Dominik Rybarczyk

Modelling of Electrohydraulic Drive with a Valve Controlled by Synchronous Motor

The article describes modelling of electrohydraulic servo drive. In the drive a new type of proportional valve with a synchronous motor controlled by dedicated power electronics is used. The model of the electrohydraulic servo drive prepared in Matlab-Simulink is described. The study included the examination of the basic characteristics such as step response.

Control of an Electro-Hydraulic Manipulator by Vision System Using Central Point of a Marker Estimated via Kalman Filter

In the paper, the vision system for control a electro-hydraulic manipulator is presented. The authors have proposed a Kalman Filter (KF) to estimate a central position of markers. Two different methods of initial estimation of markers position are used. First one is based on central point of marker’s mass. Second refers to a circle fitting method of binary object. These two methods theoretically give the same position of a central point of given marker, however, in case of image distortion results will have different errors. This can occur when operator is holding marker in a hand, and cover some parts of it. Therefore it is important to develop new robust method for marker tracking. Authors proposed Kalman Filter to estimate central point of a marker by making a fusion of information provided by two initial estimation methods. The conducted research proved that KF reduces total manipulator’s control error even in situation where \(30\,\%\) of marker area is invisible.

Modeling and Control of Proportional Valve with Synchronous Motor

The paper describes the research results of modeling and control of proportional valve with synchronous motor type PMSM (Permanent Magnets Synchronous Motor). In the paper, a simulation model of the proposed valve was developed and described. The model included the square root flow characteristics, nonlinearity of the hydraulic actuator, valve dead zone and saturation of the flow. The study included the investigations of the basic characteristics, such as valve flow characteristic and step responses. In order to determine the basic parameters of the valve, the test stand was built, on which the new valve and the servo drive with this valve were tested. A servo drive control system was based on PLC with touch panel and inverter module. In the paper, the chosen investigations results of the valve and the servo drive system are presented and shortly discussed.

Application of the MFC Method in Electrohydraulic Servo Drive with a Valve Controlled by Synchronous Motor

The article describes the use of the Model Following Control method to control of electrohydraulic servo drive. In the drive a new, designed by us, proportional valve with a synchronous motor controlled by dedicated power electronics is used. The model of the electrohydraulic servo drive controlled by MFC method prepared in MATLAB-Simulink is described. The laboratory test stand is described and step responses of the drive are shown.

Research on Concentration Levels Depending on the Color and Blinking Frequency of the Marker Using Multiple EEG Channel

This paper presents the research on the concentration index. In the first section authors present general information on their brain-computer interfaces. They presented a system placement of the electrodes on a head and information about the human brain wave frequencies. In the next section the authors have presented the research methodology. They describe a method of carrying out three tests and equipment which they had used during the test. In the next chapter they presented the results of the tests. They have verified which electrodes must be taken into consideration when examining the concentration index. They showed how it affects the color and the frequency blinking marker change on the test results. The authors determined the best frequency for this type of research.

Development of Low Cost Speech System for Patient Suffer on the Amyotrophic Lateral Sclerosis

The article describes design of low cost speech system for patient suffer on the amyotrophic lateral sclerosis (ALS). The authors performed a literature overview concerning on the piezoelectric sensors, the ALS disease and construction systems supporting speech. The system was built with piezo sensor, which was triggered by the mimic face movements. The read signals is transmit to the extern application via USB interface, allowing patient to construction of words and phrases. The system has been tested, that allowed to choose the optimal location of the sensor on the head. Performed research is the starting point for building fully mobile speech system.

Design of The Test Stand for Hydraulic Active Heave Compensation System

Abstract The article presented here described the design of a test stand for hydraulic active heave compensation system. The simulation of sea waves is realized by the use of hydraulic cylinder. A hydraulic motor is used for sea waves compensation. The hydraulic cylinder and the hydraulic motor are controlled by electrohydraulic servo valves. For the measurements Authors used displacement sensor and incremental encoder. Control algorithm is implemented on the PLC. The performed tests included hydraulic actuator and hydraulic motor step responses.

Controlling the Direction of Rotation of the Motor Using Brain Waves via Ethernet POWERLINK Protocol

The paper presents preliminary results of the work with the Emotiv EPOC+™ system, which enabled in binary way control of objects. The system reads the brain waves from 14 plus 2 references electrodes. The controlled object was stepper motor with encoder released by the B&R company. For communication between the PC and engine control module was used Ethernet POWERLINK protocol, which allows data transfer with a minimum cycle time of 200 μs. Completely omitted PLC controller, which function was taken over the PC.

Design of Control System for an Electrohydraulic Drive Based on the Valve with PMSM Motor

The article describes design of control system and test stand for an electrohydraulic drive based on the new kind proportional valve with synchronous motor type PMSM (Permanent Magnets Synchronous Motor). In the second part, the chosen laboratory investigations of proposed valve with PMSM are presented. The study included the test of the basic characteristics of the drive such as step response and temperature of oil impact.

HMI with Vision System to Control Manipulator by Operator Hand Movement

In the paper, the vision system for control of manipulator by operator’s hand movement is presented. The Authors propose method which uses specific colors of markers. The fast camera 3iCube (frequency 50 Hz) was used and connected with PC by USB 3.0. The position of the manipulator was controlled by industrial controller. Connection between PLC and PC was realized by TCP/IP protocol. The two green markers were used to scale operator’s working area. One green marker indicated a base coordinates of manipulator. The red marker was held in hand by operator. Movement of the red marker was in ratio 1:2 to manipulator. The research was focused on the correctness of detection of markers and response trajectory of the manipulator. Proposed method can be used to control manipulator movement by operator without uses classic control panel. The research proves possibility of application of the vision system for control of manipulator.