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Detection and classification of alarm threshold violations in condition monitoring systems working in highly varying operational conditions

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Journal of Physics: Conference Series 2015年第1期628卷

作者： M Strączkiewicz T Barszcz A Jabłoński AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics 30 Mickiewicza Av. 30-059 Krakow Poland

All commonly used condition monitoring systems (CMS) enable defining alarm thresholds that enhance efficient surveillance and maintenance of dynamic state of machinery. The thresholds are imposed on the measured values such as vibration-based indicators, temperature, pressure, etc. For complex machinery such as wind turbine (WT) the total number of thresholds might be counted in hundreds multiplied by the number of operational states. All the parameters vary not only due to possible machinery malfunctions, but also due to changes in operating conditions and these changes are typically much stronger than the former ones. Very often, such a behavior may lead to hundreds of false alarms. Therefore, authors propose a novel approach based on parameterized description of the threshold violation. For this purpose the novelty and severity factors are introduced. The first parameter refers to the time of violation occurrence while the second one describes the impact of the indicator-increase to the entire machine. Such approach increases reliability of the CMS by providing the operator with the most useful information of the system events. The idea of the procedure is presented on a simulated data similar to those from a wind turbine.

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Single camera-based crane sway angle measurement method

Single camera-based crane sway angle measurement method

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Pawel Hyla Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

This paper presents the architecture of the non-contact sensor for measuring the rope swinging angle in two planes. The sensor were dedicated to the all kind of the crane device, especially to overhead travelling crane. The main objective of this statement applies a solution for improving early developed and described non-contact vision swinging sensor. In the article, the author main attention has been focused on issues related to the possibility of using a "smart camera" device as a full functional contactless two-dimensional sway sensor. All tests and considerations were conducted on the scaled physical model of overhead travelling crane with hosting capability 150kg.

关键词： Measurement by laser beam Cranes Machine vision Smart cameras Cameras Payloads Laser beams

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Experiments of MR fluid behaviour in the squeeze mode using the vision method

Experiments of MR fluid behaviour in the squeeze mode using ...

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International Carpathian Control Conference (ICCC)

作者： Bogdan Sapiński Wojciech Horak Andrzej Sioma Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

The study summarises the results of experimental testing of MR fluid behaviour in the squeeze mode under the action of magnetic field. Tests were done in the experimental setup using the vision system, specifically designed for the purpose of the research programme. Experimental data are compiled in the form of MR fluid free surface profiles.

关键词： Fluids Magnetic liquids Magnetic separation Magnetomechanical effects Magnetic resonance imaging

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Iterative and evolutionary optimization for interval analysis-based designing a fuzzy controller for a planar crane model

Iterative and evolutionary optimization for interval analysi...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Jarosław Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of local linear controllers represented by rule conclusions is determined based on the objective function derived from an interval Diophantine equation. The two methods, iterative procedure and evolutionary algorithm are developed to find minimum number of fuzzy sets and tune triangular membership functions satisfying the performances robustness to variation of operating conditions.

关键词： Cranes Fuzzy sets Payloads Polynomials Sociology Statistics Mathematical model

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Application of haptic omni device to determination of the set point trajectory

Application of haptic omni device to determination of the se...

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International Carpathian Control Conference (ICCC)

作者： Dorota Marszalik AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland

Haptic device might be used to determination motion trajectory, which can be used in virtual environment or to control other devices with similar kinematics. This task is very often realized in the area, where human appearance is forbidden, or when operator is located at a large distance from it. To facilitate a work of the controlling person, as the terminal of the device may be installed a tool, with which controlled operation will be performed. Generation a resistance force in the haptic device as a feedback allows to create conditions, which are similar to those in the actual performing of operations e.g. feeling a reaction force during contact with the object, touch etc. In this article the structure and kinematics of the haptic Phantom Omni device are presented. Device is communicated with the software created for this purpose. It may be used to determine trajectory of the manipulator motion. In this article the kinematics scheme of the haptic device and equations allowing calculations of the coordinates of the tip mounted tool and its angle in the global coordinate system are placed. Calculations are performed basing on the values of the angles between the arms of the device and coordinates of the haptic interface point. In experiments, setpoint trajectory of the tool tip was measured and compared with the reference trajectory on the plane and in the space. Tracking trajectory errors were calculated.

关键词： Haptic interfaces Trajectory Kinematics Robot kinematics Surgery Equations

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Piezoelectric generator for the power supply of the monitoring system

Piezoelectric generator for the power supply of the monitori...

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International Carpathian Control Conference (ICCC)

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

An article presents simulation study results of a piezoelectric generator, which can be used for supplying power to wireless sensor nets in the parameters monitoring systems of structure. In many technology branches, parameter monitoring of structures is necessary to guarantee a non-failure operation of technical applications. A monitoring system often contains tens or hundreds of sensors. The application of a conventional supply of these sensors requires the use of either kilometers of wire or hundreds of batteries. A promising field of research is an utilization of natural properties of piezoelectric materials for a conversion of mechanical energy, e.g. from vibration to electric energy. In the first part of this article, the piezoelectric ceramics is discussed in the field of its application in generators. In the second part the structure of a generator is discussed. The article focuses on the structure consisting of the piezoelectric material connected with the cantilever beam. In the last part, the results of simulation research are presented and discussed.

关键词： Generators Monitoring Vibrations Ceramics Resonant frequency Piezoelectric materials

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Composite beam's parameters identification based on frequency response

Composite beam's parameters identification based on frequenc...

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International Carpathian Control Conference (ICCC)

作者： Mateusz Romaszko Jacek Snamina Sebastian Pakuła Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

The subject of the study is a modelling of composite cantilever beam. The beam comprises two elastic outer layers made of aluminium and a magnetorheological (MR) fluid layer in between, sealed with silicone rubber. Data for identification were collected by testing the forced vibration of the beam. One of the beam ends was clamped in a holder located at the moving part of the electrodynamic shaker. The motion of the beam was controlled by the magnetic field which activates the MR fluid. The beam vibrations were measured in two points. The first point was placed at the clamped end of the beam while the second point was located at the free end of the beam. The frequency response function of the investigated object was the base for identification procedures. The proposed model was limited to the first two modes of vibrations of considered beam. Two identification procedures were discussed.

关键词： Magnetic fields Vibrations Damping Fluids Mathematical model Laser beams Structural beams

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Determination of the probabilistic characteristics of the coefficient of restitution, with an application of acoustic measurements

Determination of the probabilistic characteristics of the co...

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International Carpathian Control Conference (ICCC)

作者： Jerzy Michalczyk Sebastian Pakuła Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

During collisions of bodies a part of the kinetic energy is scattered due to: internal vibrations, plastic strains, crushing of contaminations or surface defects. The remaining part is returned by an elastic interaction of bodies. A coefficient of restitution, understood as the ratio of instant impulses of the second and first collision phase, is used for the collision description. The probabilistic characteristics of the coefficient of restitution are presented in the hereby paper on the basis of experimental data. The experiment was based on recording sound signals emitted when the steel ball struck the plate. Numerous measurements allowed to determine the expected value of the coefficient of restitution and its standard deviation in dependence on the energy flux density during the collision.

关键词： Equations Steel Mathematical model Standards Plastics Strain Velocity measurement

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EU project MORPH: Current status after 3 years of cooperation under and above water 4

EU project MORPH: Current status after 3 years of cooperatio...

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4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2015

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Glotzbach, T. Brignone, L. Bibuli, M. Alves, J. Silva, M.C. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche pour l'Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche Istituto di Studi Sui Sistemi Intelligenti per l'Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Morta Portugal

The MORPH project (FP 7, 2012-2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires new concepts in a number of technological fields. Examples are adaptive sensor placement for perception and navigation or environmental modeling in complex environments. As the project enters its final year the basic developments have been achieved. It is still a huge effort to create a system out of components which can be perceived as a supra-vehicle. This paper focuses on a presentation of the current state. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Vehicles

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Conceptual design of BCI in the formal basis of Hierarchical System

Conceptual design of BCI in the formal basis of Hierarchical...

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International Carpathian Control Conference (ICCC)

作者： Kanstantsin Miatliuk Agata Nawrocka Karolina Holewa Department of Automation and Robotics Bialystok University of Technology Bialystok Poland Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The use of Hierarchical Systems (HS) technology in conceptual design of BCI is proposed in the work. Being biomechatronic by nature BCI system contains, biological (brain), computer, visual informatics (LCD, GUI), electronic (sensors) and executive mechanical (mobile robot) or virtual mechanical (virtual keyboard) subsystems. So, conceptual model of the BCI system being designed should contain connected systemic models of the above subsystems presented in the general formal basis. The BCI system structure, its dynamic presentation as the unit in its environment and BCI environment should be also described in this basis. Inter-level dynamics fulfilled by system-environment (e.g., brain-computer) interactions have to be taken into account by BCI Conceptual Model as well. Traditional models of mathematics and AI do not allow such a description. So, aed model of HS was chosen as theoretical basis of BCI Conceptual Model development in the work. Results of BCI detailed design and testing are also given.

关键词： Robot kinematics Biological system modeling Process control Computational modeling Color Brain modeling

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