Table Of Content

Mechatronics 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.Kosćielny 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