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System of geometric parameters monitoring during cutting of steel plates process

Diagnostyka 2013年第3期14卷 23-28页

作者： Kwasniewski, Jerzy Grzybowski, Józef Kordos, Damian AGH University of Science and Technology in Kraków Faculty of Mechanical Engineering and Robotics Department of Rope Transport Poland Rzeszów University of Technology Faculty of Mechanical Engineering and Aeronautics Department of Avionics and Control Systems Poland

The steel plate cutting is performed on a special pro-duction lines to enable longitudinal and lateral cut. Input material is usually a metal ring of weight about 32 tons. The cutting process is preceded by an operation of straightening the cutting section. So far, during this operation parameters such as wave cut off sheets, the thickness of the material were not monitored. This paper presents a system of continuous monitoring of sheets parameters constructed by the authors. It was mounted on the process line-cutting and slitting of one of the companies cutting sheet metal. Such approach allows to improve quality control.

关键词： Metal cutting

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Bi-axial inverted pendulum modelling

Bi-axial inverted pendulum modelling

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International Carpathian control Conference (ICCC)

作者： Andrzej Kot Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9781467344883

The paper presents first approach to modeling of the biaxial inverted pendulum. This model was determined mathematically using the Lagrange equations based on knowledge of the potential and kinetic energy of the cart and placed on the pendulum. It also presents a non-linear model of a biaxial inverted pendulum built in Matlabs SimMechanics toolbox. Then the Matlab linearized model was compared with the linearized model obtained by means of the mathematical calculations.

关键词： Mathematical model Equations MATLAB Vectors Force Analytical models

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Brain - Computer Interface based on Steady - State Visual Evoked Potentials (SSVEP)

Brain - Computer Interface based on Steady - State Visual Ev...

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International Carpathian control Conference

作者： Agata Nawrocka Karolina Holewa AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781467344883

The paper describes a virtual keyboard based on a brain - computer interface, controlled by Steady - State Visual Evoked Potentials (SSVEP). Steady-State Visual Evoked Potentials are natural responses when the retina is excited by a visual stimulus ranging from 3.5 Hz to 75 Hz. The SSVEPs are characterized by an increase in EEG activity around the stimulus frequency. The SSVEP component has been detected using Welsch's method. The Virtual Keyboard is characterized by high signal-to-noise ratio (SNR)

关键词： Electroencephalography (EEG) EEG signal biological signals brain - computer interface (BCI) Steady - State Visual Evoked Potentials (SSVEP)

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LQG control of piezoelectric smart truss

LQG control of piezoelectric smart truss

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International Carpathian control Conference (ICCC)

作者： Dariusz Grzybek Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9781467344883

Truss, in which one or more passive members are replaced by active members containing piezoelectric actuator, have high coefficient of the vibration damping and have simultaneously low mass. The active members enable a generation of the forces having an effect on selected nods in the truss. Such truss is called smart truss in literature. Expected effect of the active members application is a counteraction of the external influences on the truss, for example by wind. A project of the control algorithm of such smart truss is a difficult task, because it is MIMO control object. The control algorithms, which are based on the state space model, is a promising direction in the scientific research, because designed control lows take into account the displacements and speeds of all nods of the truss. This paper presents the results of simulation research of control system with the use of LQG algorithm for exemplary truss. The application of LQG algorithm in the smart truss control could influence the increase of the vibration damping of such structure.

关键词： Simulation

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Precise Stiffness control with MR Dampers 1

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31st International Modal Analysis Conference on Structural Dynamics, IMAC 2013

作者： Maślanka, Marcin Weber, Felix Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology al. A. Mickiewicza 30 30-059 Krakow Poland Empa Swiss Federal Laboratories for Materials Science and Technology Structural Engineering Research Laboratory Ueberlandstrasse 129 CH-8600 Duebendorf Switzerland

ISBN: (数字)9781461465553

ISBN: (纸本)9781461465546

Magnetorheological (MR) dampers can be used not only as controllable damping devices but also to emulate a controllable positive or negative stiffness in combination with the dissipative force. However, the dissipative nature of MR dampers constrains the stiffness control. This work formulates the problem of combined stiffness and damping control with MR dampers if the damper is subjected to pure harmonic motion. A new method is presented that ends up in precise stiffness emulation with MR dampers, also when the sum of the stiffness and dissipative forces is constrained by the semi-active nature and residual force of MR dampers. The new control concept is applied to a semi-active tuned mass damper with an MR damper (MR-STMD). The numerical and experimental results demonstrate that the MR-STMD outperforms the passive TMD significantly. © The Society for Experimental Mechanics, Inc. 2013.

关键词： Stiffness

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Comparison of simulated and measured signals of the electromagnetic coil launcher for micro aerial vehicles

Comparison of simulated and measured signals of the electrom...

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International Symposium on Electrodynamic and Mechatronic System (SELM)

作者： M. Kondratiuk Z. Gosiewski Mechanical Faculty Department of Control Engineering and Robotics Bialystok Technical University Bialystok Poland

In this paper we describe numerical model and designed construction of the EML consisting of 10 coils with a moving ferromagnetic core inside. Friction coefficients were introduced into the system equations and next we proposed an algorithm which enabled us to fit the numerical model to the constructed device. In the paper we present comparison of the signals from computer simulations and measurements which were taken during laboratory and field trials.

关键词： Coils Solid modeling Friction Electromagnetics Acceleration Numerical models Integrated circuit modeling

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The modeling of multibody systems with fractional-order elements

The modeling of multibody systems with fractional-order elem...

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International Carpathian control Conference (ICCC)

作者： Janusz Kowal Wojciech Lepiarz Department of Process Control Faculty of Mechanical Engineering AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9781467344883

The fractional-order models, that is models described by differential equations of arbitrary real order, are gaining popularity in advanced control theory. In this study, an implementation of fractional-order elements in multibody dynamics systems is shown. A fractional-order model of elements is used in co-analysis between multibody system modeling tool and control system modeling tool. The co-analysis uses multibody dynamics software to solve all ordinary, integer-order differential equations and control system modeling software to solve fractional-order differential equations. Results of such simulation may be used in virtual prototype built in MSC Adams software environment to simulate behavior of multibody fractional-order system. Two example models are shown in this paper, one with 1 degree of freedom (DOF) and one with 6 DOF. The research was conducted in order to prepare software tools and methods, which can be used in modeling of bionic multibody systems with fractional-order elements. A co-simulation between control and multibody system modeling software tools enables accurate and cost-effective development of bionic devices. Furthermore, fractional-order models of bionic elements describe certain phenomena better than in integer-order models.

关键词： Mathematical model Damping Shock absorbers Differential equations Biological system modeling MATLAB control systems

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Multibody bionic systems modeling: The puppet master approach

Multibody bionic systems modeling: The puppet master approac...

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2012 13th International Carpathian control Conference, ICCC 2012

作者： Kowal, Janusz Lepiarz, Wojciech Sioma, Andrzej AGH - University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes. © 2012 IEEE.

关键词： Biomimetics

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