Alexander Gmiterko

In-pipe bristled micromachine

This paper deals with in-pipe micromachine, which moves in pipes with inner diameter under 25 mm. The micromachine locomotion principle is based directional friction force between bristle tip and pipe wall. At first we have theoretically analysed the locomotion principle. The next part consist of analysis of bristle tip connection with inner pipe wall. Finally, the analysis is supported with experiments.

Modeling of a snake-like robot rectilinear motion and requirements for its actuators

The paper deals with a rectilinear motion of a snake-like robot. At first the various kinds of friction models are discussed and then the mathematical model of rectilinear snake-like robot locomotion is established. Considering the isotropic Coulomb´s friction model the average velocity of N-mass system is derived. Further the average velocity dependence on the number of used masses N is described through the graph. From the equation of average velocity there is the optimal number of masses N established. In the paper there are two alternative sequences of motion considered and subsequently through the simulations they are compared to each other. Finally the requirements concerning the linear actuator between two masses are described.

Simplified model of the snake rectilinear motion

The paper deals with the analysis of the snake rectilinear motion and from both the biological and the engineering points of view. The bionics knowledge enables more detailed insight to the problematic of the snake locomotion applicable at the design of the robotic snakes. The paper shows the analysis of the simplified model of the snake performed for determination of both the kinematic parameters and the characteristics of the actuating units utilized with probable design project.

An n-Link Inverted Pendulum Modeling

An n-Link Inverted Pendulum Modeling In this article is the automatized procedure for deriving of n-link inverted pendulum motion equations presented. Example of 2 link inverted pendulum is included. The LQR algorithm using Maple input equations is proposed. Also the comparison between SimMechanics and Simulink is included.

Algorithm of nonrespirable dust fraction suppression using an optical transducer of dust mass concentration

An algorithm for processing information from an optical transducer of dust mass concentration is presented. It processes measurements of electromagnetic radiation ranging from the visible to the infrared, which is scattered by the smaller respirable dust particles but which is not similarly effected by the larger nonrespirable dust particles of the same material. The algorithm is based on discretizing the wavelength of the radiation scattered by the dust into the finite number of the wavelength bands. The mass concentration of the respirable dust is obtained as the weighted sum of radiant fluxes occurring in the wavelength bands. The Mie theory has been used for the description of the radiation scattering by the dust particles. Computational simulation results are presented to demonstrate the validity of this algorithm. The algorithm is suitable for real-time measurement.

Algorithm for determining static characteristic on electromagnetic actuator for rectilinear locomotion structure of a snake-like robot

This work deals with the determination of static characteristics of electromagnetic actuator. Electromagnetic actuator is designed as drive for rectilinear locomotion structure parts of snake-like robot. Static characteristics are determined by the solving of a non-linear problem of the actuators magnetic circuit in a ferromagnetic cores particular positions and at the different fluxional rates of the coil. Static characteristics are represented by a L induction, magnetic force affecting ferromagnetic core Fm. For the calculation of the coil induction L is used the power of magnetic field. Magnetic field power is calculated by using Maxwell stress tensor and differential formula by a numeric derivation way.

Technology and Application of 3D Shaped LTCC Modules for Pressure Sensors and Microsystems

This paper deals with shaping technology of LTCC (low temperature cofired ceramics) and as well on analysis of the possibilities of sensors in 3D shaped modules. Analysis of marginal possibilities of LTCC ceramic shaping was realized on a sample with various bending angles and various layer numbers, where thick-film conductive paths were present. The applicability of the obtained results was demonstrated by the development of a 3D shaped module with a thick-film pressure sensor.

Simulation Analysis of Pneumatic Rubber Bellows for Segment of Hyper-Redundant Robotic Mechanism

The paper deals with a design and simulations of segment for hyper-redundant manipulator. In the paper 6-DOF manipulator segment, which consists of pneumatic and electromagnetic actuators, is designed. CAD model of the segment is introduced and basic parts are described. The basic motion is reached by pneumatic actuator which works through the rubber bellows and it utilizes their expansion properties. Main focus of the study besides segment design is analysis of rubber bellows. From this reason FEM analysis is done in software SolidWorks. In the conclusion the results are discussed.

Dynamic model of vehicle with two coaxial parallel wheels

The paper deals with the dynamic model of vehicle with two coaxial parallel wheels. From the existing dynamic model is generated the mathematical model. Based on the derived equations, there is created the block scheme within the Matlab/Simulink background program and from that the course of the wheels path and the same the pendulum deflection depending on the time are described.

Capacitive sensor for measuring of intra-abdominal pressure

The article deals with the design of capacitive pressure sensor for automated measurement of intra-abdominal pressure by noninvasive method. Capacitive pressure sensor consists of a glass tube with evaporated thin film electrodes. The capacity change is given by the level change of displaced fluid in the tube. For capacitive sensors with different inner diameter of tubes were experimentally found calibration curves. Capacitive sensor is subpart of an automated measuring system for the clinical application of intra-abdominal pressure measurement.