Mechatronics - Ideas for Industrial Application PDF
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Advances in Intelligent Systems and Computing 317 Jan Awrejcewicz Roman Szewczyk Maciej Trojnacki Małgorzata Kaliczyńska Editors Mechatronics: Ideas for Industrial Applications Advances in Intelligent Systems and Computing Volume 317 Serieseditor JanuszKacprzyk,PolishAcademyofSciences,Warsaw,Poland e-mail:[email protected] AboutthisSeries The series “Advances in Intelligent Systems and Computing” contains publications on theory, applications,anddesignmethodsofIntelligentSystemsandIntelligentComputing.Virtuallyall disciplinessuch asengineering, natural sciences, computer and informationscience, ICT,eco- nomics,business,e-commerce,environment,healthcare,lifesciencearecovered.Thelistoftop- icsspansalltheareasofmodernintelligentsystemsandcomputing. The publications within “Advances in Intelligent Systems and Computing” are primarily textbooksandproceedingsofimportantconferences,symposiaandcongresses.Theycoversig- nificant recent developments in the field, both of a foundational and applicable character. An importantcharacteristicfeatureoftheseriesistheshortpublicationtimeandworld-widedistri- bution.Thispermitsarapidandbroaddisseminationofresearchresults. AdvisoryBoard Chairman NikhilR.Pal,IndianStatisticalInstitute,Kolkata,India e-mail:[email protected] Members RafaelBello,UniversidadCentral“MartaAbreu”deLasVillas,SantaClara,Cuba e-mail:[email protected] EmilioS.Corchado,UniversityofSalamanca,Salamanca,Spain e-mail:[email protected] HaniHagras,UniversityofEssex,Colchester,UK e-mail:[email protected] LászlóT.Kóczy,SzéchenyiIstvánUniversity,Gyo˝r,Hungary e-mail:[email protected] VladikKreinovich,UniversityofTexasatElPaso,ElPaso,USA e-mail:[email protected] Chin-TengLin,NationalChiaoTungUniversity,Hsinchu,Taiwan e-mail:[email protected] JieLu,UniversityofTechnology,Sydney,Australia e-mail:[email protected] PatriciaMelin,TijuanaInstituteofTechnology,Tijuana,Mexico e-mail:[email protected] NadiaNedjah,StateUniversityofRiodeJaneiro,RiodeJaneiro,Brazil e-mail:[email protected] NgocThanhNguyen,WroclawUniversityofTechnology,Wroclaw,Poland e-mail:[email protected] JunWang,TheChineseUniversityofHongKong,Shatin,HongKong e-mail:[email protected] Moreinformationaboutthisseriesathttp://www.springer.com/series/11156 · Jan Awrejcewicz Roman Szewczyk · Maciej Trojnacki Małgorzata Kaliczyn´ska Editors Mechatronics: Ideas for Industrial Applications ABC Editors JanAwrejcewicz MaciejTrojnacki LodzUniversityofTechnology IndustrialResearchInstituteforAutomation Lodz andMeasurementsPIAP Poland Warsaw Poland RomanSzewczyk IndustrialResearchInstituteforAutomation MałgorzataKaliczyn´ska andMeasurementsPIAP IndustrialResearchInstituteforAutomation Warsaw andMeasurementsPIAP Poland Warsaw Poland ISSN2194-5357 ISSN2194-5365 (electronic) ISBN978-3-319-10989-3 ISBN978-3-319-10990-9 (eBook) DOI10.1007/978-3-319-10990-9 LibraryofCongressControlNumber:2014948177 SpringerChamHeidelbergNewYorkDordrechtLondon (cid:2)c SpringerInternationalPublishingSwitzerland2015 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe materialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broad- casting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformationstorage andretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknown orhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnectionwithreviews orscholarly analysis ormaterial suppliedspecifically forthepurposeofbeingentered andexecuted ona computersystem,forexclusive usebythepurchaser ofthework.Duplication ofthis publication orparts thereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation,initscur- rentversion,andpermissionforusemustalways beobtained fromSpringer. Permissionsforusemaybe obtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecutionunder therespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neither the authors northe editors nor the publisher can accept any legal responsibility for any errors or omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothematerial containedherein. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Foreword Broadly perceived control, automation, robotics and measuring techniques belong to themostrelevantfieldsofscienceandtechnology,bothfromthepointofviewoftheo- reticalchallengesandpracticalimportance.Inspiteofbeingseparateareasofresearch, knowledgeandexpertise,theyarestronglyrelated,bothintermsofparadigmsandtools andtechniquesemployed,aswellasintermsoftheirindustrialscopeofapplications. Therefore,an industrial, practice oriented perspective is an important aspect of those areas.Moreover,automation,roboticsandmeasuringtechniqueshaveasignificantin- novativepotentialasthecurrentindustrialpracticecallsforafurtherintegrationofall kindsofproductionsystems,moreecologicalandenergyefficientsolutionsaswellas costandtimeeffectiveproductionandmanufacturingprocesses. Amongmanyimportantproblemsandchallengesfacedbyautomationandcontrol, mostofwhichhavebeenreflectedin thescopeofthe papersincludedinthisvolume, one can mention, for instance, discrete systems, actuators, diagnostics, and modern tools exemplified by fuzzy logic, evolutionary computation, neural networks, proba- bilisticapproaches,etc. Inrobotics,inparticularinitspartrelatedtothedevelopmentofmobilerobots,one canquoteascrucialproblemsandchallengesvariousproblemsolvingtasksrelatedto thecontrolofwalkingrobots,controlofmanipulators,motorsanddrivers,mechatronic systems,andtrackingcontrol. Measuring techniques and systems have to overcome, first of all, barriers implied by environmentalconditions and limitations. They call for the development of novel sensors (also utilizing novelmaterials such as graphene),advanced signal processing andamorefoundationaldevelopmentfocusedonthetheoryofmetrology. This book presents the recent advances and developments in control, automation, robotics,andmeasuringtechniquesthataretryingtomeetthosechallengesandtofulfil thosetechnological,economicandsocialneeds.Itpresentscontributionsoftopexperts in the fields, focused on both theory and industrial practice. The particular chapters presentadeepanalysisofaspecifictechnicalproblemwhichisingeneralfollowedby anumericalanalysisandsimulation,andresultsofanimplementationforthesolution ofarealworldproblem. VI Foreword We strongly believe that the presented theoretical results, practical solutions and guidelineswill be useful for both researchers workingin the area of engineeringsci- encesandforpractitionerssolvingindustrialproblems. Warsaw JanAwrejcewicz July2014 RomanSzewczyk MaciejTrojnacki MałgorzataKaliczyn´ska Contents PartI:Control andAutomation RationalUseofPrimaryEnergyinSingle-FamilyResidentialHouses...... 3 Dominik Ambroziak, Łukasz Skarbek, Piotr M. Tojza, Jacek Jaworski, DawidGradolewski,GrzegorzRedlarski DeterminationofJiles-AthertonModelParametersUsingDifferential Evolution ........................................................ 11 RafałBiedrzycki,RomanSzewczyk,PeterŠvecSr.,WojciechWiniarski TheApplicationofMicrocontrollersDiagnosticSystemforEvaluationof StirlingEngine.................................................... 19 BohdanBorowik,BarbaraBorowik,IgorP.Kurytnik SimulationModelofPEMFuelCellOperatingatHydrogenandOxygen... 31 JerzyGarus,AdamPolak DevelopmentofWirelessPassiveSensingPlatform–Communication Issues ........................................................... 41 PrzemysławGonek,MateuszLisowski,TadeuszUhl ValueoftheInternetofThingsfortheIndustry–AnOverview ........... 51 MałgorzataKaliczyn´ska,PrzemysławDa˛bek ProgrammingandComputerSimulationofanExperimentalStationfor AutomaticLaunchingofBadmintonShuttlecocks ...................... 65 JerzyKaramuz,PawełOlejnik,JanAwrejcewicz ExperimentalInvestigationsofStabilityinaHybridStepperMotor ....... 81 RadosławKe˛pin´ski,JanAwrejcewicz,DonatLewandowski,JakubGajek InfluenceoftheControllerSettingsontheBehaviouroftheHydraulic ServoDrive ...................................................... 91 KlaudiuszKlarecki,DominikRabsztyn,MariuszPiotrHetman´czyk VIII Contents IntelligentMonitoringandOptimizationofMicro-andNano-Machining Processes ........................................................ 101 DariuszLipin´ski,MaciejMajewski AnalogElectronicTestBoardforanEstimationofTimeCharacteristics oftheBasicElementsofAutomaticControlSystems .................... 111 PawełOlejnik,DamianKociak,JanAwrejcewicz ImprovedControlSystemofPMMachinewithExtendedFieldControl CapabilityforEVDrive ............................................ 125 PiotrPaplicki,RafałPiotuch ThePositioningofSystemsPoweredbyMcKibbenTypeMuscles ......... 133 WiktorParandyk,MichałLudwicki,BartłomiejZagrodny,JanAwrejcewicz SolenoidActuatorforaCamlessControlSystemofthePistonEngine Valve............................................................ 141 ElizaTkacz,ZbigniewKozanecki,JakubŁagodzin´ski ControllerTuningMethodbyShapingItsOutputStepResponse ......... 149 RobertUgodzin´ski,RomanSzewczyk VectorFaxingSystem .............................................. 157 MarianWrzesien´,PiotrRyszawa PartII:Robotics PersonalLowerLimbRehabilitationRobotforChildren ................ 169 MariuszGiergiel,AleksanderBudzin´ski,GrzegorzPia˛tek,MichałWacławski SomeProblemsofNavigationSystemforCriminalisticRobot ............ 177 RobertGłe˛bocki,AntoniKopyt,PawełKicman NeuralNetworkControlofaFour-WheeledMobileRobotSubjectto WheelSlip ....................................................... 187 ZenonHendzel,MaciejTrojnacki AdvancedTaskTrackingControlDesignforRobotic-LikeSystems........ 203 Elz˙bietaJarze˛bowska ExplorationMobileRobot,ProjectandPrototype ...................... 231 WaldemarMucha,WacławKus´ DeterminationofMotionParameterswithInertialMeasurementUnits– Part1:MathematicalFormulationoftheAlgorithm .................... 239 MaciejTrojnacki,PrzemysławDa˛bek Contents IX DeterminationofMotionParameterswithInertialMeasurementUnits– Part2:AlgorithmVerificationwithaFour-WheeledMobileRobotand Low-CostMEMSSensors .......................................... 253 MaciejTrojnacki,PrzemysławDa˛bek Synchronized Trajectory Tracking Control of 3-DoF Hydraulic TranslationalParallelManipulator................................... 269 PiotrWos,RyszardDindorf PartIII:Measuring Techniques and Systems Wireless Temperature Measurement System Based on the IQRF Platform......................................................... 281 PiotrBazydło,SzymonDa˛browski,RomanSzewczyk ArmEMGWavelet-BasedDenoisingSystem........................... 289 DawidGradolewski,PiotrM.Tojza,JacekJaworski,DominikAmbroziak, GrzegorzRedlarski,MarekKrawczuk AssessmentofTemperatureCoefficientofExtremelyStableResistorsfor IndustrialApplications............................................. 297 Andrzej Jus´, Paweł Nowak, Roman Szewczyk, Michał Nowicki, WojciechWiniarski,WeronikaRadzikowska MagnetoelasticCharacteristicsofConstructionalSteelMaterials ......... 307 MaciejKachniarz,DorotaJackiewicz,MichałNowicki,AdamBien´kowski, RomanSzewczyk,WojciechWiniarski Sensor Fusion Based Tool-Workpiece Contact Detection inMicro-Milling .................................................. 317 MarcinMatuszak,PawełWaszczuk KinematicAnalysisoftheFingerExoskeletonMovementinDistaland ProximalInterphalangealJoints..................................... 327 KrzysztofNasiłowski,JanAwrejcewicz,DonatLewandowski ResistanceofMAX6325ReferenceVoltageSourceonSupplyVoltage Variation ........................................................ 337 Paweł Nowak, Andrzej Jus´, Roman Szewczyk, Michał Nowicki, WojciechWiniarski TestStandforTemperatureCharacteristicsofUltra-PreciseResistors ..... 345 PawełNowak,AndrzejJus´,RomanSzewczyk,RafałPijarski,MichałNowicki, WojciechWiniarski Magnetovision Scanner System Investigation of Magnetic Field DisturbanceSources ............................................... 353 MichałNowicki,RomanSzewczyk
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