Jerzy Świder

Integration of a Virtual 3D Model of a Robot Manipulator with its Tangible Model (Phantom)

The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.

Adaptation of the Expert System in Diagnosis of the Connection of the PLC User Interface System and A Field Level

Authors of the paper focused on the problem of devising a concept of computer-aided diagnosis system of a centralized PLC control coupled with the distributed drive systems operated by frequency converters via the ProfiBus industrial network. It is worth emphasizing that the presented concept is useful in all automated systems characterized by the PLC centralized control. The paper provides the description of one of the several modules of dedicated software developed by the authors [6].

Hardware and Software Integration of Mechatronic Systems for an Example Measurement Path for Temperature Sensors

This paper presents the method of designing a mechatronic system, as a result of an integration. As an example of the integration automation components, in one coherent measuring system, a measurement path for temperature sensors is proposed. A measuring path can be defined as a scale model, which reproduces thermal states of a temperature sensors system, used in real industrial applications. The system is extended by database application based on Access. Taking advantage of an iFIX special database block the temporary values of temperature are recorded in Access database with permanent period of time. The final analysis is performed in an Excel sheet.

Simply-Integrated Method of Judgments of Expert Knowledge Collected in Databases for Objective Computer-Aided Engineering Systems

Prediction of the machinery or process malfunction states is one of the important and challenging task for knowledge engineers. Nowadays it is a common situation, that the reliable companies collect all kind of important knowledge and by the work of knowledge engineers remake it for well known know-how. The problem we would like to solve is touching the area of objective computer-aided engineering systems. The new proposal of the method for judgments of the expert rules collected in the databases which is arbitral in our opinion has been described in this article. New method based on aggregation process of subjective marks of reasoning rules from independent experts, which gives back an more objective parameters for faster computing of the reasoning process. Thanks to this the malfunctions can be reduced to minimum or much faster eliminate.

The Systematized Data Structures Oriented Towards Diagnosis and Prediction

The structured notation using an identification of relations between key process data and functional characteristics of distributed systems has been presented in the paper. Such approach allows obtaining optimal form mapping the structures stored in a PLC‘s memory and also forming reciprocal relationships between hardware devices. Described notation is used at the stage connected with elaboration of diagnostic and prognostic functions. The authors have proposed an universal notation in a domain of sets, which can be used in identification of operational data indispensable in phase connected with a definition of program structures. A particular attention was given to stages connected with optimization necessity of number of main parameters (especially an isolation of a minimal data set required at control and diagnosis stages in case of distributed drives). Revised data sets combine both quantitative and qualitative features, allowing simultaneously for a reconstruction of the structural relationships between real components of distributed systems (a minimization of technical documentation).

The Modified Graph Search Algorithm Based on the Knowledge Dedicated for Prediction of the State of Mechatronic Systems

The modified shortest path algorithm dedicated for a condition prediction of distributed mechatronic systems is shown in this article. From many of available methods the Dijkstra’s algorithm has been selected. Assumed restrictions of the proposed method (graph models containing interrelated groups of failures, effects and their causes) forced the need regarding changes of the structure of applied algorithms and their adjusting to the adopted predictive model. The method for identification and transformation of the current condition in the source vertex of the graph of causes and effects has been also presented by the authors.

The Analysis of the Registration Accuracy of Distributed Drives Parameters

The article includes a description of the validation used for an assessment of accuracy of measured symptoms in case of distributed drives connected via the ProfiBus DP network. Particular attention has been given to acquiring the diagnostic data especially in case of currents intensities in the start-up and braking phases. The authors also raise a problem of the usefulness and precision of measured data obtained with usage of recording methods by means of dedicated system in comparison with the solutions delivered by the manufacturer of examined drives. Presented results of practical measurements contain values based on the registration of output currents of frequency converters and the measured values of current intensities in the motor windings. The described parameters are significant for the evaluation of electrical damages, caused by various factors (including excessive loads, improper selection, etc.).

The Interactive Driving Profile Generation System

This paper presents the interactive driving profile generation system, which generates setpoint position’s signal, provided to the position and speed regulators. The system based on three equations, which create S-Function. The shape of each part of S-Function is calculated according to desired kinematic parameter values of a driven object. All the parts are connected together in such a way, that keep the parameters description of total movement’s time and total movement’s distance. The system works in interactive and real-time mode, which allows to set all kinematic parameters of movement in a fully dynamic way. The result of this work is an auxiliary block of Simulink software library.

A Computer-Aided Control and Diagnosis of Distributed Drive Systems

Modern systems of the industrial processes automation most often are composed of several basic components, among others: controllers (PLCs, regulators, industrial computers, etc.), actuators (electric, pneumatic, hydraulic and their combinations), control and measuring equipment (sensors and detectors), industrial networks and SCADA/HMI systems (Świder & Hetmanczyk, 2009c). Functional subassemblies have been divided into several groups (mechanical elements, electrical and electronic parts, control equipment and software packets). All of the enumerated components are susceptible to failures, therefore, the main problem is an estimation of the trouble-free service period. In the case of individual components the described task is easy, but an analysis of distributed applications defined as a collection of dependent subsystems the reliability function is dependent on all reliability factors assigned to all components (Dhillon, 2002).