Table Of ContentMechatronics
Ryszard Jablon´ski and Tomaš Bˇrezina (Eds.)
Mechatronics
Recent Technological and Scientific Advances
ABC
Editors
Prof.RyszardJablon´ski Prof.TomašBˇrezina
WarsawUniversityofTechnology BrnoUniversityofTechnology
FacultyofMechatronics FacultyofMechanicalEngineering
InstituteofMetrologyand InstituteofAutomationand
BiomedicalEngineering ComputerScience
Sw.A.BoboliStreet8 Technická2896/2
02-525Warsaw 61669Brno
Poland CzechRepublic
E-mail:[email protected] E-mail:[email protected]
ISBN978-3-642-23243-5 e-ISBN978-3-642-23244-2
DOI10.1007/978-3-642-23244-2
LibraryofCongressControlNumber:2011935381
(cid:2)c 2011Springer-VerlagBerlinHeidelberg
Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthemate-
rialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,
broadcasting, reproduction onmicrofilmor inanyother way, andstorage indatabanks. Dupli-
cationofthispublicationorpartsthereof ispermittedonlyunder theprovisions oftheGerman
CopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalways
beobtainedfromSpringer.ViolationsareliabletoprosecutionundertheGermanCopyrightLaw.
Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoes
notimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant
protectivelawsandregulationsandthereforefreeforgeneraluse.
Typeset&CoverDesign:ScientificPublishingServicesPvt.Ltd.,Chennai,India.
Printedonacid-freepaper
987654321
springer.com
Preface
Mechatronicsisinfactthecombinationofenablingtechnologiesbroughttogether
to reduce complexity through the adaptation of interdisciplinary techniques in
production.
Focusingonthemostrapidlychangingareasofmechatronics,thisbookdiscusses
signals and system control, mechatronic products, metrology and nanometrology,
automaticcontrol&robotics,biomedicalengineering,photonics,designmanufac-
turingandtestingofMEMS.
Thisfactisreflectedinthelistofcontributors,includinganinternationalgroup
of240academiciansandengineersrepresenting6countries.
The selectionofpapersforinclusionin thisbookwas basedonthe recommen-
dations from the preliminary review of abstracts and from the final review of full
lengthspapers,with both reviewsconcentratingonoriginalityandquality.Finally
94papersareincludedinthisbook.
Itishopedthatthevolumecanservetheworldcommunityasthedefinitiveref-
erencesourceinmechatronicsandmoregenerallyitisintendedforuseinresearch
anddevelopmentdepartmentsinacademic,governmentandindustry.
Thisbookcomprisescarefullyselectedcontributionspresentedatthe9thInterna-
tionalConferenceMechatronics2011,organizedbyFacultyofMechatronics,War-
saw University of Technology, on September 21–24, in Warsaw, Poland. It is the
thirdvolumeinseriesRecentAdvancesinMechatronics,followingtheeditionsin
2007and2009.
Wewouldliketothankallauthorsfortheircontributiontothisbook.
RyszardJablon´ski
ConferenceChairman
WarsawUniversityofTechnology
Contents
PartI:Mechatronic Products
VirtualPrototypingasToolforPowertrainDevelopment ............. 3
L.Drápal,P.Novotný,V.Píšteˇk,R.Ambróz
DesignofFuzzyLogicControllerforDCMotor..................... 9
O.Andrs,T.Brezina,J.Kovar
IntegrationofRiskManagementintotheProcessofPLC-Software
DevelopmentinMachineTools ................................... 19
P.Blecha,L.W.Novotný
ExperimentalandSimulationTestsofDynamicPropertiesofStepping
Motors ....................................................... 25
M.Bodnicki,A.Pochanke,K.Szykiedans,W.Czerwiec
Development of Hybrid Power Unit for a Small UGV’s
(LessonsLearned).............................................. 35
Z.Bureš,J.Mazal,T.Túro
DesignofanAutonomousMobileWheelChairforDisabledUsing
Electrooculogram(EOG)Signals ................................. 41
Mohammad Rokonuzzaman,S.M. Ferdous, Rashedul Amin Tuhin,
SabbirIbnArman,TasnimManzar,Md.NayeemulHasan
DependenceofFunctionalCharacteristicsofMiniatureTwo Axis
FluxgateSensorsMadeinPCBTechnologyonChemicalComposition
ofAmorphousCore............................................. 55
PiotrFrydrych,RomanSzewczyk,JacekSalach,KrzysztofTrzcinka
MechatronicModelofAnti-lockBrakingSystem(ABS) .............. 63
V.Goga,T.Jediný,V.Královicˇ,M.Klúcˇik
VIII Contents
Composite Controller for Electronic Automotive Throttle with
Self-tuningFrictionCompensator................................. 73
R.Grepl
NonInvasiveIdentificationofServoDriveParameters ............... 79
R.Neugebauer,A.Hellmich,S.Hofmann,H.Schlegel
OptimalDesignofaMagneto-RheologicalClutch ................... 89
P.Horváth,D.Töro˝csik
ContributiontoEnvironmentalOperationofIndustrialRobots........ 95
Z.Kolíbal,A.Smetanová
PerformanceofdsPICControllerProgrammedwithCodeGenerated
fromSimulink ................................................. 105
V.Lamberský,J.Vejlupek
StirlingEngineDevelopmentUsingVirtualPrototyping .............. 115
V.Píšteˇk,P.Novotný
ComplexMechanicalDesignofAutonomousRobotAdvee ............ 121
T.Ripel,J.Hrbácˇek
Analysis of Mechanisms of Influence of Torque on Properties
of Ring-Shaped Magnetic Cores, from the Point of View of
MagnetoelasticSensorsSensitivity ................................ 131
JacekSalach,AdamBien´kowski,RomanSzewczyk
AnalysesofMicroMoldingProcessoftheThermoplasticComposition
withCeramicFillers ............................................ 139
AndrzejSkalski,DionizyBialo,WaldemarWisniewski,LechPaszkowski
TheApplicationofMRDampersintheFieldofSemiactiveVehicle
Suspension .................................................... 149
Z.Strecker,B.Ru˚žicˇka
ModellingofaLinearActuatorSupportedby3DCADSoftware....... 155
J.Wierciak,K.Szykiedans,A.Binder–Czajka
Hardware-in-the-LoopTestingofControlAlgorithmsforBrushless
DCMotor..................................................... 165
JirˇíToman,ZdeneˇkAncˇík,VladislavSingule
ThermalModellingofPowerfulTractionBatteryCharger ............ 175
R.Vlach
Contents IX
PartII:Metrologyand Nanometrology
MeasurementoftheSMAActuatorProperties ...................... 187
M.Dovica,T.Kelemenová,M.Kelemen
Design of Mass Spectrometer Control in NI LabVIEW and
SolidWorks.................................................... 197
L.Ertl,P.Houška
ShapeDeviationsoftheContactAreasoftheTotalHipReplacement ... 203
V.Fuis,M.Koukal,Z.Florian
IdentificationofGeometricErrorsofRotaryAxesinMachineTools.... 213
M.Holub,J.Pavlík,M.Opl,P.Blecha
MechatronicApproachtoAbsolutePositionSensorsDesign........... 219
P.Houška,O.Andrš,J.Vetiška
ProcedureforCalibratingKelvinProbeForceMicroscope ............ 227
M.Ligowski,RyszardJabłon´ski,M.Tabe
Multi-sensor Acoustic Tomograph for Gas Mixture Content
Monitoring.................................................... 237
W.Ostropolski,J.Wach,A.Jedrusyna
Measurement Stand for Basic Parameters of LCD
Displays ...................................................... 243
B.Kabzin´ski,R.Barczyk,D.Jasin´ska-Choroman´ska,A.Stienss
FlowsOutofSilos–VectorFieldsofVelocities ...................... 249
J.Malášek
ProblemsoftheInfluenceoftheQualityandIntegrityofInputData
ontheReliabilityofLeakDetectionSystems........................ 255
MateuszTurkowski,AndrzejBratek
PartIII:AutomaticControl
SimulationandModellingofControlSystemforTurbo-PropConstant
SpeedPropeller................................................ 267
Z.Ancik,J.Toman
ControlofOscillationsandInstabilitiesinaSingleBlockRockingon
aCylinder .................................................... 275
ArdeshirGuran
ModelingandControlofThree-PhaseRectifierofSwirlTurbine....... 285
T.Brezina,T.Hejc,J.Kovar,R.Huzlik
X Contents
Identification of Deterministic Chaos in Dynamical
Systems....................................................... 293
M.Houfek,P.Sveda,C.Kratochvíl
DataFusionfromAvionicSensorsEmployingCANaerospace ......... 297
R. Jalovecky, P. Janu,R. Bystricky, J. Boril, P. Bojda,R. Bloudicek,
M.Polasek,J.Bajer
Assessment oftheStub-ShaftSleeveBearingChaoticBehaviorin
AutomotiveDifferential ......................................... 303
M.Klapka,I.Mazu˚rek
Using LabVIEW forDevelopingof MechatronicSystemControl
Unit.......................................................... 309
P.Krejci,M.Bradac
Simple Instability Test for Linear Continuous-Time
System ....................................................... 317
J.E.Kurek
ExtendedKalmanFilterandDiscreteDifferenceFilterComparison.... 321
M.Laurinec
ActiveVibrationControlUsingDEAPActuator..................... 331
A.Nagy
ContactControllerforWalkingGaitGeneration .................... 337
V.Ondroušek,J.Krejsa
DesignandApplicationofMulti-softwarePlatformforSolvingof
MechanicalMulti-bodySystemProblems .......................... 345
A.Sapietová,M.Sága,P.Novák,R.Bednár,J.Dižo
TheMapMergingApproachforMulti-robotMonocularSLAM ....... 355
D.Shvarts,M.Tamre
OptimizationofStatorChannelsPositionsUsingNeuralNetwork
Approximators ................................................ 365
M.Sikora,Z.Ancˇík
IdentificationofEMADynamicModel............................. 375
MartynaUlinowicz,JanuszNarkiewicz
IntroductiontoDiaSter – Intelligent SystemforDiagnosticsand
AutomaticControlSupport ...................................... 385
M.Syfert,P.Wnuk,J.M.Kos´cielny
Contents XI
SimulationofVehicleTransportDutyCyclewithUsingofHydrostatic
UnitsControlAlgorithm ........................................ 395
P.Zavadinka
PartIV:Robotics
Development of Experimental Mobile Robot with Hybrid
Undercarriage ................................................. 405
P.Cˇoupek,D.Škaroupka,J.Pálková,M.Krejcˇirˇík,J.Konvicˇný,J.Radoš
DynamicandInteractivePathPlanningandCollisionAvoidancefor
anIndustrialRobotUsingArtificialPotentialFieldBasedMethod ..... 413
A.Csiszar,M.Drust,T.Dietz,A.Verl,C.Brisan
The DesignofHuman-MachineInterfaceModuleofPresentation
RobotAdvee .................................................. 423
J.Krejsa,V.Ondrousek
Force-TorqueControlMethodologyforIndustrialRobotsAppliedon
FinishingOperations ........................................... 429
T.Kubela,A.Pochyly,V.Singule,L.Flekal
TacticalandAutonomousUGVNavigation ......................... 439
J.Mazal,P.Stodola,I.Mokrá
DELTA-RobotwithParallelKinematics .......................... 445
M.Opl,M.Holub,J.Pavlík,F.Bradácˇ,P.Blecha,J.Kozubík,J.Coufal
MotionPlanningofAutonomousMobileRobotinHighlyPopulated
DynamicEnvironment .......................................... 453
S.Vechet,V.Ondrousek
Multi-purposeMobileRobotPlatformDevelopment ................. 463
J.Vejlupek,V.Lamberský
PartV:Mechatronic Systems
IntegrationofRiskManagementintotheMachineryDesignProcess.... 473
P.Blecha,R.Blecha,F.Bradácˇ
The ProblemsofContinuousDataTransferbetweenthePCUser
InterfaceandthePCICardControlSystem ........................ 483
P.Bureš
TheControlSystemofaCamGrindingMachineinConnectionwith
Yaskawa’sElectronicCams...................................... 489
V.Crhák,P.Jirásko
XII Contents
Kiwiki: Open-Source Portal for Education in
Mechatronics.................................................. 499
J.Dudak,G.Gaspar,D.Maga,S.Pavlikova
IncreasedPerformanceofaHybridOptimizerforSimulationBased
ControllerParameterization ..................................... 507
R.Neugebauer,K.Hipp,A.Hellmich,H.Schlegel
ParameterIdentificationofCivilStructurebyGeneticAlgorithm ...... 515
L.Houfek,P.Krejci,Z.Kolarova
ModelingandH∞ControlofCentrifugalPumpwithPipeline ......... 523
T.Brezina,J.Kovar,T.Hejc,A.Andrs
OptimizationofaHeatRadiationIntensityonaMouldSurfaceinthe
CarIndustry .................................................. 531
J.Mlýnek,R.Srb
Machine-Tool Frame Deformations and Their Mechatronic
MonitoringduringMachineOperation ............................ 541
L.W.Novotný,J.Marek
DynamicModelofPistonRingsforVirtualEngine .................. 547
P.Novotný,V.Píšteˇk,L.Drápal
ACost-EffectiveApproachtoHardware-in-the-LoopSimulation....... 553
M.M.Pedersen,M.R.Hansen,M.Ballebye
StabilityofMagnetorheologicalEffectduringLongTermOperation ... 561
J.Roupec,I.Mazu˚rek
SimulationModelling andControlof MechatronicSystems with
FlexibleParts.................................................. 569
T.Brezina,J.Vetiska,Z.Hadas,L.Brezina
OrthoticRobotasaMechatronicSystem........................... 579
J.Wierciak,D.Jasin´ska-Choroman´ska,K.Szykiedans
PartVI:Biomedical Engineering
BiomechanicalMonitoringinHipJointProsthesis................... 591
M.Abounassif,B.Hucˇko,L’.Magdolen
SystolicTimeIntervalsDetectionandAnalysisofPolyphysiographic
Signals ....................................................... 599
Anna Strasz, Wiktor Niewiadomski, Małgorzata Skupin´ska,
AnnaGa˛siorowska,DorotaLaskowska,RafałLeonarcik,GerardCybulski
