method to Improve Accuracy of the Chromatography Mass Spectrometry Analysis 822
Abstract 822
1 Introduction 822
2 Construction of Calibration Characteristics 823
3 Influence of Sample Preparation on Uncertainty 824
4 Structural-Algorithmic Method of Improving Accuracy 824
5 Determination of Analyte Concentration 825
6 Checking the Adequacy of Calibration Characteristics 827
7 Numerical Example 829
8 Conclusions 831
References 832
77 Primary Standard of Electrolytic Conductivity Based on the AC Four Electrode Cell 833
Abstract 833
1 Introduction 833
2 Measurement System for the EC Unit Reproduction 834
3 Metrological Model of the Four-Electrode EC Standard 836
4 Experimental Results 841
5 Conclusions 844
References 844
78 Experimental Definition of Compressive Stiffness of Cotton Flock 846
Abstract 846
1 Introduction 847
2 Main Assumptions and Model of Cotton Flock for Experimental Analysis 848
3 Methodology of Experimental Research 851
4 Definition of Coefficient of Aerodynamic Drag 853
5 Results of Experimental Research 854
6 Discussion and Conclusions 855
References 856
79 Method of Improving Accuracy of Measurement of the Acoustic Pulses Time-of-Flight Based on Linear Modulation of Period 857
Abstract 857
1 Introduction 857
2 Measurement the Time-of-Flight of Acoustic Pulses 859
3 Improvement the Accuracy of Measurement of Time-of-Flight of Acoustic Pulses 860
4 Analysis of the Method Precision 863
5 Simulated Results 863
6 Conclusions 865
References 865
80 Semi-parametric Estimation of the Change-Point of Parameters of Non-gaussian Sequences by Polynomial Maximization Method 867
Abstract 867
1 Introduction 867
2 Mathematical Formulation of the Problem 869
3 A Posteriori Estimation of the Change-Point of Mean Value by the Maximum Likelihood Method 869
4 A Posteriori Estimation of the Change-Point of Variance by the Maximum Likelihood Method 871
5 General Algorithm of Polynomial Change-Point Estimation 872
6 Polynomial Estimation of the Change-Point of Mean Value 873
7 Adaptive Polynomial Estimation of Change-Point for the Partial a Priori Information 874
8 Polynomial Estimation of the Change-Point of Variance 878
9 Statistical Modeling of a Posteriori Estimate of Change-Point 880
10 Conclusions 882
References 882
Author Index 884