Tatiana Kelemenová

Miniature Mobile Bristled In-Pipe Machine

The in-pipe machine locomotes in the pipe on the principle of differential friction between the bristles and the pipe wall during the movement of the bristle forwards and backwards. These bristles are very important construction parts of the in-pipe machine. In order to define the locomotion of movement it is important to know the force situation on the bristles caused by its high deformation in the pipe. The determination of force situation brought us to a non-linear differential equation of the second order and determination of conditions for its solution. By this equation it is possible to describe the outline of large deformations of the construction part and to determine the forces affecting this part.

Intelligent in-pipe machine adjustable to inner pipe diameter

The paper concerns to area of in-pipe locomotion. Traditional conceptions of in-pipe machines tend to wheels slipping or self-blocking. Several design stages of improved in-pipe machine are shown. Design of in-pipe machine coming from conception of computer controlled electromechanical device. Final design solution will be able to locomote inside pipe with variation of inner diameter in range from 100 to 200 mm with automatically adjustment to pipe diameter.

Failure analysis of conveyor belt samples under tensile load

This paper is dedicated to investigating the properties of smooth conveyor belts through a tensile loading test, with the aim of examining the behavior of the inner structure of the belt samples. When the belt is subjected to a long-term strain, the belt relaxation effect is observed and changes may occur to the inner structure of the belt. The tensile test at constant velocity determines the load strength limit of the strip samples. The experiment has also shown the phenomenon of relaxation of the samples after the load. Metro-tomographic analysis is used to observe the behavior of the internal structure of the belt sample after the load. The obtained results indicate the initial damage of the inner structure of the conveyor belt occurred at the value of 2157 N. Under this load, the maximum damage size was 4.8 mm. This confirms the suitability of the method for tracking changes in the internal structure.

Analysis of Uncertainty of Tilt Measurement with Accelerometer

The paper deals with the analysis of uncertainty of tilt measurement using accelerometer. Low cost accelerometer based on the principle of heat array is used for tilt measurement. One chip microcontroller is used for data processing from accelerometer. The knowledge of uncertainty of measurement for this measuring chain is necessary for our application.

Didactic Models Used on Mechatronic Courses

The paper deals with one-chip controller Basic Atom, which is often used as control unit in mechatronics systems designed via students. Students can use our building units for training of control subsystem developing for mechatronic products. Also several theses have been done on this topic. Mechatronic systems and robots from these theses are available for other students as training models for practical exercises.

A Concept of the Differentially Driven Three Wheeled Robot

Abstract The paper deals with the concept of a differentially driven three wheeled robot. The main task for the robot is to follow the navigation black line on white ground. The robot also contains anti-collision sensors for avoiding obstacles on track. Students learn how to deal with signals from sensors and how to control DC motors. Students work with the controller and develop the locomotion algorithm and can attend a competition

Study Model of the Snake Like Robot

Paper deals with design of study model snake like robot. Robot is designed as articulated locomotion device. It consists of eight articulated joints with one degree of freedom. It is designed as didactic model for education in Mechatronic study program.

Adaptable Mechatronic Locomotion System

Adaptable Mechatronic Locomotion System Wheeled in-pipe locomotion is very favourite principle of locomotion used inside pipe. However, there are several problems in these systems like slipping or deadlocking on inner pipe wall. The construction of the system provides adaptation of the wheels position i.e. adaptation of the normal force of the wheels against to the inner pipe wall. This property is important, because of geometric deviations on inner pipe wall. Information about the actual normal force of wheels against the inner pipe wall is used for regulation of their value. When normal force is too small then slipping occurs, but if normal force is too large then deadlocking occurs. A designed system is able to adapt to pipe with inner diameter in range of 100mm to 200mm.

Influence of pipe geometric deviation on bristled in-pipe mobile robot locomotion

This article deals with the analysis of geometric deviations influence on in-pipe robot locomotion, which uses the principle of friction difference principle. Bristles are as carrying elements. They are mounted as cantilever beams at angle to robot body. The robot should locomote inside industrial pipelines. All pipes have geometric deviations, which come from production process otherwise from operation process. It is necessary to know about the influence of these geometric deviations on the robot locomotion.

Condition Evaluation of Optical Position Sensor

Paper deals with experimental identification of condition of optical position sensor. Optical sensor can be sensitive to reflection surface on measured object. Measurement uncertainty is also evaluated.