František Ďurovský

Finite Control Set Model Predictive Speed Control of a DC Motor

The paper describes the design procedure for a finite control set model predictive control (FCS-MPC) of brushed permanent magnet DC (PMDC) machine supplied from DC-DC converter. Full order linear Kalman filter is used for estimation of an unmeasured load torque and reduction of speed measurement noise. A new cost function has been introduced with a feedforward dynamic current component and a feedforward static load current component. The performance of the proposed control strategy is compared to the conventional PI-PWM cascade speed control through the experimental verification on the 250 W laboratory prototype. Obtained results show excellent dynamic behaviour and indicate possible energy savings of the proposed speed control.

Integrated System of Mixed Virtual Reality Based on Data Glove CyberGlove II and Robotic Arm MechaTE Robot

Proposed paper describes development of CyberGlove II - MechaTE low-cost robotic hand interface intended for future use in virtual and mixed reality robot programming. The main goal is to explore possibilities and gain programing experience in controlling mechanical hands by means of data gloves and its interconnection to virtual reality modeling software. First part of paper describes recent progress in using virtual reality for purposes of intuitive robot programming; second part includes an overview of recent development of mechanical hands construction, as well as currently available data gloves. Last part provides details about CyberGlove – MechaTE interface and its potential for methods of intuitive robot programming in virtual or mixed reality environments.

Robust Rubik’s Cube Detection Using Hough Transform and Advanced Clustering Functions

Presented paper describes vision-based algorithm for 2D Rubik’s cube state detection suitable for cases in which long-term fixed camera-cube position is not possible. The main focus was to provide a robust algorithm for position and color detection in order to overcome problems observed in previous version. First part of paper describes Hough transform and advanced clustering functions that were used for cube position detection. Described algorithm provides robustness to strong occlusions and various lighting conditions. Second part of paper describes color detection algorithm and problems of prior classification in various color spaces.

A HARDWARE-IN-THE-LOOP SIMULATOR BASED ON REAL SKODA SUPERB VEHICLE AND RT-LAB/CARSIM

This paper describes the design and realization of a hardware-in-the-loop simulator made from a real Skoda Superb vehicle. A combination of RT-LAB and CarSim software is used for real-time control and for handling the sensoric subsystems. The simulator provides almost realistic testing of driving cycles with on-line visualization. This unique device can be used in various fields of research.

Design of Pneumatical Rubik’s Cube Solver

Rubik’s solver is prime example of science popularizing mechatronic device, combining computer vision techniques, advanced Rubik’s cube solving algorithm and control of industrial pneumatic components. First version of solver constructed by our department was equipped only by 2 lower grippers, resulting in approximately four minutes for single cube solution. Proposed paper describes not only experience gained by development of upgraded 4 gripper version but includes statistical analysis of Thistlethwait’s 45 algorithm required for solving process optimization. Mechanical design, electronics, system overview, performance and limitations of upgraded 4 gripper version are explained in detail as well. Development of vision algorithm for robust cube detection is described in conjoint paper “Robust detection of Rubik’s cube state using Hough transform and advanced clustering functions.”

Measurement of Transmission Nonlinearities in Servodrives

Paper presents transmission nonlinearities of servodrives. These nonlinearities directly affect the performance and precision of industrial machines such as robots, manipulators, NC machine tools etc. For measuring purpose of these nonlinearities a measurement test bench was created. Presented measuring test bench is used for static and dynamic measurements of servodrives as well as for precision and gear error evaluation. Paper focuses on properties, analysis and experimental measurements of angular transmission error, torsional elasticity and repeated position accuracy.

Utilization of Virtual Reality Connected with Robotized System

Article deals with the interconnection of virtual reality and robotic systems. It describes the software and hardware resources that are used in virtual reality and their subsequent application and utilization with robotic systems. It also gives an example of such a interconnection using multimodular system that was developed in Japan by NTT company and own developed system which is under implementation.

E-Learning in Mechatronic Systems Supported by Virtual Experimentation

Due to its origin, Mechatronics, consisting of symbiosis of Mechanical Engineering and Electrical Engineering, presents a complex science. Synergistic effects in mechatronic systems and mutual interactions among subsystems of various nature cause considerable difficulties at their teaching and learning. There are plenty of mechatronic systems of various kind, size and complexity which the specialist has to deal at their design with – starting from miniature ones up to large industrial mechatronic systems presented e.g. by continuous production lines.