Ján Piteľ

Operating Modes of Pneumatic Artificial Muscle Actuator

The paper describes operating modes of the PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The main requirement for operation of such pneumatic actuator is uniform movement and accurate arm position control according to input desired variable. There are described in paper operation characteristics of the pneumatic artificial muscle in variable pressure and then operation characteristics of the pneumatic artificial muscle actuator consisting of two muscles in antagonistic connection.

Electro-Pneumatic Robot Actuator with Artificial Muscles and State Feedback

Pneumatic position servo system with artificial muscles described in this paper represents feedback control system with non-linear compensation controller of state variables. The designed system demonstrates the operating characteristics that are significantly more favorable than the original characteristics without compensation and they are similar to the properties of the linear system. Such system has principally a shorter control time, significantly lower dynamic control error and it allows apply larger constants of the controller. Following an increased invariance of system against disturbances and also its parametric invariance (robustness) occur.

Operating Characteristics of Antagonistic Actuator with Pneumatic Artificial Muscles

Nonconventional actuators based on the pneumatic artificial muscles can be used in manipulators mainly for their lower energy consumption and higher performance at lower weight. In the paper there are compared the dynamic operating characteristics of the antagonistic actuator with the pneumatic artificial muscles obtained by simulation of the different muscle models in Matlab / Simulink environment with the real measured data on the experimental actuator. The results of these simulations and measurements confirmed highly nonlinear operating characteristics of such actuator and also right approach to the design of the actuator model using different muscle models.

Pneumatic Artificial Muscle as Actuator in Mechatronic System

The paper describes basic characteristics of pneumatic artificial muscles (PAM) for using as actuator in mechatronic system. The previous parameters research of individually connected artificial muscles shows, that it is significantly nonlinear system with time delay. Availing these results, problem of using of static and dynamic characteristics of PAMs for control and modeling electropneumatic mechatronic systems based on the artificial muscles occurs. To solve this problems, the paper also deals with design of some models.

Experimental Study and Modeling of the Zinc Coating Thickness

The effects of six factors, affecting during the acid zinc plating process as its technological conditions, on the thickness of the resulting zinc coating has been examined. In order to control the quality of the resulting zinc coating deposited on the surface alloy EN 355 at a constant current density of 5 [Adm-2], the mathematical model predicting the thickness of deposited coating was developed using Design of Experiments (DoE) method. The obtained mathematical model describes the resulting deposited layer of zinc coating in dependence on the factor-level changes and combinations with the reliability of 58.75%.

Biomass Combustion Control and Stabilization Using Low-Cost Sensors

The paper describes methods for biomass combustion process control and burning stabilization based on low-cost sensing of carbon monoxide emissions and oxygen concentration in the flue gas. The designed control system was tested on medium-scale biomass-fired boilers and some results are evaluated and presented in the paper.

Effect of the Electrolyte Temperature and the Current Density on a Layer Microhardness Generated by the Anodic Aluminium Oxidation

The paper investigates the influence of the chemical composition and temperature of electrolyte, the oxidation time, voltage, and the current density on Vickers microhardness of aluminium oxide layers, at the same time. The layers were generated in the electrolytes with different concentrations of sulphuric and oxalic acids and surface current densities 1 A·dm−2, 3 A·dm−2, and 5 A·dm−2. The electrolyte temperature varied from −1.78°C to 45.78°C. The results have showed that while increasing the electrolyte temperature at the current density of 1 A·dm−2, the increase in the layer microhardness values is approximately by 66%. While simultaneously increasing the molar concentration of H2SO4 in the electrolyte, the growth rate of the microhardness value decreases. At the current density of 3 A·dm−2, by increasing the electrolyte temperature, a reduction in the microhardness of the generated layer occurs with the anodic oxidation time less than 25 min. The electrolyte temperature is not significant with the changing values of the layer microhardness at voltages less than 10.5 V.

Diagnostics of Aluminum Alloys Melting Temperature in High Pressure Casting

The high pressure casting process is a well-established way for the manufacture of non-ferrous components. Temperature is important technological parameter of production that affects the structure and quality of castings. Using continual exact measurement of alloy temperature is the best approach for predicting structures quality problems.Temperature measurement system also would help to acquire feedback from the manufacturing process so as to prevent possible defects in next phases of manufacturing. For this measurement we used thermocouple type „K“ in protective tube from graphite. It is necessary for correct process to know true values of temperature. For diagnostics we used procedures of SPC (StatisticalProcess Control) and Microsoft Excel 2007 graphic tools.

Monitoring of Operating Conditions of Biomass Combustion Process

This paper describes technical realization of operation monitoring of biomass combustion process. Due to specific properties of biomass fuel and specific demands for economic and ecological conditions of operation of biomass combustion devices, process control system has to be monitored. During process monitoring problem with sensing process variables occurs and that’s why this paper also deals with a method of signal filtration of carbon monoxide and oxygen concentration, because signal includes an interference parts.

Static Force Model-Based Stiffness Model for Pneumatic Muscle Actuators

Pneumatic muscle actuators (PMAs) differ from general pneumatic systems as they have no inner moved parts and there is no sliding on the surfaces. During action they reach high velocities, while the power/weight and power/volume rations reach high levels. The main drawbacks of PMAs are limited contraction (relative displacement), nonlinear and time variable behaviour, existence of hysteresis and step-jump pressure (to start radial diaphragm deformation) and also antagonistic connection of PMAs to generate two-direction motion. These make PMAs difficult to modelling and control. In this paper a new stiffness model and the variable-stiffness spring-like characteristics are described and tested using two Fluidic Muscles made by Festo Company. The muscles have the same diameter, but different length.