Mechatronics 2017 - Ideas for Industrial Applications (eBook)

Foreword 6
Contents 8
About the Editors 13
Modelling Industrial Robot Fanuc ARC Mate 100iB in LabVIEW 15
Abstract 15
1 Introduction 15
2 Building the Model in LabVIEW and Make a Program 15
3 Tests 21
4 Conclusions 23
References 23
Recognition of Text Commands and Control of the Mobile Robot Starter Kit 2.0 24
Abstract 24
1 Introduction 24
2 Text Recognition 25
2.1 Picture from the Kinect Sensor 26
2.2 Preprocessing the Image 27
2.3 Determine the Greatest Contour 28
2.4 Defining Text Lines 29
2.5 Specifying the Contour Coordinates 29
2.6 Point Characteristic Method 30
2.7 Microsoft Kinect Integration and Starter Kit 2.0 31
3 Summary and Conclusions 32
References 32
System for Positioning of the Roadheader in Roadways of Hard Coal Mines 34
Abstract 34
1 Introduction 34
2 Design and Principle of Operation 35
3 Measuring Technology 36
4 Position and Orientation of the Roadheader 37
5 Testing the Physical Model of the Positioning System 41
6 Conclusions 43
References 43
Biomechatronic Simulator for Fencing Training Using Virtual Reality Technology 44
Abstract 44
1 Introduction 44
2 Aim 46
3 Materials and Methods 46
4 Discussion 49
5 Conclusions 49
References 50
Application of Industrial Automatic Systems for Operating Parameters Identification of Mining Machines 52
Abstract 52
1 Introduction 52
2 Characteristics of the Examined System 55
3 Research Methodology 57
4 Test Results 60
5 Conclusions 63
Acknowledgments 64
References 65
Collection of Essential Methods Among the Beams Analysis as an Introduction into the Dynamic Reverse Task Solution of Bending Vibration within Mechatronic System 66
Abstract 66
1 Introduction 66
2 The Algorithm of Exact Method Obtaining Within the Solution of Transverse Vibrating Beam 67
3 The Algorithm of Exact Method Obtaining the Dynamical Flexibility of Transverse Vibrating Beam 69
4 The Algorithms of the Approximate Methods Obtained Within the Dynamical Flexibilities of Transverse Vibrating Beam 69
5 Graphs Different Category’s Concerning Models of Vibrating Beams 71
6 Conclusion 73
Acknowledgement 73
References 73
Tunable Model of a Servo Hydraulic Tester for Shock Absorbers Vibrational Evaluation 75
Abstract 75
1 Introduction 75
2 Updating Model Parameters 76
3 First-Principle Data-Driven 77
4 Tuning of the Model 80
5 Summary 83
References 83
Modelling and System Identification of a Monotube Shock Absorber 84
Abstract 84
1 Introduction 84
2 Nonlinear Models Applicable to Reproduce Shock Absorber Dynamics 86
2.1 Low-Content of a Priori Knowledge Models 86
2.2 High-Content of a Priori Knowledge Models 87
3 Shock Absorber Model and Experimental Results 88
3.1 Shock Absorber Model 88
3.2 Low-Content of a Priori Knowledge Model Validation Results 89
3.3 High-Content of a Priori Knowledge Model Validation Results 91
4 Summary and Conclusions 93
References 93
Particle Image Velocimetry Technique Applied to Flow Evaluation Through a Shock Absorber Intake Valve 95
Abstract 95
1 Introduction 95
2 Particle Image Velocimetry 96
3 Experimental Setup 99
4 Measurement Results 102
5 Summary 104
References 104
Concept, Physical Design and Simulator of IRYS Social Robot Head 105
Abstract 105
1 Introduction 105
2 System Concept 107
3 Physical Head with Upper Trunk 108
4 Simulator 110
5 High-Level Control System and Unified Control Interface 111
6 Expressing Emotions of a Robot Head 111
7 Conclusions and Future Works 113
Acknowledgements 113
References 113
Cognitive Maintenance and Polymorphic Production as the Leading Industry 4.0 Paradigms 115
Abstract 115
1 Introduction to Industry 4.0 116
2 Maintenance in Today’s Industry 117
3 Cognitive Maintenance 117
4 Knowledge-Integrated Manufacturing 120
5 Polymorphic Production 121
6 Summary 122
Acknowledgement 123
References 123
Concept of Coupling the Rehabilitation Treadmill with Foot Pressure Sensors 125
Abstract 125
1 Introduction 125
2 The Set Up of the Test Bench 126
3 Integration of Components 127
4 Algorithm of the System Operation 128
5 Test of an Operation System Accuracy 130
6 Conclusions 131
References 132
Forecasting of Methane Hazard State in the Exploitation Wall Using Neural-Fuzzy System 133
Abstract 133
1 Introduction 133
2 Characteristics of Monitoring, Assessment and Methane Hazard Prediction System 135
2.1 Measuring Devices of Methane Hazard Monitoring System 136
2.2 Concept of Methane Hazard Assessment and Prediction of Methane Hazard 137
3 Characteristics of Neural-Fuzzy System for Prediction of Methane Hazard in Region of Longwall 139
3.1 Identification of the Research Area 139
3.2 Characteristics of the Developed System 139
4 Test Results 143
5 Conclusions 145
References 146
Modular Approach to the Planning of the Robot’s Tasks in the Context of Holons and Graph-Based Methods 148
Abstract 148
1 Introduction 148
2 The Comparison of Classic and Advanced Methods of Planning of the Robotic Tasks 150
2.1 The Classic Form of Robots’ Programming 150
2.2 Programming by Example/Demonstration 151
2.3 Task-Level Programming 152
3 Holons 153
3.1 Introduction 153
3.2 Relationship Between Holons and the Source Code of a Program 153
4 The Petri Nets 154
4.1 Introduction 154
4.2 The Petri Nets as a Model of a Program of the Robot 154
5 The Example of Using the Modular Approach to the Robot’s Task Planning by Means of Holons and Petri Nets 155
6 Conclusions 156
References 157
Detection and Recording of Acoustic Emission in Discrete IGBT Transistors 158
Abstract 158
1 Introduction 158
2 Measuring Method 159
3 Operation 160
4 The Analysis of Obtained Results 161
5 Conclusion 163
References 164
Zero-Sum Differential Game in Wheeled Mobile Robot Control 165
Abstract 165
1 Introduction 165
2 {/varvec H}_{/infty } Optimal Control. Zero-Sum Differential Game 166
2.1 {/varvec L}_{2} - Gain. {/varvec H}_{/infty } Control Problem 166
2.2 Zero-Sum Differential Game 167
3 Approximation Solution 168
3.1 Approximation a Zero-Sum Differential Game 168
4 Wheeled Mobile Robot 169
4.1 WMR Kinematics 169
4.2 WMR Dynamics 170
5 Numerical Simulation 171
5.1 Desired Trajectory 171
5.2 Simulation of Differential Game 172
5.3 Simulation {/varvec H}_{/infty } Control Problem 173
6 Summary 174
References 174
Numerical Analysis of the Dynamic Impact of a Gun Barrel During Firing 176
Abstract 176
1 Introduction 176
2 Analytical Approach to the Issue 177
3 Subject and Purpose of Research 178
4 Experimental Studies 179
5 Numerical Analysis FEM 180
5.1 Assumptions for Construction of Models 180
5.2 Simulation and Results 182
6 Comparison of Results 186
7 Conclusions 186
Acknowledgements 187
References 187
Concept of Sensor for Mining Machines Powered by Pressure Changes 189
Abstract 189
1 Introduction 189
2 Concept 190
3 Demand of Energy for Wireless Sensor 191
4 Tests of Piezoelectric Generator 192
4.1 Model of Piezoelectric Pile 193
4.2 Energy Generated by the Pile of Piezoelectric Transducers 193
4.3 Test Results 194
5 Summary 196
References 196
Model of Dynamics of the Three Wheeled Mobile Platform 198
Abstract 198
1 Introduction 198
2 Dynamics of the Platform 199
2.1 Design of the Prototype of the Platform 199
2.2 Model of Dynamics 200
2.3 Description of the Dynamics of the Three-Wheeled Mobile Platform 202
3 Conclusions 204
References 205
Control of Bucket Conveyor’s Output 206
Abstract 206
1 Introduction 206
2 Characteristics of Bucket Conveyor Operation in the Jig’s Mineral Processing Node 207
3 Identification of Model 208
4 System for Automatic Control of Bucket Conveyor Speed 210
5 Verification Tests of Impact of Automatic Control on Energy Consumption of the Conveyor’s Motor 211
6 Summary 212
References 213
Magnetorheological Suspension Based on Silicone Oil 215
Abstract 215
1 Introduction 215
2 Experimental 218
3 Results and Discussion 220
4 Conclusions 232
Acknowledgment 232
References 233
Experimental Verification of the Filtration Phenomena in Hydraulic Systems 234
Abstract 234
1 Introduction 234
2 Model of the Filtration Phenomena for Hydraulic Systems 235
3 Experimental Tests of Cleanliness of the Hydraulic Fluid During the Flushing of the Hydraulic Power Packs 238
4 Estimation the Total Flux Value ? of Solid Particulates 243
5 Summary 244
References 244
Role of Didactical Stations in Education Process of Industrial Automatics Technical Staff 245
Abstract 245
1 Introduction 245
2 Desktop Didactical Stations 245
2.1 Desktop Didactical Stations Consisting of a PLC Controller and HMI Panel Are Designed to Allow Learning the Following Skills 246
2.2 Desktop Didactical Station Consisting of a PLC Controller and UHF Modem (Fig. 2) Can Be Used to Carry out Following Tasks 248
2.3 Desktop Didactical Station Consisting of an Industrial Computer 248
2.4 Desktop Didactical Station Equipped with Frequency Inverter 249
3 Object Didactical Stations and Industrial Network Didactical Stations 250
3.1 Object Didactical Station - Processing Line Simulation 250
3.2 Plotter Didactical Station 251
3.3 Serial I/O – Industrial Network Station 251
4 Conclusions 253
References 253
Image-Based Method for Knee Ligament Injuries Detection 254
Abstract 254
1 Introduction 254
2 Methodology 256
2.1 Developed Algorithm 256
3 Results 259
4 Conclusions 259
Acknowledgements 260
References 260
Application of Surface Electromyographic Signals for Electric Rotor Control 262
Abstract 262
1 Introduction 262
2 Construction of Stationary Mechatronic Rotor 263
3 Simulation of Operation of Stationary Mechatronic Rotor 267
4 Conclusions 270
References 270
Voltage Source Inverter Synchronization with the Use of FFT Algorithm 272
Abstract 272
1 Introduction 272
2 Structure of Investigated System 273
3 Basics of Radix-2 DIT 274
4 Relationship Between FFT Data Vector Length and Frequency Resolution 276
5 Investigated Control System Properties and Computer Simulations Results 277
6 Real-Time Experimental Test Bench and Chosen Results 279
7 Conclusions 281
References 282
Experimental Research Assessing Threat of EOD Technicians from Explosive Blast 283
Abstract 283
1 Introduction 283
2 Methodology 284
3 Results 287
4 Conclusions 289
References 290
Theoretical Analysis of Piezoelectric Transformers in Different Configurations 291
Abstract 291
1 Introduction 291
2 Fundamentals 292
2.1 Piezoelectric Materials 292
2.2 Lagrangian Formalism for Piezoelectric Devices 292
3 Equations of Motion 293
3.1 PT Configurations 293
3.2 Assumptions 294
3.3 Derivation of the Equations of Motion for the Two-Segments E31–E33 Type PT (Classical Rosen–Type PT [1, 2]) 294
3.4 Derivation of the Equations of Motion for the Two-Segments PT of the e33–e33 Type 296
3.5 Derivation of the Equations of Motion for the Two-Segments e31–e31 Type PT 297
3.6 Derivation of the Equations of Motion for the Three-Segments E31–E31 Type PT with the Driving Segment in the Middle (“Middle–Driving” – “Md”) 297
3.7 Derivation of the Equations of Motion for the Three-Segments E31–E31 Type PT with the Generating Segment in the Middle (“Middle–Generating” – “Mg”) 298
4 Results 298
4.1 Formulas 298
4.2 Input Data 299
4.3 Calculation Results 299
5 Discussion 301
6 Conclusions 302
References 302
Fracture Surface Analysis of the EN AW-2017A-T4 Specimens with Rectangular Section 304
Abstract 304
1 Introduction 304
2 Materials and Methods 305
2.1 Studied Material 305
2.2 Fatigue Experiments 306
2.3 Fracture Form and Roughness Measurements 307
3 Results and Discussion 307
3.1 Fracture Surface Geometry 307
3.2 Propagation and Rupture Roughness Analysis 309
4 Conclusions 311
References 311
Autonomous Robot Control System for Automation of Manipulations 312
Abstract 312
1 Purpose of Research 312
2 Research Concept and Plan 313
2.1 Research Method 314
3 Design Assumptions of Projected System 314
4 Technical Realization 317
4.1 Computer Operation of a Robot 317
4.2 Workspace Monitoring 318
4.3 Artificial Intelligence Application 319
5 Anticipated Research Result 320
References 321
Advantages of Using Industrial Sensor Interfaces at the Machine Design Stage 322
Abstract 322
1 Introduction 322
2 Classic Approach to the Topic 323
3 Purpose of the Technology 324
4 Summary 327
References 327
Bisection Method for Measuring Integral Nonlinearity of Precision Thermometry Bridges 328
Abstract 328
1 Introduction 329
2 Method of Measurement by AC Bridge 329
3 Reasons for Nonlinearity of AC Bridges 331
4 Method of Controlling the Bridge Integral Nonlinearity 332
5 Discussion of Method Used in Practice 333
6 Bisection Method 335
6.1 Methodology for Measuring Nonlinearity 335
6.2 Selecting the Number of Control Points 337
6.3 Device for Controlling Nonlinearity 337
6.4 Experimental Results 338
References 338
Applications of Composite Piezoelectric Transducers in Innovative Mechatronic Systems 340
Abstract 340
1 Introduction 340
1.1 Innovative Traffic Surveillance Systems with Piezoelectric Transducers 341
2 Measurements of the Dynamic Response of the Road Barrier 343
3 Conclusions 347
References 348
Sensor-Less Bilateral Teleoperation System Based on Non Linear Inverse Modelling with Signal Prediction 351
Abstract 351
1 Introduction 351
2 Problem Statement 352
3 Inverse Model with Prediction of Input and Output Signals 354
4 Experiment 358
5 Conclusions 359
Acknowledgments 360
References 360
Time Constant and Model-Free Signal Prediction in Communication Channel of Teleoperation System 362
Abstract 362
1 Introduction 362
2 Problem Statement 364
3 The Prediction Block 366
4 Experiment 367
5 Conclusions 371
Acknowledgment 371
References 371
Analysis of Selected Factors’ Influence on the Specific Range of Modern Jet Transport Aircraft as a Complex Mechatronic System 374
Abstract 374
1 Introduction 374
2 Data Sources 375
3 Flight Data Characteristics 376
4 Stable Segment Quality 380
5 Tail Number Specific Cruise Stability 381
6 Tail Number Specific Cruise Stability 382
7 Results 384
7.1 Variants and Gross Mass Effect on Cruise Performance 384
7.2 Air Temperature 385
7.3 Optimal Altitude 386
7.4 Mach Number 387
8 Conclusion 389
References 390
Investigation of Newly Developed Microwave Heated Moisture Analyzer Measurements of Ketchup and Milk Samples in Climatic Chamber 391
Abstract 391
1 Introduction 391
2 Materials and Methods 394
3 Results 395
4 Discussion 396
References 397
Computer Aided Planning of Adept Six-300 Robot Trajectories 398
Abstract 398
1 Introduction 398
2 The Characteristics of the Program Tobject 400
3 The Determination of the Geometric Parameters 401
3.1 Parameters of the Station Frame 401
3.2 Parameters of the Gripper 404
4 The Calculations of an Exemplary Desired Trajectory and Its Realization 404
4.1 The Position and Orientation of the Manipulation Object 404
4.2 The Exemplary Desired Trajectory of the Manipulator 405
4.3 The Realization of the Desired Trajectory of the Manipulation Object 406
5 Summary 407
References 407
Control of Selected Operational Parameters of the Scraper Conveyor to Improve Its Working Conditions 409
Abstract 409
1 Introduction 409
2 Computational Model of AFC 410
3 Algorithm for Controlling the AFC Operation 412
4 Results of Analysis of the Algorithm Use 414
5 Conclusions 418
Acknowledgments 418
References 418
Power Quality in the “Shore to Ship” System – The Improvement of the Unbalanced Voltage Factor 420
Abstract 420
1 Introduction 420
2 The Quality of Electricity in STS System Voltage Unbalance
3 Improving the Rate of Voltage Unbalance in the STS System Using Shunt Active Filter 423
4 The Simulation Research on the Shunt Active Filter in STS System 427
5 Conclusions 429
References 430
Mathematical Modelling and Selecting the Parameters of Magnetic Circuit of Disk Torque Converter 431
Abstract 431
1 Introduction 431
2 Design of Electromagnetic Torque Converter 433
2.1 Mathematical Model of Electromagnetic Torque Converter 434
2.2 Calculation of Spatial Distribution of Magnetic Field in the Air Gap of Converter 434
3 Implementation of Mathematical Model and Simulations of Torque Converter 437
4 Summary 439
References 439
Modelling the Anthropomorphic Mechanical Hand 441
Abstract 441
1 Introduction 441
2 Process of Human-Like Mechanical Hand Modeling 441
2.1 Main Development Goals for Our Anthropomorphic Hand Prototype 441
2.2 Concept of the Hand Construction 442
2.3 The Finger Construction 443
2.4 The Knuckle Design 444
2.5 Wrist Construction 445
3 Existing Projects for Comparison 446
3.1 FESTO ExoHand 446
3.2 Shadow Dexterous Hand 447
3.3 NASA Robonaut Hand 448
4 Conclusions 448
References 448
Uncertainty Analysis of the Two-Output RTD Circuits on the Example of Difference and Average Temperature Measurements 449
Abstract 449
1 Introduction 449
1.1 Theoretical Background About the Uncertainty of Multivariable Measurements 450
1.2 A Few Words About RTD Sensor Temperature Measurements 450
1.3 Related Works 451
2 Basic Formulas of a Single RTD Element 451
3 Temperature Difference Measurement in Two-Channel Circuit 452
4 Example Structures of the 2D Temperature Measuring Circuits 454
4.1 The Measurement of a Difference and an Average of Temperatures in the Loop with a Common Supply Current 454
4.2 A Differential Amplifier with Classic Bridge-Circuit 455
4.3 The Unconventional Double-Current Circuit 456
5 The Uncertainty of Temperature Difference and Average Measured Simultaneously (Two Sensors in One Circuit) 457
5.1 Theoretical Background of the Multivariable Measurements 457
5.2 Numerical Example 458
6 Conclusions 459
References 460
Interactive Controller Aiding the Process of Upper Limb Rehabilitation 461
Abstract 461
1 Introduction 461
2 Research Objective 462
3 Device Structure 463
4 Methodology of Verification Tests 464
5 Results 465
6 Discussion 467
7 Conclusions 468
References 468
Double Physical Pendulum with Magnetic Interaction 469
Abstract 469
1 Introduction 469
1.1 Object of Investigations 469
2 Experimental Rig 470
2.1 Sensory System 473
3 Experiment 473
3.1 Moment of Force of Magnets Characteristics 473
3.2 Pendulum’s Time Series Recording 474
4 Conclusions 477
References 478
Model of Trough-Beam Laser Sensor for Determining the Real Position and Real Response Time 479
Abstract 479
1 Introduction 479
2 Unit Examined 480
3 Methodology of Research 481
4 Through-Beam Laser Sensor Model 483
5 Comparison of Model and Experiment Results 486
6 Conclusions 487
References 488
Application of the Parametric Identification While Modelling the Dynamics of the Electro-Hydraulic Drive 489
Abstract 489
1 Introduction 489
2 Mathematical Identification Model 490
3 Algorithm of the Model Identification of the Electro-Hydraulic Drive 492
3.1 Systems with Parameters Variable Over Time 493
3.2 Robust Estimation of the Parameters of the Electro-Hydraulic Servo-Drive Model 494
4 Comparison of the Efficiency of Estimation Algorithms of the Model Parameters – Model Verification 495
5 Summary 497
References 497
Author Index 498