Pavol Božek

Measurement of the Operating Parameters and Numerical Analysis of the Mechanical Subsystem

Abstract Submission is focused on completing the information system about quality, operation, automatic testing and new evaluating method of vehicle subsystem. Numeric analysis is carried out on the base of automatic collection and systematic recording of commercial car operation. Proposed new information system about operation and trial process allows verification according to the proposed method. Critical components verified in laboratory conditions are detected by numeric analysis of reliability. Quality level increasing not only for final product, but also related automatic test laboratory for cars is the result of respecting these principles.

Ionization Impact on the Air Cleaning Efficiency in the Interior

Abstract The paper deals with ionization impact on efficient cleaning of air in a measuring chamber which has been cleaned and closed against any outer impacts (e.g. impurities, dust from another room, human odours). Smoking has an impact on the number of positive and negative ions including the concentration of particulate matter PM10. We investigated the ion concentration according to the presence of cigarette smoke in the room and according to the change of lit cigarette distance from the supply of ionized air. Due to the experiment there was simulated smoking at the relative air humidity φ = 37 % and φ = 39 % and temperature of 20 °C in the room. Increased PM10 concentrations were caused only by cigarette smoke pollution or more precisely by artificially created higher humidity in the measuring room excluding ambient environment impacts. The aim of the experiments was to prove influence of ionization on the elimination of cigarette smoke. The measurements showed that the highest efficiency of PM10 particulate removal was achieved when the distance of smoking cigarettes from ionization source was 3 m and the air humidity was 39 %. The consequent increase of the distance of smoking cigarettes from the ionization source significantly decreased the efficiency of particle removal. The difference between ionized and natural air is minimal at the bigger distance.

Enhancing the reliability of mobile robots control process via reverse validation

The article deals with integrating the inertial navigation unit implemented into the system of controlling the robot. It analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers. The implementation of the original system of controlling the mobile robot on the basis of autonomous navigation systems is a dominant part of the article. The integration of navigational information represents the actual issue of reaching higher accuracy of required navigational parameters using more or less accurate navigation systems. The inertial navigation is the navigation based on uninterrupted evaluation of the position of a navigated object by utilizing the sensors that are sensitive to motion, that is, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.

Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

Navigation control and stability investigation of a mobile robot based on a hexacopter equipped with an integrated manipulator

In this article, the dynamics model of a hexacopter equipped with a robotic arm has been formulated using Newton–Euler’s method and its stability was investigated. For disturbances emulation, a simplified pendulum method was used. This hexacopter configuration was not covered in scientific papers before. The resulting model is a nonlinear, coupled, and underactuated dynamics model, which includes aerodynamic effects and disturbances because of equipping the hexacopter with a robotic arm. The purpose of the presented article is to offer a comprehensive study of determining the inertia moments of the hexacopter using a simplified pendulum method, taking into consideration the effect of mass distribution and center of gravity changes, which are a result of the continuous movement of the manipulator during the hexacopter motion in the air. The experimental tests were made using SolidWorks application and were evaluated using LabVIEW in order to get a complete view of the disturbances, which were inserted into the dynamics model. The overall aircraft model was driven by four classical proportion, integral, and derivative controllers for the vehicle’s attitude and altitude of a desired trajectory in the space. These controllers were used to get a good understanding of how to evaluate and validate the model to make it an anti-disturbance model, in addition to their ease of design and fast response, but they require development in order to get optimal results. In future, a precise trajectory will be defined, and the controllers will be developed in order to get robust stability using nonlinear techniques and artificial intelligence.

A New System For Measuring The Deflection Of The Beam With The Support Of Digital Holographic Interferometry

Abstract The contribution deals with the comparison of possibilities of utilizing two experimental methods: digital and classical holographic interferometry for the visualization of beam motion. The girders are used in civil and mechanical engineering and considering the technical point of view it is necessary to learn to what extent the beam is deformed at the load and how much it can withstand.

Integration of Inertial Sensor Data into Control of the Mobile Platform

The paper presents the designed algorithm, which is able to integrate of inertial sensor data into control algorithm. Autonomous operation of the mobile system requires reliable measurement of its position. Sources of such data are various; most commonly used is global satellite navigational system. However, this technique can be used only outdoors. For navigation inside building, under metal roof or underground only inertial or contact methods are available. This article analyzes possibilities of deployment of the inertial navigation in the control of the wheeled mobile platform. Experimental platform uses inertial measurement unit x-IMU manufactured by x-IO Technologies. According to our experiments inertial navigation can be reliably used only in fusion with other absolute sensors (odometers, magnetometers).

Control system for the haptic paddle used in mobile robotics

A haptic interface is a kinaesthetic link between a human and some real or virtual environment. In this article, we discuss whether the haptic technology (virtually touching objects and feeling forces) could be effectively implemented in the industrial applications. As an example, we will examine the virtual wall which is a fundamental component of almost all virtual objects. Typically, it is based on a simple spring and damper model with constraints that allow the user to make contact with an object. Various factors lead to an unstable behaviour in a controlled system such as the virtual wall. Main causes of disturbances are the sensor (e.g. the signal resolution) and the actuator (e.g. the dynamics of the system which are not covered by the controller design). Some of these disturbance mechanisms can be excluded by mechanical design, and others are more difficult to eliminate – following two are discussed in the article: First one is the zero-order hold effect caused by sampling and the second one is the shifted synchronization of the wall threshold crossings with the sampling times. Both have unwanted effects on the sampled data within the virtual wall system.

NUMERICAL ANALYSIS OF THE STRESS-STRAIN STATE OF A ROPE STRAND WITH LINEAR CONTACT UNDER TENSION AND TORSION LOADING CONDITIONS

The paper presents the results of a numerical analysis of the stress-strain state of a rope strand with linear contact under tension and torsion loading conditions. Calculations are carried out using the ANSYS software package. Different approaches to calculation of the stress-strain state of ropes are reviewed, and their advantages and deficiencies are considered. The analysis of the obtained results leads us to the conclusion that the proposed method can be used in engineering calculations.

Theoretical Aspect of Assembly

Abstract Assembly plays a decisive role in global production in terms of its share in the total costs of the products assembled and in terms of the number of people working in the field. The author of (1) indicates that the percentage of the workers in assembly out of the total number of the workers in manufacturing in the U.S.A. ranged from 26.3% (bicycles) to 45.6% (automobiles), while the cost of the product assembly represented typically more than 50% of the total costs. Despite the above-mentioned importance of assembly in the industry, the discontinuous production processes have not been paid adequate attention until recently. It was sufficient to manufacture parts and then an operative reasonably and inexpensively assembled each product manually. The authors of this paper would like to emphasise “the method of a systemic approach” which focuses upon identifying the key activities to meet the objective. Harmonious interrelations of the activities are often a source of greater profit than in a system where some activities are of the top level while the others are neglected (2). The aim of this paper is to describe theoretical aspects of all the typical activities of the assembly system.