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1
Content available remote Przekształtnik AC/DC/AC/DC do naziemnego zasilania statków powietrznych
Kulikowski Krzysztof, Falkowski Piotr, Sikorski Andrzej, Wasilewski Mateusz, Kuźma Adam, Dmitruk Krzysztof, Godlewska Agata, Nowaszewski Krzysztof, Jakubowski Hubert, Stępień Grzegorz
Przegląd Elektrotechniczny
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2023
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R. 99, nr 5
225--230
PL
W artykule przedstawiono zasilacz statków powietrznych zbudowany z przekształtników energoelektronicznych AC/DC oraz DC/AC/DC z separacją transformatorową. Zasilacz może być zasilany z dwóch standardów napięcia 400V/50Hz oraz 200V/400Hz, a na wyjściu uzyskuje się separowane napięcia 2x28V DC. Przedstawiono badania laboratoryjne zasilacza obejmujące stany pracy statycznej i dynamicznej, a także THD prądów wejściowych i sprawność energetyczna urządzenia.
EN
The article presents an aircraft power supply made of AC / DC and DC / AC / DC power converters with transformer separation. The PSU can be powered from two voltage standards 400V / 50Hz and 200V / 400Hz, and the output has separate voltages of 2x28V DC. Laboratory tests of the power supply are presented, including static and dynamic operating states, as well as THD of input currents and device efficiency.
2
Content available The overview of challenges in detecting patients’ hazards during robot-aided remote home motor rehabilitation
Wilk Julia, Falkowski Piotr, Osiak Tomasz
Journal of Automation Mobile Robotics and Intelligent Systems
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2023
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Vol. 17, No. 4
17--27
EN
Minimally-supervised home rehabilitation has become an arising technological trend due to the shortages in medical staff. Implementing such requires providing advanced tools for automatic real-time safety monitoring. The paper presents an approach to designing the mentioned safety system based on measurements and modelling the interface between a patient’s musculoskeletal system and a rehabilitation device. The content covers the segmentation of patients regarding their health conditions and assigns them suitable measurement techniques. The defined groups are described by the hazards with which they are most endangered and their causes. Each case is correlated with the appropriate data type that may be used to detect potential risk. Moreover, a concept of using presented knowledge for tracking the safety of bones and soft tissues according to the biomechanical standards is included. The paper forms a set of guidelines for designing safety systems based on measurements for robot-aided home kinesiotherapy. It can be used to select an appropriate approach regarding a specific case; which will decrease costs and increase the accuracy of the designed tools.
3
Content available Analyzis of rehabilitation systems in regards to requirements towards remote home rehabilitation devices
Falkowski Piotr, Rzymkowski Cezary, Pilat Zbigniew
Journal of Automation Mobile Robotics and Intelligent Systems
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2023
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Vol. 17, No. 2
61--73
EN
The contemporary international pandemic proved that a flexible approach towards work, trade and healthcare is not only favorable but a must. Hence, the devices enabling home‐rehabilitation became one of the urgent needs of the medical market. The following overview is a part of an R&D project aimed at designing an exoskeleton and developing methods enabling effective home rehabilitation. It contains a comparison of current devices in terms of their kinematics, applications, weights, sizes, and integration with selected ICT technologies. The data is analyzed regarding conclusions from qualitative research, based on in‐depth interviews with physiotherapists and questionnaires organized beforehand. The investigation assesses whether commercial and developed devices enable feedback from a patient by all possible means; hence, if they could allow effective telerehabilitation. Moreover, their capabilities of increasing engagement and accelerating improvements by supervising techniques and measuring biomechanical parameters are evaluated. These outcomes are a base to set the constraints and requirements before designing an exoskeleton dedicated to home treatment.
4
Analysis of needs and requirements of kinesiotherapists in Poland for robot design purposes
Falkowski Piotr, Osiak Tomasz, Pastor Anna
Prace Naukowe Politechniki Warszawskiej. Elektronika
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2022
|
z. 197, t. 2
113-122
EN
The presented paper addresses the problem of defining the design intent for rehabilitation robots. The presented investigation consists of in-depth interviews with professional physiotherapists and questionnaire research involving a survey based on their responses. Twenty-four questions were blocked within four sections – personal questions, therapy process, difficulties during sessions, and future of the rehabilitation. The answers were gathered online from a group of 138 active Polish physiotherapists. They were interpreted to identify actual needs and requirements regarding conventional therapy to be provided with the robotic aid. Analysis of results proves that future motor rehabilitation is expected to focus on task-oriented treatment and accurate assessment of progress. Moreover, this supports that implementing robots and teleinformatics technologies into kinesiotherapy may solve problems such as losing patients’ motivation, the physical tiredness of therapists, or spending time commuting for home rehabilitation. The results can be interpreted for the Polish market and those with a similar economy and cultural code.
5
A concept of detecting patient hazards during exoskeleton-aided remote home motor rehabilitation
Wilk Julia, Falkowski Piotr
Prace Naukowe Politechniki Warszawskiej. Elektronika
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2022
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z. 197, t. 2
101-112
EN
The paper presents a concept of detecting dangerous situations for the patient during exoskeleton-aided home remote rehabilitation. For this purpure, a literature review was conducted to define potential traumas with corresponding causes, measuring approaches and the method of modelling based on these two to assess the risk during treatment. The original concept is based on a numerically modelled digital twin of a patient and an exoskeleton. It consists of a multibody model of a skeletal system and the mechatronic device combined with the soft tissue advanced models. Moreover, the implementation of neural networks and biosignals tracking is suggested in order to predict hazards instead of just monitoring them in real-time. The presented solution can be created within the OpenSim environment. The advantages and challenges of this approach are also discussed.
6
Content available Applicability of augmented and virtual reality for education in robotics
Prokopiuk Norbert, Falkowski Piotr
Journal of Automation Mobile Robotics and Intelligent Systems
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2022
|
Vol. 16, No. 3
65--74
EN
The rapid development of automatic control and robotics requires an innovative approach to teaching. This is especially important in the case of studies at the academic level and in vocational schools, where training with expensive robotic stations is necessary. A solution to this problem may be substituting these with augmented reality (AR) and virtual reality (VR) due to their significantly lower costs. AR/VR technologies have an advantage interms of low‐cost and effective practices in robotics. The described content is an outcome of the MILAN project, wherein those technologies are used for the purpose of online courses. This includes providing access to virtual laboratories via a mobile application and the real‐life training stations connected to the network. This paper provides an overview of the available AR/VR applications implemented in robotics education and a detailed description of related best practices. The main sections contain a detailed methodology for designing an AR mobile tool for learning robotics in the AR environment. Moreover, the main challenges encountered during the development phase were listed and analysed. Additionally, this paper presents the possible future use of the application with the associated benefits. The literature overview and conclusions may be used to design similar online courses with an interactive form of teaching practical industrial robots programming.
7
Content available Light exoskeleton design with topology optimisation and FEM simulations for FFF technology
Falkowski Piotr
Journal of Automation Mobile Robotics and Intelligent Systems
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2021
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Vol. 15, No. 2
14--19
EN
Among past years interest in robot‐assisted rehabilitation arose significantly; thus, constructions such as exoskele‐ tons are involved in this process much more often. As pa‐ tient’s bio‐signals may be included in a control loop of these devices, they may be also used to support the mo‐ tion of extremities in an everyday life. Therefore, a field of control over them stays a popular research topic. For this reason, an exoskeleton described in a paper was de‐ signed. The most important aim of a project was to ena‐ ble all anatomical movements within ranges required for the lifting of an object while minimising a mass of the device. The following paper consist of a concept of an exoskeleton and description of FEM simulations and to‐ pology optimisation applied to decrease the amount of material needed. Moreover, as an exoskeleton was built with FFF 3‐D printing technology, created parts are mo‐ delled orthotopically based on nominal mechanical para‐ meters of filaments and directions of their beams. The de‐ sign is complemented with a short description of control with EMG signals and analysis of load on a user’s muscu‐ loskeletal system.
8
Content available An approach towards parametric optimization of construction frames for Cartesian industrial robots
Gwardecki Filip, Falkowski Piotr
Journal of Automation Mobile Robotics and Intelligent Systems
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2021
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Vol. 15, No. 3
15--28
EN
The paper presents an approach to parametric optimization with response surface methodology. This process was performed based on the design of a construction frame for a Cartesian industrial robot. The presented installation is dedicated to the real industrial pick‐and place application. Firstly, the case study was described with relevant information about the components invol‐ ved. Then, the finite element model with constraints and loads, as well as the settings of the response surface op‐ timization were discussed. The simulation was presented to the reader within all the stages with necessary details. Into consideration were taken six methods of creating response surfaces. Influence on the final optimization result and prediction accuracy of each one was presented. In the end, to validate the outcomes of the process, the static structural analysis of the setup was computed. The paper compares the impact of applying different methods of response surface generation on the results of parametric optimization. Moreover, it indicates the most vulnerable fragments of dynamically loaded elements made of construction profiles. Its results may be used to select appropriate settings in similar applications, mainly for frame structures.
9
Content available Analiza kinematyczna ruchów kończyny górnej w celu opracowania testowego treningu funkcjonalnego do zastosowań w zrobotyzowanej rehabilitacji ruchowej
Leczkowski Bazyli, Falkowski Piotr
Aktualne Problemy Biomechaniki
|
2021
|
z. 21
15--23
PL
Artykuł przedstawia uniwersalną metodę umożliwiającą analizę ruchu kończyny górnej podczas motorycznego treningu funkcjonalnego, w którym równocześnie mobilizowane jest wiele stopni swobody stawów, na podstawie nagrań z niezależnych kamer. W artykule przedstawiony został algorytm przetwarzania wideo do przebiegów czasowych poszczególnych zmiennych złączowych modelu kończyny. Opracowana metoda może zostać wykorzystana do wspomaganej komputerowo analizy poprawności ruchów, która ma zastosowanie w zdalnej rehabilitacji domowej, w tym funkcjonalnej terapii zrobotyzowanej.
EN
This paper presents a universal method of the motion analysis based on recordings from independent cameras. It is destined to the motor, function- oriented treatment of an upper limb within with multiple degrees of freedom mobilized simultaneously. The description contains a video processing algorithm aimed in computing time series of joint variables for the limb model. The developed method can be used for computer-aided analysis of the motion correctness; particularly useful for remote-home-rehabilitation, including function-oriented robot-aided therapy.
10
Content available Dobre praktyki w motywowaniu uczniów szkół średnich do dalszego kształcenia w obszarze STEM
Pilat Zbigniew, Falkowski Piotr, Zieliński Jacek
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
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2019
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Nr 65
115--120
PL
Od kilkunastu lat mówi się o potrzebie reindustrializacji Europy. Wobec znacznej różnicy w kosztach pracy, warunkiem realizacji tej koncepcji jest wykorzystywanie w przemyśle najnowszych rozwiązań technologii wytwarzania, w tym automatyzacji i robotyzacji. Aby to było możliwe potrzebna jest wykształcona, kompetentna kadra. W Europie jest znaczny potencjał edukacyjny. Jednak od wielu lat nie jest on wykorzystywany w pełni przez Europejczyków. Powodem jest nikłe zainteresowanie młodzieży naukami ścisłymi, a dalej technologicznymi i inżynierskimi. Dlatego konieczne jest podjęcie działań zachęcających młodych ludzi do dalszego kształcenia w obszarze STEM. Istnieją przykłady dobrych praktyk w tym zakresie. Ich wspólnym mianownikiem jest wykorzystanie w kształceniu nowoczesnych narzędzi ICT. W artykule przedstawiono problemy edukacji STEM oraz przegląd i analizę dobrych praktyk z krajów UE.
EN
At the end of the 20th century, a very intensive transfer of production activity from Europe to countries with lower labour costs was observed. Over time, it has been recognized that the negative effects of this phenomenon are more significant than benefits. This applies both to the dependence of Europe on external suppliers, including those from countries with unstable political systems, as well as the labour market. For a dozen or so years, we have been talking about the need to reindustrialize Europe. It's about building new production facilities, as well as the return of factories. These activities must have economic justification. In view of the still considerable difference in labour costs, the prerequisite for the advantage of production installations operating in Europe is the use of the latest manufacturing technology solutions, including automation and robotics. To make this possible, a team is needed. There is considerable educational potential in Europe. This applies to both vocational education at the secondary and university level. However, it has not been used by Europeans for many years. At our universities, specialists from outside the EU are trained. The reason is the low interest of young people in exact sciences, and then in technological and engineering. Therefore, it is necessary to take measures to encourage young people to continue their education in the area of STEM. The use of modern ICT tools will be helpful in these activities.
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