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1

Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton

Avilés Valeria, Avilés Oscar F., Aponte Jorge, Caldas Oscar I., Mauledoux Mauricio F.

Archives of Control Sciences

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2022

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Vol. 32, No. 2

409--427

EN

This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.

2

Striving for sustainable architecture in the 21st century - main issues in the development of innovative office space concepts

Milošević Predrag, Milošević Vladimir, Milošević Grigor

Architecture Civil Engineering Environment

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2021

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Vol. 14, no. 2

35--43

EN

The knowledge on office building in the past and present, how the workspace evolved to incorporate contemporary technological breakthroughs, was in this paper combined with goals of sustainable building in a “smart” office building design in Belgrade, Serbia, taking local factors into consideration to create a comfortable space for the employees in a dense urban matrix with a minimal environmental footprint, and considering the workflow of contemporary office spaces, it’s multidirectional input and increasingly horizontal work hierarchy. Issues of proper inputs for building today in the 21st century are thoroughly considered in this paper and respective building’s design features as shown here: how to deal with location, position and orientation of the building, organization of both formal and informal areas, natural ventilation, green glazed surfaces, solar energy, wind turbines, rainwater utilization measures, surrounding vegetation, lighting and appliances, and piezoelectric paving.

3

Stabilizacja stanowiska tachimetru podczas pomiarów w geodezji inżynieryjnej

Bednarek Stanisław

Przegląd Geodezyjny

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2019

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R. 91, nr 3

23--25

PL

Na wstępie zostały podane trudności związane ze stabilizacją stanowiska tachimetru podczas pomiarów w geodezji inżynieryjnej. Opisano szczegółowo budowę i sposób użycia dwóch innowacyjnych stawideł do stabilizacji tej pozycji. W pierwszym z tych stawideł wykorzystano podciśnienie, a w drugim pole magnetyczne. Zaletami tych stawideł są skuteczność, prosta konstrukcja, niskie koszty i możliwość samodzielnego wykonania.

EN

In the introduction there are mentioned difficulties in stabilization of tachymeter position during measurements in the land surveying. The construction and applied method of two innovative devices for position stabilization are described in details. Subatmospheric pressure is used in the first device and the magnetic field is used in the other one. Efficiency, simple construction, low cost and possibilities of home-making are main advantages of those devices.

4

Wyznaczanie pozycji i orientacji łopatki w procesie zrobotyzowanego szlifowania

Burghardt Andrzej, Kurc Krzysztof, Szybicki Dariusz, Łabuński W.

Modelowanie Inżynierskie

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2019

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T. 40, nr 71

19--25

PL

Przemysł lotniczy wymaga wysokiej jakości i dokładności wykonania wytwarzanych elementów, stąd konieczne jest zapewnienie jak najlepszej kontroli jakości. Proces inspekcji wykonanego detalu powinien przebiegać w taki sposób, aby wpływ na mierzony element był jak najmniejszy. Idealnym rozwiązaniem mogą być badania z użyciem skanerów optycznych. Jednak ze względu na długi czas pojedynczego pomiaru oraz konieczność nakładania powłoki anty refleksyjnej taki proces nie sprawdza się w produkcji. W pracy zaprezentowano koncepcję zrobotyzowanego stanowiska do pomiaru, orientacji i geometrii łopatki turbiny silnika lotniczego. Stacja składa się z robota przemysłowego wyposażonego w chwytak oraz stanowiska pomiarowego zaopatrzonego w laserowe czujniki odległości. Zmierzone wielkości zostają przesłane z modułu pomiarowego do kontrolera robota za pomocą protokołu transmisji danych. Przesłane dane mogą zostać wyświetlone na panelu operatorskim lub wykorzystane do przygotowania raportu. W porównaniu z pomiarem z wykorzystaniem skanera optycznego cały proces zajmuje znacznie mniej czasu. Na podstawie przygotowanych modeli CAD oraz wykorzystując notację Denavita-Hartenberga, wyznaczone zostały pozycja i orientacja łopatki w odniesieniu do układów współrzędnych robota oraz stanowiska pomiarowego.

EN

The aerospace industry requires high quality and precision of the manufactured parts thus it is necessary to ensure the best possible quality control. The inspection process of the workpiece should be done in such a way that the impact on the measured element is as small as possible. The ideal solution can be research using optical scanners. However, due to the long-time of a single measurement and the need to apply an anti-reflective coating, such process does not work in production. The paper presents the concept of a robotic station for measuring, orientation and geometry of an aircraft engine turbine blade. The station consists of an industrial robot equipped with a gripper and a measuring station equipped with laser sensors of distance. The measured quantities are transferred from the measurement module to the robot controller by means of a data transmission protocol. The transferred data can be displayed on the operator panel or used to prepare a report from a measurement. In comparison with the optical scanner, the entire process takes much less time. Based on the prepared CAD models and using the Denavit-Hartenberg notation, the positions and orientation of the blade were determined in relation to the robot coordinate systems and the measurement position.

5

SBAS/EGNOS enabled devices in maritime

López M., Anton V.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2018

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Vol. 12, no. 1

23--27

EN

Nowadays, it is a fact that Global Navigation Satellite Systems (GNSS) have become the primary means of obtaining Position, Navigation and Timing (PNT) information at sea. Most of the ships in the world are equipped with GNSS receivers. And currently these users take advantage of different augmentation systems such as DGNSS or SBAS/EGNOS, as they provide an adequate answer, especially in terms of accuracy and integrity. To take advantage of this improved accuracy, direct access to EGNOS in vessels can be achieved through EGNOS-enabled navigation receivers and EGNOS-enabled AIS transponders. Therefore, the natural question is: Are those GNSS receivers SBAS (EGNOS) enabled? In most cases they are; SBAS is being used. This paper provides an analysis of the number of onboard devices, mainly devoted to navigation purposes and AIS transponders, which are SBAS compatible.

6

Monitorowanie temperatury łożyska nośnego pionowego hydrozespołu

Nowicki R., Morozov N.

Przegląd Spawalnictwa

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2016

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R. 88, nr 10

127--132

PL

Opisano przypadek poważnego uszkodzenia łożyska nośnego pionowego hydro-generatora dużej mocy. Dokonano analizy stosowanego systemu monitorowania i zabezpieczeń dla łożysk oporowych, opisano przyczyny zbyt wolnego zadziałania systemu zabezpieczeń oraz sformułowano wytyczne dla bardziej efektywnego systemu zabezpieczeń.

EN

A serious thrust bearing failure of a high power vertical hydro-generator is described. Analysis of the applied monitoring and protection system for the thrust bearings is provided. Slow response time of the protection system is investigated. A guideline for the more efficient protection system is provided.

7

Slovak food processing industry in the context of globalisation and integration tendencies

Sira E.

Polish Journal of Management Studies

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2015

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Vol. 11, No. 1

158--167

EN

The aim of this article is to evaluate the position of the food processing industry in the Slovak Republic in the context of the globalization and integration tendencies. Integration with the Western European markets has brought many advantages and opportunities for Slovak businesses on the one hand and increased competition on the other hand. The interest of the Slovak Republic is to maintain efficient agriculture in the conditions of the growing world economy globalization. Agri-food sector is reasonable priority of the economic policy according to its specific position and importance by nutrition providing, by natural resources managing and by realization of the socially important non-production functions.

PL

Celem niniejszego artykułu jest ocena pozycji przemysłu przetwórstwa spożywczego w Republice Słowackiej w kontekście tendencji globalizacji i integracji. Integracja z rynkami Europy Zachodniej przyniosła dla słowackich przedsiębiorstw z jednej strony wiele korzyści i możliwości, z drugiej strony wzrost konkurencji. Republika Słowacka zainteresowana jest utrzymaniem wydajnego rolnictwa w warunkach rosnącej globalizacji gospodarki światowej. Sektor rolno-spożywczy jest racjonalnym priorytetem polityki gospodarczej zgodnie z jego specyficzną pozycją i znaczeniem poprzez zapewnienie żywienia, zarządzanie zasobami naturalnymi i realizację ważnych społecznie funkcji niezwiązanych z produkcją.

8

Zbiór dopuszczalnych planów montażu wielkowymiarowych konstrukcji oceanotechnicznych

Iwańkowicz R.

Zarządzanie Przedsiębiorstwem

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2014

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Vol. 17, nr 2

17--25

EN

The aim of the article is presenting a mathematical model of the assembly process of large-size marine structures. Numerical encoding approach of essential features of the structure and welding methods is proposed. The model takes into account information about the geometry of the connections between elements and their orientation in space during the assembly process. Welding processes are characterized by positions range of their application. The assembly process is shown as a matrix form. Assembly planning is based on the allocation of welding processes into stages and the selection of welding method and assembly position for each stage. It is shown that a lot of such plans can be generated and many of them are unacceptable. Space of feasible plans is defined by set of constraints. These conditions verify that the assembly plan performs a task of welding of all joints and whether it is feasible for particular methods. The methods for calculating the impact of all conditions . an accurate deterministic and randomized approximate are proposed. It is shown that assumed conditions dramatically reduce the set of assembly plans. Moreover, the method of including additional conditions into the model according to the connections making sequence is presented. Sample calculations are shown in two examples . first that is extremely simplified, allowing for a full deterministic analysis of the problem, and a second that is more complex, requiring a partial approximate approach. The article indicates the possibility of using the optimization of the assembly plan. Furthermore, the set of applicable criteria is proposed.

9

The prototype project of the position to designate the screw thruster lobe specific gravity

Kończewicz W., Stępkowski M., Skowroński M., Iwanicki L.

Journal of KONES

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2014

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Vol. 21, No. 3

165--170

EN

During the exploitation screw thruster, lobes are being defected in many ways. Sample types of damages are as follow: the material damages caused by cavitation, corrosion, deflection. In order to facilitate and to improve the quality of repairing activities, the idea of make the position to designate screw thruster lobes specific gravity has been initiated by Rolls-Royce Poland Company and Nautica Academic Circle. Incorrect lobes balance influences on irregular work of the screw, which results in the occurrence of adverse effects such as generation of vibration or increasing probability of mechanical elements damages during the exploitation. Screw thruster lobe specific gravity designation helps in identification of areas for treatment (welding, grinding) to achieve the desired parameters. The creation of designate screw thruster lobes specific gravity position gave the possibility of using the innovative scanning in 3D, which shows very clearly the picture of the scanning item. With Scanect and Autodesk Inventor 2014 software, we can manipulate the resulting image. This makes possibility of the lobes gabarits measurement. What is more, it designates the specific gravity exact to 10%.It increases the quality of the lobe renovation and these results in an improvement the screw thruster lobe’s work efficiency.The cooperation of The Maritime University in Gdynia and Rolls-Royce Poland Company resulted in creating the prototype, which will be tested by service technics in working circumstances.

10

Position control of DC motor using fractional order controller

Ruszewski A., Sobolewski A.

Archives of Electrical Engineering

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2013

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Vol. 62, nr 3

505--516

EN

The paper presents the problem of position control of DC motor with rated voltage 24 V loaded by flywheel. The fractional order PD controller implemented in National Instruments NI ELVIS II programmed in LabView is used for controlling. The simple method for determining stability regions in the controller parameters space is given. Knowledge of these regions permits tuning of the controller and ensures required the phase margin of the system.

11

Influence of upper extremity position on EMG signal measures calculated in time, frequency and time-frequency domains

Wang J., Bartuzi P., Roman-Liu D.

Acta of Bioengineering and Biomechanics

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2013

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Vol. 15, no. 4

83--91

EN

The aim of this study was to investigate the relationship between time-frequency, time and frequency measures when considering various upper extremity positions below the level of the shoulder and in trapezius as well as deltoideus muscles. During the experiment, 15 subjects performed a task that involved screwing and unscrewing a screw cap on a board in six different locations, i.e., there were six upper extremity positions. Variables were calculated in the time, frequency and time-frequency domains on a recorded EMG signal. The results showed that parameters analyzed in the time-frequency domain were more sensitive to changes in position than parameters analyzed in the frequency domain.

12

Regulacja położenia silnika prądu stałego z wykorzystaniem regulatorów niecałkowitego rzędu

Ruszewski A., Sobolewski A.

Pomiary Automatyka Robotyka

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2012

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R. 16, nr 2

307-311

PL

W pracy rozpatrzono problem regulacji położenia wału silnika prądu stałego o napięciu znamionowym 24 V, obciążonego kołem zamachowym. Do sterowania wykorzystano regulator PD ułamkowego rzędu, zaimplementowany w urządzeniu National Instruments NI ELVIS II programowanym w środowisku LabView. Wykorzystując klasyczną metodę podziału D, podano prostą analityczno-komputerową metodę wyznaczania obszarów stabilności na płaszczyźnie parametrów rozpatrywanego regulatora. Znajomość tych obszarów pozwala na proste obliczenie nastaw regulatora, przy zapewnieniu określonego zapasu stabilności fazy układu regulacji.

EN

The paper presents the problem of position control of DC motor with rated voltage 24 V loaded by flywheel. The fractional order PD controller implemented in National Instruments NI ELVIS II programmed in LabView is used for controlling. Using the D-partition method simple method for determining stability regions in the controller parameters space is given. Knowledge of these regions permits tuning of the controller and ensures required the phase margin of the system.

13

Badania nad wytwarzaniem mikroemulsji woskowych w reaktorze ciśnieniowym

Syrek H., Antosz A., Pirowski A, Kaczor T.

Nafta-Gaz

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2012

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R. 68, nr 12

1147--1154

PL

W artykule przedstawiono wyniki badań nad wytwarzaniem emulsji woskowych na bazie wosków syntetycznych – nisko- i wysokotopliwych – metodą ciśnieniową. Opisano również stanowisko badawcze, którego istotnym elementem jest reaktor ciśnieniowy, skonstruowany w INiG. W wyniku przeprowadzonych prób uzyskano stabilne mikroemulsje, zawierające 15% (m/m) wosków polietylenowych polarnych i niepolarnych, o temperaturach kroplenia od 102°C do 116ºC. Dla wytworzonych mikroemulsji przeprowadzono badania właściwości fizykochemicznych i użytkowych.

EN

The article describes the research results of producing wax emulsion based on synthetic, low-melting and high-melting waxes. It also describes the research station, of which an important element is a high pressure reactor, constructed in INiG. As a result of the tests carried ou stable emulsions which contained 15% masses of polar and non-polar polyethylene waxes, with melting temperature ranging from 102 to 116ºC were obtained. Research on the physico-chemicay and performance properties for produced microemulsions were also conducted.

14

Simulation of the movement of four-bar spatial linkage

Budniak Z., Bil T.

International Journal of Applied Mechanics and Engineering

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2012

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Vol. 17, no. 3

723-732

EN

In this article, the use of the potential of CAD/CAE modern systems was presented for the modeling and kinematic analysis of the spatial four-bar linkage. The simulation model that was developed on the grounds of the methodology proposed, allowed numerical analyzes. The results of these analyses are presented in charts.

15

Control of a redundant 7DOF upper-limb power-assist exoskeleton robot

Hayashi Y., Kiguchi K., Dubey R.

Journal of Artificial Intelligence and Soft Computing Research

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2011

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Vol. 1, No. 3

207--214

EN

Many kinds of power-assist robots have been developed in order to assist daily activities or rehabilitation of the elderly or physically weak persons. Upper-limb power-assist robots are important to assist in many daily life activities such as eating, drinking, etc.. A human upper-limb has 7 degrees of freedom to achieve various tasks dexterously. Therefore, to assist all upper-limb joint motions of a human, the upper-limb power-assist robot is required to have 7DOF. To achieve a desired task, a person moves the hand to the desired position and orientation and/or applies certain amount of force to the target. Therefore, it is important that the upper-limb power-assist robots help control the hand position/ orientation or hand force of the user. However, the hand position/orientation or hand force is 6-dimensional vector, so the 7DOF upper-limb power-assist robot has a redundancy and in general, a pseudo-inverse matrix is used in the control. In this paper, an optimal control method is proposed to deal with the redundancy of the upper-limb power-assist exoskeleton robot considering comfortable motion of the user. The motion intention and the comfort of the user are taken into account in the pro-posed method. The effectiveness of the proposed method was evaluated by the experiments.

16

Pomiary aeroakustyczne dwustopniowej turbiny osiowej

Błaszczak J., Kęsik P.

Zeszyty Naukowe. Cieplne Maszyny Przepływowe - Turbomachinery / Politechnika Łódzka

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2010

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nr 137

67-78

PL

W pracy przedstawiono wyniki eksperymentów aeroakustycznych zrealizowanych dla przypadku dwustopniowej turbiny niskiego ciśnienia umieszczonej w komorze bezechowej. Przeprowadzone testy są kontynuacją wcześniejszych badań prowadzonych w Instytucie Maszyn Przepływowych Politechniki Łódzkiej. Celem było wykazanie m.in. zależności między ustawieniami względem siebie kierownic turbiny oraz natężeniem emitowanego dźwięku.

EN

n the paper aeroacoustic experimental results performed in anechoic room for the case of a two-stage low-pressure turbine are presented. The tests are a kind of continuation of earlier studies provided in the Institute of Turbomachinery, technical University of Lodz. One of the task, among other ones, was to show any dependencies between stator-to-stator clocking position and the intensity of emitted noise.

17

Kwalifikacje personelu w karcie stanowiskowej pracowników chemicznych laboratoriów badawczych z uwzględnieniem wymogów systemu zapewnienia jakości

Wyciślik A., Gajdzik B.

Przemysł Chemiczny

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2008

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T. 87, nr 11

1064-1070

18

Możliwości i zalety projektowania przebiegu osi szyn podsuwnicowych za pomocą funkcji sklejanych

Anigacz W.

Zeszyty Naukowe Politechniki Rzeszowskiej. Budownictwo i Inżynieria Środowiska

|

1998

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z. 29 [166], T.1

11-16

PL

Przedstawiono możliwości i zalety zastosowania funkcji sklejanych w projektowaniu rektyfikacji jezdni podsuwnicowych w płaszczyźnie poziomej. Przedstawiono wybrane problemy związane z interpolacją i aproksymacją osi szyn podsuwnicowych za pomocą zwyczajnych wielomianów algebraicznych w podziale jezdni podsuwnicowej na segmenty.

EN

Possibilities and advantages of using of splines in design of rectification of under-crane tracks in horizontal plane are presented. Using ordinary algebraic polynomials in division of under-crane tracks into segments some selected problems which are connected with interpolation and approximation of axles of bridge rails are shown.

19

Some simple invariants of the position of a surface in [R^4]

Rosicki W.

Bulletin of the Polish Academy of Sciences. Mathematics

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1998

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Vol. 46, no 4

335-344

EN

In this paper we introduce certain simple invariants of Roseman moves on surfaces in [R^4]. In this way we obtain invariants of the position of a surface in [R^4].