Mechatronics 2017 (eBook)

Recent Technological and Scientific Advances
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2017 | 1st ed. 2018
XIV, 753 Seiten
Springer International Publishing (Verlag)
978-3-319-65960-2 (ISBN)

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This book presents nearly 90 carefully selected contributions at the 12th International Conference Mechatronics, which took place in Brno, Czech Republic on 6-8 September 2017. Reflecting the most progressive and constantly changing areas of mechatronics, these proceedings includes papers concerning modeling and simulation, automatic control, robotics, sensors and actuators, electrical machines, and energy harvesting. It not only offers inspiration, but also deepens readers' interdisciplinary and integrated understanding of modern engineering. The book is intended for experts in the integration of electronic, mechanical, control and computer sciences.

Mechatronics 2017 – Preface 6
Contents 7
Mechatronics 15
A Compact Device for Urine Collection and Transport in Porous Media 16
Abstract 16
1 Introduction 16
2 Materials and Methods 17
2.1 Equations 17
2.2 Methods 18
2.3 Experimenal Setup 20
3 Results and Discussion 20
3.1 Covered and Uncovered Capillary Flow 20
3.2 Vertical Capillary Flow in Folded Filter Paper 21
3.3 Horizontal Capillary Flow 22
4 Conclusion 22
5 Future Work 23
Acknowledgement 23
References 23
Innovation of Pressing with TRIZ Methodology 24
Abstract 24
1 Introduction 24
2 Map of the Problem - RCA Diagram 25
3 Contradictions and Possible Solutions 26
3.1 Inventive Tasks as Technical and Physical Contradictions - TC1 and PC1 26
3.2 Inventive Tasks as Another Contradictions to Be Solved 28
4 Implementation of Found Inventions into Innovation 29
5 Conclusion 31
Acknowledgements 31
References 31
Evaluation of Postural Stability During Quiet Standing Using MatLab Software and Promising Parameters 32
Abstract 32
1 Introduction 32
2 Methods 33
2.1 Measurement Procedure and Measurement Equipment 33
2.2 Methods of Data Pre-processing and Processing 34
2.3 Time Domain Analysis Methods 35
2.4 Frequency Domain Analysis Methods 35
2.5 Analysis of Relationship Between Measured Variables 35
2.6 Nonlinear Methods 37
3 Application and Results 38
4 Discussion and Conclusion 38
Acknowledgements 38
References 39
Comparison of Deformation and Stress States of the Total Trapeziometacarpal Replacement 40
Abstract 40
1 Introduction 40
2 Computational Model 41
2.1 Model of Geometry 41
2.2 Model of Material 41
2.3 Boundary Conditions and Contacts 42
3 Results 43
4 Conclusion 45
References 45
Analysis of Single-Phase Voltage-Source Active Rectifier Under PWM 47
Abstract 47
1 Introduction 47
2 Single-Phase Voltage-Source Active Rectifier 48
2.1 Simulation Model 48
2.2 PWM Strategy 49
3 Simulation Results 50
4 Discussion 54
Acknowledgement 55
References 55
Minimization of Equivalent Series Resistance of Coupling Coils for Wireless Power Transfer Applications 56
Abstract 56
1 Introduction 56
2 Equivalent Series Resistance Calculation 57
3 Optimal Cable Design 60
4 Conclusions 61
Acknowledgement 62
References 62
Optimal Efficiency and Power Control of High Efficient Wireless Power Transfer System 63
Abstract 63
1 Introduction 63
2 Basic Description of Regulation Technique Description 64
3 Regulation Principle 65
4 Simulation Model and Implementation Example 67
5 Measuring on Prototype 68
6 Conclusions 69
Acknowledgement 70
References 70
Design of Consecutive Compensator for Servo System with Signal Uncertainty 71
Abstract 71
1 Introduction 71
2 Formation of a Polynomial Dynamic Model of System Based on Besekersky Approach 72
3 Main Result. Algorithm of System Synthesis on the Basis of Besekersky Approach 75
4 Conclusion 76
Acknowledgements 77
References 77
Multi-criteria Decision-Making Problems in Cutting Tool Wear Evaluation 78
Abstract 78
1 Introduction 78
2 Selected Multi-criteria Decision Aid Methods 79
2.1 Multi-criteria Analysis 79
2.2 Selected Multi-criteria Decision Aid Methods 80
3 Selected Operating Problems 81
3.1 Shoulder Milling Cutter Wear Analysis 82
4 Tool Wear Estimation with AHP 82
5 Summary 83
References 84
The Novel Device for Irreversible Electroporation: Thermographic Comparison with Radiofrequency Ablation 85
Abstract 85
1 Introduction 85
2 Electroporation 85
2.1 Plasma Membrane 86
2.2 Electrical Properties of Cells and Tissues 87
2.3 Reversible Electroporation 88
2.4 Irreversible Electroporation 88
3 Radiofrequency Ablation 89
4 Thermographic Comparison of IRE and RFA 90
5 Results and Discussion 90
6 Conclusion 92
Acknowledgements 92
References 92
High-Voltage Pulse Source for Cell Electroporation 93
Abstract 93
1 Introduction 93
2 Initial Analysis of Commercially Available Device 94
2.1 Analysis of Internal Structure of NanoKnife Device 94
2.2 Practical Verification of NanoKnife Output Parameters 95
3 Design of BUT Electroporating Generator 95
3.1 Definition of Required Output Parameters 95
3.2 Internal Structure of BUT Generator 95
3.3 Design of Pulse Transformer 96
3.4 Construction of Converter Power Stage 97
3.5 Operating Safety Issues 97
3.6 Operating Tests 98
4 Conclusion 99
Acknowledgement 99
References 99
Valve for Testing Rocket Engines 100
Abstract 100
1 Introduction 100
2 Structure of the Valve 101
3 Selection of the Drive 103
4 Simulation Study 104
5 Summary and Conclusions 106
References 107
System Approach to the Mass Production Improvement 108
Abstract 108
1 Introduction 108
2 Features of Mass Production and Ways to Increase Its Efficiency 109
2.1 Production Systems and the Theory of Constraints 109
2.2 Lean Manufacturing: Advantages and Problems 110
3 Results and Discussion: Simulation Models to Manage Mass Production and Human Resources 111
3.1 Optimization of Technological Processes on the Assembly Line 111
3.2 Ergonomics of the Workplace: The Impact on the Efficiency of Processes 112
4 Conclusions 114
References 115
An Automatic PCI Assignment Framework for Femtocells in LTE Networks 116
Abstract 116
1 Introduction 116
2 Related Works 117
3 Centralized PCI Assignment Mechanism 118
4 Conclusions 122
Acknowledgement 122
References 122
Classical Interpretation of Ultra-Low Intensity Optical Heterodyning as a Pragmatic Approach to Phot ... 124
Abstract 124
1 Introduction 124
2 Experiment 127
3 Interpretation of the Experimental Results 128
4 Conclusions 130
References 131
Numerical Integrator System for Drift Compensated Fluxmeter 132
Abstract 132
1 Introduction 132
2 General Idea and Project of Program 133
2.1 Input Signal Analysis 134
2.2 Output Signal Analysis 134
3 Software Implementation and Simulations 134
4 Hardware Implementation and Experiments 136
5 Conclusions 138
Acknowledgements 138
References 138
Investigation of Magnetic Properties of Amorphous Fe-Based Alloy Magnetized in Rayleigh Region 139
Abstract 139
1 Introduction 139
2 Object of Investigation 140
3 Measurement System 141
4 Experimental Results 141
5 Conclusions 144
Acknowledgements 144
References 145
Cutting Insert Wear Analysis Using Industry 4.0 146
Abstract 146
1 Introduction 146
2 Technology of Ball Screw Production 147
2.1 Virtual Reality 148
3 Experimental Setup 149
3.1 Machine and Tool for Manufacturing 149
3.2 Material of Ball Screw 149
4 Wear Analysis 150
5 Visualization of Wear in Virtual Reality 151
6 Conclusion and Discussion 152
Acknowledgment 152
References 153
Analysis of Machinability of Pure-Cobalt Disc for Magnetron Deposition Using WEDM 154
Abstract 154
1 Introduction 154
2 Experimental Setup and Material 156
3 Analysis of Machined Surface 156
3.1 Experimental Methods 156
3.2 Analysis of Morphology of Sample Surface 157
3.3 EDX Analysis of Chemical Composition 157
3.4 Topography of Machined Surface 158
4 Conclusion and Discussion 160
Acknowledgment 160
References 160
Using Industry 4.0 Technologies for Teaching and Learning in Education Process 162
Abstract 162
1 Introduction 162
2 Concept of Industry 4.0 and IoT 163
3 Modernization of the Asynchronous Motor Testbed 164
4 Conclusion 168
Acknowledgements 168
References 168
Mth Root Mth Power SNR MPSK Estimator 170
Abstract 170
1 Introduction 170
2 Signal Model 171
3 Mth Root Mth Power Algorithm 172
4 Hardware Implementation and Results 175
5 Performance Limitations 175
6 Conclusion 177
References 177
Electrical Machines 179
Increasing the Efficiency of Induction Generator in Small Hydro Power Plant for Varying River Flow Rate 180
Abstract 180
1 Introduction 180
2 Varying River Flow Rate 181
3 Efficiency of Induction Generator for Various Power 183
3.1 Power Losses in Induction Machine 183
3.2 Efficiency of Induction Generator for Changing Voltage and Power 183
3.3 Experimental Verification of Analytical Efficiency 185
4 Improvement of Efficiency by Voltage Change 185
4.1 Power Saving in One Year Period 186
5 Realization of Voltage Changing 186
6 Conclusion 187
Acknowledgement 187
References 187
Volume Minimization of Power Pulse Transformer for a Two-Switch Forward Converter 188
Abstract 188
1 Introduction 188
2 Goal of the Transformer Optimization, Definition of Conditions 189
3 Analytical Solution of the Optimization 191
4 Results for a Forward Converter with Output Parameters of 60 V/1 KW 193
5 Conclusions 195
Acknowledgement 195
References 195
Efficiency Mapping of a Small Permanent Magnet Synchronous Motor 196
Abstract 196
1 Introduction 196
2 Used Methods 198
2.1 Problem Formulation 198
2.2 Used Material 199
3 Theoretical Calculations 200
4 Results 201
4.1 Results Discussion 203
5 Conclusions 203
Acknowledgement 203
References 203
Dynamic Model of Wye Connected Induction Machine 205
1 Introduction 205
2 Dynamic Model of Induction Motor 206
2.1 Standard Dynamic Model 206
2.2 Dynamic Model with Line-to-Line Voltages 208
2.3 Space Vector Transformation and Dynamic Model 209
3 Conclusions 211
References 211
Induction Machine Models and Equivalent Circuits Based on Hybrid Parameters of Two-Port Network 213
Abstract 213
1 Introduction 213
2 Transformer Equivalent Circuit Based on Two-Port Network Parameters 214
3 IM Model Based on Two-Port Network Theory 216
4 Conclusion 220
Acknowledgements 220
References 220
Push–Pull Converter Transformer Maximum Efficiency Optimization 222
Abstract 222
1 Introduction 222
2 Definition of Parameters 224
2.1 Input Parameters 224
2.2 Output Parameters 224
3 Simplifications 224
4 Optimization Procedure 225
4.1 Winding Losses 225
4.2 Core Losses 226
4.3 Finding the Minimum Losses Point 226
5 Transformer Design Procedure 227
6 Design Example 228
7 Conclusion 228
Acknowledgement 229
References 229
Synchronous Machine Model Including Damper 230
Abstract 230
1 Introduction 230
2 The Types of Damper 230
3 Short Circuit Types 231
4 Mathematical Model 232
5 Examples of the Time Dependencies During the LN Type of Short-Circuit, Longitudinal Damper 234
6 Verification Measurement 235
7 Results Comparison for Various Damper Types 236
8 Conclusion 237
Acknowledgements 237
References 237
Reduction of Pulsating Torque of the Synchronous Motor Using Magnetic Wedges 238
Abstract 238
1 Introduction 238
2 Analyzed Machine Description 239
3 Finite Element Analyses 240
3.1 Model Case A1 241
3.2 Model Case B1 242
3.3 Model Case A2 243
3.4 Model Case B2 244
4 Conclusion 245
Acknowledgements 245
References 245
Calculation of a Lap Winding Coil Geometry 247
Abstract 247
1 Introduction 247
2 General Description of Winding Coil Geometry 248
3 Mathematical Description of the Coil Shape 249
3.1 Segment 1 – The Linear Outcome from the Slot 249
3.2 Segment 2 – The Coil Curvature 250
3.3 Segment 3 – the Coil Involute 251
3.4 Segment 4 – the Coil Curvature 252
3.5 Segment 5 – the Coil Loop 253
3.6 Segment 6 – the Coil Curvature 254
3.7 Segment 7 – the Coil Involute 254
3.8 Segment 8 – the Coil Curvature 255
3.9 Segments 9 and 10 – Linear Return to the Slot and Slot Part 255
3.10 Comparison with Manufactured Coils 256
4 Conclusion 258
Acknowledgement 258
References 258
Equivalent Magnetic Circuit Method Usage in the Synchronous Reluctance Machine Rotor Design 259
Abstract 259
1 Introduction 259
2 Synchronous Reluctance Machine Structure 260
2.1 Synchronous Reluctance Machines Rotors 260
3 Inner Flux Barriers Rotor Calculation 261
3.1 Analytical Calculations 262
3.2 Simple Equivalent Magnetic Circuit Calculation 262
3.3 Rotor Ribs Addition 265
4 Conclusion 266
Acknowledgement 266
References 266
Analysis of Rotor Ventilation System of Air Cooled Synchronous Machine Through Computational Fluid D ... 268
Abstract 268
1 Introduction 268
1.1 Turbo Generator Cooling System 268
1.2 Branch Effect 269
2 Analysis 270
3 Results 271
4 Conclusion 274
Acknowledgment 275
References 275
High-Speed Electrical Machines: Review of Concepts and Currently Used Solutions with Synchronous Mac ... 276
Abstract 276
1 Introduction 276
2 High-Speed Machines with PM 276
2.1 High-Speed Machines with PM – Traction Application 276
2.2 High-Speed Machines with PM – Other Application 280
2.3 Other Types of High-Speed Traction Machines 281
3 Conclusion 282
Acknowledgement 283
References 283
Control and Design of a High Power Density PMSM 284
Abstract 284
1 Introduction 284
2 Modeling of PMSM 285
3 Design of PMSM 287
4 Simulation Results 288
5 Conclusion 290
References 291
Magnetic Measurements of Solid Material 292
Abstract 292
1 Introduction 292
2 Experimental 293
3 Results 295
4 Conclusion 298
Acknowledgement 299
References 299
Identification of Induction Machine Electromagnetic Parameters for a Wide Range of Frequency and Flux Density 300
1 Introduction 300
2 Measuring Method Description 301
2.1 Induction Machine Equivalent Circuit 301
2.2 Derivation of the Equations 302
3 Measurement Results 303
3.1 Core Losses and Core Loss Resistance Identification 303
3.2 Magnetizing Inductance Identification 305
4 Conclusions 305
References 306
Modification of Frame for Synchronous Machine with Permanent Magnet 307
Abstract 307
1 Introduction 307
2 Vibration Measurement and Evaluation 307
3 Modal Analysis 310
4 Frame Modification 311
5 Conclusion 312
Acknowledgement 312
References 312
Mechatronic System with a Turbo-Generator of Two Different Frequencies 313
Abstract 313
1 Introduction 313
2 Block Diagram of Turbogenerator 314
3 Time Diagram of Control Signals of Sinusoidal PWM 316
4 Calculation of Power of MFC and Harmonic Components 318
5 Conclusion 320
References 320
Test Rig for Determination of Performance Characteristics of High Speed Linear Actuators 322
Abstract 322
1 Introduction 322
1.1 Characteristic Performance Parameters of the TTM Systems 324
2 Structure of the Test Rig 324
2.1 Performance Requirements for the Rig 324
2.2 Conception of the Rig 325
2.3 Realization of the Rig 325
3 Sample Tests of an Actuator 327
4 Summary 328
Acknowledgements 329
References 329
Modelling and Simulation 330
Dynamic Analysis of Multispindle Lathe 331
Abstract 331
1 Introduction 331
2 Model of Mechanical System with Flexible Parts 332
3 Model of Motor with Field-Oriented Vector Control 334
4 Simulation Results 335
4.1 Dynamic Analysis of Flexible Mechanism 335
4.2 Control Parameters Setting and Response 336
5 Conclusion 338
Acknowledgement 338
References 338
Numerical and Experimental Solution of Friction Stir Welding of Plates 340
Abstract 340
1 Introduction 340
2 Numerical Solution by Program SYSWELD 341
2.1 Thermo-Fluid Analysis 341
2.2 Thermo – Mechanical Analysis 343
3 Measurement of Temperature During FSW 344
4 Discussion 345
5 Conclusion 346
Acknowledgments 346
References 347
Universal HIL Test Platform for Mechatronic Systems 348
Abstract 348
1 Introduction 348
2 HIL Simulation Workplace Design 349
3 Case Study – HIL Simulation of a DC Drive Control 351
4 Conclusions 354
Acknowledgment 355
Appendix 355
References 355
A Dynamic Feedback Neural Model for Identification of the Robot Manipulator 357
Abstract 357
1 Introduction 357
2 Kinematics Modeling of the Robot Manipulator 358
2.1 Analysis of the Forward Kinematics 358
2.2 Analysis of the Inverse Kinematics 360
2.3 Graphical User Interface of the Robot Manipulator 361
3 Neural Network Model Based NARX Network Structure 361
4 Experimental Results 362
5 Conclusion 364
References 364
Innovative Model of Radial Fluid Bearing for Simulations of Turbocharger Rotordynamics 366
Abstract 366
1 Introduction 366
2 Review of the State of the Art 366
3 Objectives for Computational Modelling 367
4 Computational Approach 367
4.1 Innovative Approach Introduction 367
4.2 Numerical Solution of Reynolds Equations 370
4.3 Averaging of Results 372
5 Model Verification on Full Floating Bearing of Turbocharger Rotor 372
6 Conclusions 373
Acknowledgement 373
References 373
The Model of Non-stationary Heat Conduction in a Metal Mould 374
Abstract 374
1 Introduction 374
2 The Mathematical Model of Heat Conduction 375
2.1 Model A - Without Own Heat Radiation of the Mould 376
2.2 Model B - With Own Heat Radiation of the Mould 376
3 The Influence of Boundary Conditions on the Temperature Field 377
3.1 The Comparison of the Temperature Fields for Different Boundary Conditions 377
3.2 The Calculated Temperature Field and Experimental Measurement 379
4 Conclusion 380
Acknowledgement 380
References 381
The Possibility of Applying Neural Networks to Influence Vehicle Energy Consumption by Eco Driving 382
Abstract 382
1 Introduction 382
1.1 Problems Defined in Eco-Driving 382
2 Defining Driving Test of Heavy Duty Vehicle 383
2.1 Path Selection for Driving Test 384
3 Data Collection from Vehicle 384
4 The Application of Neural Networks in Vehicle Model Design 386
5 Conclusion 388
Acknowledgement 389
References 389
Parametric Model of Human Body for Orthotic Robot Simulation Study 390
Abstract 390
1 Introduction – Orthotic Robots and the ‘Veni-Prometheus’ System 390
2 Purpose of the Model 391
3 Model Description 392
4 Discussion 394
5 Conclusions 396
References 396
Evaluation of Gait and Standing Posture by Software Based on SimMechanics 397
Abstract 397
1 Introduction 397
2 Methods 398
2.1 Measurement Procedure and Model of the Body 398
2.2 Data Analysis 399
3 Application and Results 401
4 Discussion 402
5 Conclusions 403
Acknowledgements 403
References 404
FEM – Based Simulations of Selected Setups of Magnetic Field Tomography 405
Abstract 405
1 Introduction 405
2 Tested Setups for Magnetic Field Tomography 406
2.1 Four Permanent Magnets Setup 406
2.2 Six Permanent Magnets Setup 406
2.3 Eight Permanent Magnets Setup 407
2.4 Two Permanent Magnets Setup with Additional Objects’ Linear Movement 407
3 FEM – Modelling and Exemplary Results 408
4 Result Analysis 409
5 Conclusions 410
Acknowledgements 411
References 411
Modelling and Simulation of Vehicle Boot Door 412
Abstract 412
1 Introduction 412
2 System Analysis and Description 412
3 Dynamic Model of a Boot Door Mechanism 414
4 Simulation Results and Verification Using Measured Data 416
4.1 Simulations with Real Data 417
5 Conclusion 418
References 419
Advanced Multi-body Modelling in Mechatronics Education 420
Abstract 420
1 Introduction 420
2 Model 421
2.1 Kinematics 421
2.2 Dynamics 423
2.3 State-Space Model Based on MBS Model with Flexible Bodies 425
3 Conclusions 426
Acknowledgement 426
References 426
Control 427
Unusual Application of the X3STEP Controller 428
Abstract 428
1 Introduction 428
2 Problem Statement 429
3 X3STEP Controller 430
4 Hardware Interface 432
5 Software Interface 432
6 Simulations Research 434
7 Summary 435
References 436
Disturbance Compensation and Control Algorithm with Application for Non-linear Twin Rotor MIMO System 437
Abstract 437
1 Introduction 437
2 Problem Statement 438
3 Compensation of Disturbances 439
4 Example 441
5 Conclusions 443
Acknowledgement 443
References 443
Model Reference Control for a Class of MIMO System with Dead-Time 445
Abstract 445
1 Introduction 445
2 Problem Formulation 445
3 Controller Design 447
4 Concluding Remarks 452
References 452
Robust Control of Uncertain MIMO Plants in Conditions of Output Quantization and Time-Delay 453
Abstract 453
1 Introduction 453
2 Problem Statement 454
3 Control Law 455
4 Example 458
5 Conclusion 459
Acknowledgement 459
References 460
Speed Estimator for Low Speed PMSM Aerospace Application 461
Abstract 461
1 Introduction 461
2 Speed Control Loop Design and Simulation of Vector Controlled PMSM 462
3 Conclusion 465
Acknowledgements 465
References 466
The New Stepper Driver for Low-Cost Arduino Based 3D Printer with Dynamic Stepper Control 467
Abstract 467
1 Introduction 467
2 Torque Design of X and Y Axis Gears 468
3 General Approach to Stepper Drivers Used in Low-Cost 3D Printers 469
4 The New Stepper Driver Design 470
5 Dynamic Stepper Control 472
6 Comparison of the Results 473
7 Conclusion 474
Acknowledgements 474
References 474
Model Based Fault-Tolerant Control for SMA Actuator in Soft Robotics 476
Abstract 476
1 Introduction 476
2 Modelling of SMA-Actuator 477
2.1 Model of Single SMA-Actuator 477
2.2 Experiment Setup and Parameters of Modell 478
3 Parallel Control for Reality and Model of SMA Actuator 479
4 Fault-Tolerant Control for Single SMA Actuator 481
5 Conclusion and Outlook 483
References 483
Design and Verification of FPGA-Based Real-Time HIL Simulator of Induction Motor Drive 484
1 Introduction 484
2 HIL Platform Hardware Description 485
3 HIL Simulator Setup 486
3.1 HIL Model 488
4 Experimental Results 489
5 Conclusion 491
References 491
Robust Control of a Robot Arm Using an Optimized PID Controller 493
Abstract 493
1 Introduction 493
2 Dynamic Model of Scorbot ER-V Plus 494
3 Controller Design of Joint Motors 495
4 Simulation Results 498
5 Conclusion 500
References 500
PSO Optimized ADRC Motor Speed Controller for Two Mass System with Backlash 502
Abstract 502
1 Introduction 502
2 Plant Model 503
3 Control System Structure 504
3.1 2DOF – PI Controller 504
3.2 ADRC Controller 505
4 Optimization Algorithm 506
5 Simulation Results 506
6 Conclusions 509
References 509
Sensors and Measurement 510
Separation of Gravitational Acceleration from Acceleration of Human Motion Using Quaternion Based Un ... 511
Abstract 511
1 Introduction 511
2 Method 512
2.1 Instrumentation 512
2.2 Data Processing 513
2.3 Filter Tuning 516
3 Results 516
4 Conclusion 517
Acknowledgements 518
References 518
Methods of Motion Data Analysis of Animal’s Body on Rotating Platform 519
Abstract 519
1 Introduction 519
2 Evaluation Methods 520
2.1 Methods of Evaluation of Time Domain Data 522
2.2 Methods of Evaluation of Relationship Between Measured Variables 524
3 Experiments and Results 525
4 Discussion and Conclusion 526
Acknowledgements 526
References 526
Fabrication and Optical-Electrical Characterization of Al/p-Si/CdO/Au Photodiode 528
Abstract 528
1 Introduction 528
2 Experimental Details 529
3 Results and Discussions 529
4 Conclusion 535
References 535
Threshold Selection Based on Extreme Value Theory 537
1 Introduction 537
2 Extreme Value Estimation 539
3 Extreme Value Theory 541
4 Real Dataset Experiments 543
5 Conclusions 544
References 544
Development of a Time of Flight Laser Scanner 3D 546
Abstract 546
1 Introduction 546
2 Design of the Laser Scanner 547
2.1 Objectives 547
2.2 Fields of Application 547
2.3 The Proposed Solution [10] 548
3 Control 549
3.1 Data Communication via the CAN Interface 550
3.2 Data Interpretation [11–13] 550
4 Results and Conclusion 551
References 552
Polish Road Signs Detection and Classification System Based on Sign Sketches and ConvNet 554
Abstract 554
1 Introduction 554
2 Related Work 555
3 Generation of Synthetic Sign Views 556
4 Deep Convolutional Neural Network 558
5 Experimental Results 559
6 Conclusions 560
Acknowledgement 560
References 561
The Influence of the Learning Set on the Evaluation of Microcalcifications Using Artificial Neural N ... 562
Abstract 562
1 Introduction 562
2 Research Methodology and Results 564
3 Conclusion 567
References 568
Experimental Measurement of Magnetic Field Generated by Neodymium Magnet 570
Abstract 570
1 Introduction 570
2 Measuring Station 571
3 Measurements Results 574
4 Conclusions 577
References 577
Measurement of Power Transistors Dynamic Parameters 579
Abstract 579
1 Introduction 579
2 Measuring Laboratory Workplace 580
3 Conclusions 585
Acknowledgements 585
References 585
Measurement of High-Frequency Currents in Power Electronics 586
1 Introduction 586
2 Possibilities of Collector Current Measurement 587
3 Current Transformer Analysis 588
3.1 Current Transformer Numeric Calculation 588
3.2 Experimental Verification of Model Results 589
3.3 Measured Values Explanation 590
4 Practical Realization of the Current Transformer 591
5 Conclusions 592
References 593
Counting Pedestrians in Inner Spaces Using Optical Flow Algorithm 594
Abstract 594
1 Introduction 594
2 Reviewed Approaches 595
3 Used Approach 595
4 Achievements 596
5 Conclusion 599
References 599
Comparison of Vibration and Noise Measurement of Induction Machine Under Static Eccentricity 600
Abstract 600
1 Introduction 600
2 Measurement Description 601
3 Data Evaluation 603
4 Conclusions 606
Acknowledgements 606
References 606
A Distributed Measurement System for Helium Spill Monitoring 607
Abstract 607
1 Introduction 607
2 Measurement System for Helium Spill Monitoring 608
3 Ultrasonic Helium Detector 610
4 Acoustic Helium Detection – Principle of Operation 611
5 Numerical Simulations and Comparison with Initial Test Results 612
6 Final Remarks 613
References 613
Influence of Measurement Parameters Settings on the Results of the CT Measurement 615
Abstract 615
1 Introduction 615
2 Study Procedure 616
3 Results 618
4 Conclusions 619
Acknowledgements 620
References 620
Measurement System for Magnetic Field Sensors Testing with Earth’s Magnetic Field Compensation 621
Abstract 621
1 Introduction 621
2 System Setup 622
2.1 The Main Field Generating Coils 622
2.2 Connection Schematic 622
2.3 LabView Software 623
3 Measurement Results 624
4 Conclusion 626
References 626
DeepEMGNet: An Application for Efficient Discrimination of ALS and Normal EMG Signals 627
Abstract 627
1 Introduction 627
2 Proposed Method 629
2.1 Short Time Fourier Transform (STFT) 629
2.2 Convolutional Neural Networks (CNN) 629
3 Dataset and Experiments 630
3.1 Dataset 630
3.2 Experimental Setup and Results 630
4 Conclusions 632
References 632
Comparison of Interpolation Methods for Atmospheric Pressure Determination with Help of TDOA System 634
Abstract 634
1 Introduction 634
2 UFE Data Format (ASTERIX) 635
3 Extraction of Data 635
4 Data Interpolation 636
4.1 Interpolation Area Selection 637
4.2 Data Interpolation - 16.12.2010 637
5 Conclusions 641
Reference 641
Robotics 642
Determination of Optimal Local Path for Mobile Robot 643
Abstract 643
1 Introduction 643
2 Path Optimization 644
2.1 Path, Robot and World Representation 644
2.2 Fitness Function 644
2.3 Optimization 645
2.4 Refinement 646
3 Results 647
4 Conclusions 649
Acknowledgement 649
References 649
Development of Dual Wiimote-Based 3D Localization Schemes for Mobile Robot and Quadcopter Integration 650
Abstract 650
1 Introduction 650
2 Wiimote 3D Localization System 652
3 Realization of Wiimote 3D Localization 652
4 Dual Wiimote 3D Localization 654
5 Demonstrations 656
6 Discussion, Conclusion, and Future Work 657
Acknowledgement 657
References 657
Battery-Powered Autonomous Robot for Cleaning of Dusty Photovoltaic Panels in Desert Zones 659
Abstract 659
1 Introduction 659
2 The Mechanical Design 661
2.1 Technical Specifications 661
2.2 The Cleaning Strategy 662
2.3 The Functional Design 663
2.4 The Prototype 664
3 The Electronic Control System Design 664
4 Experimental Verification of the Robot 666
References 666
Design and Control of Diving Mechanism for the Biomimetic Robotic Fish 668
Abstract 668
1 Introduction 668
2 Mathematical Modelling of the Gravity Center 669
3 Diving Mechanism for the Depth Control 670
4 Results 672
5 Conclusion 675
Acknowledgement 676
References 676
Standards to Support Military Autonomous System Life Cycle 677
Abstract 677
1 Introduction 677
2 AS Life Cycle in Military Domain 678
3 Gap Analysis of Standards and Best Practices for AS Life Cycle 680
4 Composition of MSDL and CBML into AS Life Cycle 682
5 Conclusion 684
References 684
Robotic Assistant for the Elderly - Rehabilitation Walker 685
Abstract 685
1 Introduction 685
2 General Working Principles 686
2.1 Design of a Robotic Walker 686
2.2 Criteria and Calculations for Stability 688
2.3 Operating Principle of the Robotic Assistant 690
3 Conclusion 691
References 692
Motion Control of Three-Rotor Unmanned Underwater Vehicle 693
Abstract 693
1 Introduction 693
2 Description of the UUV 694
3 Motion Equations of the Three-Rotor UUV 695
3.1 UUV Reference Frames 695
3.2 UUV Modeling 696
4 Guidance and Trajectory Tracking 698
5 Conclusion 700
References 700
Smart Systems 702
From Simulation to Manufacturing of Piezoelectric Micromachined AlN Membrane 703
Abstract 703
1 Introduction 703
2 Piezoelectric Layer Properties 704
3 Experimental 704
3.1 Simulation Results 704
3.2 Mechanical Tests of AlN Piezo Layer 706
3.3 Development of AlN Layer Technology 707
3.4 Electrical Measurements of the Manufactured AlN Layer 709
4 Summary 710
Acknowledgement 710
References 710
Probabilistic Reasoning in Diagnostic Expert System for Smart Homes 712
Abstract 712
1 Introduction 712
2 General Expert System Architecture 712
2.1 Inference Mechanism 713
2.2 Inference Mechanism in Numbers 715
3 Simulation Experiment with Three Evidences 717
4 Conclusion 719
Acknowledgement 719
References 719
Development of Smart and Dynamic Floral Clothing Accessories 720
Abstract 720
1 Introduction 720
2 Concept Design of the Floral Clothing Accessory 722
3 Actuating Elements by Shape Memory Alloy (SMA) 723
3.1 Measurement of the Performances of the SMA Wire 724
3.2 Actuating Element by Helical Spring-Shaped SMA 724
4 Design and Fabrication of SMA Actuating Mechanisms 725
5 Electronic Control System 726
5.1 Electronic Components 726
5.2 Drive and Control of the Actuating Mechanism by Using Arduino 727
6 Conclusion 728
References 728
Numerical Wave Tank Analysis for Energy Harvesting with Oscillating Water Column 730
Abstract 730
1 Introduction 730
2 Materials and Methods 731
2.1 General Working Principles 731
2.2 Numerical Wave Tank and Oscillating Water Column 732
2.3 User Defined Function 734
3 Results 735
3.1 Validation 735
3.2 Cases 735
3.3 Power Output 736
4 Conclusions 737
References 738
Coil Optimization for Linear Electromagnetic Energy Harvesters with Non-uniform Magnetic Field 739
Abstract 739
1 Introduction 739
2 Linear Electromagnetic Harvester Model 740
3 Model of Magnetic Field in the Coil Area 741
4 Coil Optimization Algorithm 743
5 Results and Discussion 744
6 Conclusions 745
Acknowledgement 746
References 746
Performance Analysis of Wave Energy Harvesting System with Piezoelectric Element 747
Abstract 747
1 Introduction 747
2 Experimental Setup 748
3 Results and Discussion 750
4 Conclusion 753
References 753
Author Index 754

Erscheint lt. Verlag 16.8.2017
Reihe/Serie Advances in Intelligent Systems and Computing
Advances in Intelligent Systems and Computing
Zusatzinfo XIV, 753 p. 559 illus.
Verlagsort Cham
Sprache englisch
Themenwelt Technik Maschinenbau
Schlagworte Mechatronic Applications • Mechatronics • Mechatronics 2017 • Mechatronic Systems • Robotics
ISBN-10 3-319-65960-X / 331965960X
ISBN-13 978-3-319-65960-2 / 9783319659602
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