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Interpretacja schematów pneumatycznych układów sterowania - przykład praktycznej interpretacji

Kost G., Sękala A.

Utrzymanie Ruchu

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2018

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Nr 4

48--50

PL

W artykule autorów opublikowanym w numerze 3/2018 czasopisma „Utrzymanie Ruchu” zostały opisane ogólne zasady tworzenia schematów graficznych pneumatyki. W niniejszym artykule przedstawiono natomiast przykłady praktycznej interpretacji tych schematów.

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Interpretacja schematów pneumatycznych układów sterowania - podstawy - cz. I

Kost G., Sękala A.

Utrzymanie Ruchu

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2018

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Nr 3

68--69

PL

Schemat pneumatycznego układu sterowania jest graficznym przedstawieniem połączeń i zależności pomiędzy symbolami odzwierciedlającymi rzeczywiste elementy pneumatyczne. Prawidłowo utworzony schemat układu sterowania powinien być przejrzysty, a także umożliwiać prześledzenie sygnałów cyklu pracy układu w kolejnych jego fazach. W niniejszym artykule przedstawiono podstawowe informacje na temat interpretacji schematów pneumatycznych układów sterowania.

3

MWCNT-Pt nanocomposite as the active element of harmful gas sensors

Dobrzańska-Danikiewicz A. D., Łukowiec D., Wolany W., Procek M., Sękala A.

Archives of Materials Science and Engineering

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2016

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Vol. 81, nr 1

14--21

EN

Purpose: The goal of this paper is presentation of the variations in MWCNTs-Pt nanocomposite resistance which were examined in the presence of hydrogen with a rising concentration of, respectively, 1, 2, 3 and 4% H2 as well as nitrogen dioxide with a rising concentration of, respectively, 20, 100, 200, 400 ppm of NO2. Design/methodology/approach: Variations in electrical conductivity for the MWCNTs-Pt composite placed, alternately, in the atmosphere of gas and in the atmosphere of selected gases, were measured with a measuring station equipped with precision and inert gas reducers, mass flow meters, filtration systems of gas mixture and the studied mixture’s humidity and temperature control. An active layer of the transducer consisted of MWCNTsPt nanocomposite deposited thereon. All the measurements were carried out in the atmosphere of synthetic air (20% of O2 and 80% of N2) at 22.5°C. Findings: It was found based on the results obtained that system resistance is rising as hydrogen concentration is rising in the atmospheric air. The results of analogous examinations of variations in MWCNTs-Pt nanocomposite resistance carried out for a varying concentration of nitrogen dioxide in the atmosphere of synthetic air are opposite, because lowering system resistance was noted along with a heightening concentration of NO2. The best results were achieved for the nanocomposite presented in the article having a 5% mass concentration of platinum and with uniformly dispersed Pt particles on the surface of carbon nanoparticles. Practical implications: The outcomes presented signify the selectiveness of the applied system consisting of carbon nanotubes decorated with platinum nanoparticles. It means that this material can be used as the active element of harmful gas sensors. Originality/value: A carbon-metal MWCNTs-Pt nanocomposite with special electrical properties was fabricated in the course of research works, whose originality is based on the appropriately selected composition and the specific morphology.

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Design of robotic work cells using object-oriented and agent-based approaches

Sękala A., Foit K., Banaś W., Kost G.

Journal of Achievements in Materials and Manufacturing Engineering

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2015

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Vol. 73, nr 2

222--228

EN

Purpose: of this paper is to present agent-based and object-oriented approaches in the desingning of robotic work cells. The complexity of elements which form the robotic work cells causes that already at the design stage it is necessary to evolve the models that comply with different aspects of the conformation and principles of the operation of the workcell. Design/methodology/approach: The use of agent-based and object-oriented approaches during the process of robotized workcell's design, allows i.a. to systematize the knowledge about the designed workcell and simplifies the definition and analysis of relationship between its components. Most modern systems CAD/CAM uses object-oriented structure. They do not allow the creation of a direct structure agents. It is therefore necessary to show the relationship between the object and the agent. Findings: The relationship between object-oriented and agent-based model allow to fill the gap between them. Understanding of them could allow more efficient use of existing systems that are decicated for designing of robotic work cells. Research limitations/implications: The presented considerations are only the introduction to the further work on developing these methods for the use during the design process of robotic cell, and clearly do not cover all the issues involved, hence there are also other open issues for future research that could generalize the researches or could be a starting point for a new ones. These problems may concern e.g.: development of appropriate methods of communication and cooperation between the agents or the definition of the new agents that can act autonomously according to their own algorithms. Practical implications: The main objective is to build the base for modular and flexible system that will allow designing of robotic work cells using the methods presented in the paper. Due to high cost of such systems, there is no reason to make it from scratch. The better way is to integrate the existing applications and use the synergetic effect of such approach.

5

Stewart platform simulation using the LabView environment

Banaś W., Sękala A., Gwiazda A., Foit K., Kost G.

Archives of Materials Science and Engineering

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2015

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Vol. 75, nr 2

82--88

EN

Purpose: Disabled persons, who wants to learn to drive a car, are often forced to buy own car and adapt it to their personal abilities. The other chance for them is to use the car simulator. Such simulator was built, but one of the most important issues was to make the experiences as realistic as possible. All parameters have been set experimentally and tested by many drivers. It was necessary to find a compromise between safety and reality. In order to protect the simulator from damages, it was necessary to build the computer model and to conduct the simulation virtually before setting up the parameters of the real simulator. Design/methodology/approach: In the paper is presented the method of modelling the Steward platform (which is the base of the car simulator) in LabView Robotics software. The application uses the CAD model of the platform and conducts digital simulation of its movements to show all possible positions of the simulator. The simulation tests also have been done earlier, conducted in the NX program, during the design process. These results are used as the reference for the current simulation in order to check the correctness of the LabView model. Findings: The digital model of the simulator allows analysing the Steward platform workspace with the high accuracy. The collision in the virtual world will not cause any damages, which could be possible in real tests. This method of verification shows also if there is possible to extend the platform’s workspace. Research limitations/implications: The variety of experiments concerning static, kinematic and dynamic parameters of the platform has been done using the virtual model. Such experiments are especially dangerous for real simulator, because of extreme values of parameters like velocity or acceleration. The real static tests should be performed slowly and hence there is time to react when the signs of damage appear, but during the real dynamic tests, the time for reaction is very short and it is easier to destroy the simulator. Practical implications: The virtual tests of system dynamics are divided into two stages. In the first one, the values of velocities and accelerations are set by the software in the motion parameter window. It is measured the impact on the driver. In the second stage it is used the virtual model of mechanical part of the simulator. The UDP protocol is used to communicate with the control system and obtain the motion parameters. Originality/value: The tests allow checking the real parameters of the simulator work. The hazards and improper parameter, which cannot be detected in real test, have been revealed. The results allow setting more proper dynamic parameters and ensuring the better usage of the simulator workspace.

6

Interactive rehabilitation of small children with lower limbs dysfunction

Chuchnowska I., Sękala A., Dobrzańska-Danikiewicz A.

Journal of Achievements in Materials and Manufacturing Engineering

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2014

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Vol. 64, nr 1

20--26

EN

Purpose: of this paper is to presents a method of interactive rehabilitation based on a mechatronic system supporting psychomotor rehabilitation of children with lower limbs dysfunction. Design/methodology/approach: The method is grounded on stimulation of senses through image and sound. To achieve this purpose one used modern multimedia solutions in conjunction with an intelligent controlling system. The system controls the degree of the set rehabilitation load as well as measures the child’s concentration. Findings: The proposed method is a kind of contemporary physiotherapy which combines traditional cyclotherapy and stimulation of the child’s intellectual development by means of Glenn Doman’s improvement method or with the use of music therapy depending on the degree of the child’s intellectual development. Therapeutic activities undertaken with the use of the developed equipment may in the case of paresis or paralysis restore the action of the muscles by improving their elasticity or increasing their ability to react to stimulation of the nervous system. Research limitations/implications: The combination of movement therapy with psychological stimulation enables the children to use their abilities more efficiently and speeds up the rehabilitation process. Practical implications: The application of the equipment in question increases efficiency of the therapists’ and parents’ actions, being at the same time a vital element supporting the laborious and painstaking process of rehabilitation of little patients. Originality/value: The method consists in movement therapy combined with simultaneous psychological stimulation of the child.

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Application of interactive rehabilitation equipment for kinesitherapy of children with lower limbs dysfunction

Chuchnowska I., Sękala A.

Journal of Achievements in Materials and Manufacturing Engineering

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2012

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Vol. 53, nr 1

14--20

EN

Purpose: This article presents an innovative approach to the process of rehabilitation of children under 3 years of age. It shows a system supporting the process of rehabilitation based on cyclotherapy. This work presents a method of combining traditional cyclotherapy with stimulation of intellectual development of the child by means of using the Glenn Doman method or music therapy depending on the degree of intellectual development of the child. Rehabilitation will take place in the form of a play with the use of specially designed equipment. Design/methodology/approach: This work reviews selected methods of improving the children’s condition, which methods may be applied in interactive rehabilitation. Findings: The combination of movement-based therapy with mental stimulation will make it possible to use the child’s potential in a more effective way and quicken the process of rehabilitation. Research limitations/implications: In further stages of works it is expected to make a prototype device that can be transferred to a public benefit organization or an organization of a similar nature in order to conduct researches within their own works. Practical implications: The combination of movement therapy with psychological stimulation will exploit, to the maximum extent, natural abilities of brain development in small children. This is enormously important as it is often a factor that conditions the length and, first of all, the quality of life of the patients. Originality/value: The device being developed will include all the most important factors that may affect the physical structure of children and their psyche, which can directly affect the improvement of their health.

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The concept of interactive rehabilitation device for children under the age of three

Chuchnowska I., Sękala A.

Journal of Achievements in Materials and Manufacturing Engineering

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2011

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Vol. 45, nr 1

45--50

EN

Purpose: This article presents the concept of an interactive rehabilitation equipment designed for children under 3 years of age with dysfunction of the lower limbs. Through the use of interactive play-boards and games not only will the children learn faster, but the whole process of rehabilitation will be really fun. Furthermore, the device can be connected to a computer or a special synoptic screen mounted on a special rack. Thanks to an interactive combination of the function of movement rehabilitation with mental stimulation of a child it will be possible to support the development of cognitive functions, cause-effect thinking, stimulation of the senses and to improve coordination and spatial orientation of the young patient. Design/methodology/approach: The novelty of the station is combination of the traditional cycle-therapy with the Glenn Doman improvement method, or with music therapy, depending on the degree of disability of a child. Findings: Combination of the traditional cycle-therapy with music therapy or Glenn Doman’s method in rehabilitation of small patients will help to maximize the children’s activity and their involvement, which at this stage of development is possible only by giving rehabilitation exercises an attractive form of plays and games. Research limitations/implications: FMEA is a very important method which should be employed in companies fPractical implications: The researches from the broadly understood biomechanics that are carried out shall lead to a construction of a rehabilitation device designed for children under the age of three. The proposed device should be very effective in the rehabilitation process, even for the youngest children, and due to its relatively simple modular construction and the possibility of cooperation with many plays and games, it should also be a market success by contributing to the effective rehabilitation of the considerable population of children who require such rehabilitation. Originality/value: The device being developed will include all the most important factors that may affect the physical structure of children and their psyche, which can directly affect the improvement of their health.

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An analysis of discrete-continuous mechanical systems with conjugations

Sękala A.

Journal of Achievements in Materials and Manufacturing Engineering

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2011

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Vol. 49, nr 2

360--368

EN

Purpose: The main purpose of this work is developing a methodology, using non-classical methods, of modelling the complex mechanical systems with the continuous and discrete-continuous distribution of parameters. A simple task of dynamics can be solved by using this method, without limitations deriving from the type and number of the elements of a mechanical system. Design/methodology/approach: By using the non-classical methods of modelling, it was possible to develop a method of determining the matrices (flexibilities) of multi-link vibration mechanical systems with the continuous distribution of parameters that are able to perform longitudinal and flexural vibrations. The method is focused on broadening graphs method by mechanical systems and improving their description and design methods so that the mathematical formalism can reflect the essence of the problem involved in the designation of dynamic characteristics of such systems. Findings: The knowledge of the dynamic characteristics of a system determined for any inputs and outputs in form of kinematic and dynamic excitations is underlying the determination of frequency characteristics of the class of the systems under consideration. Research limitations/implications: The class of the systems considered refers to investigating into the dynamic and vibration characteristics of mechanical systems with the discrete-continuous distribution of parameters performing small vibrations around the adopted state of equilibrium. Practical implications: The presented method of this study is that the main point can be the introduction to e.g. additional kinematic excitations in form of a function of speed and accelerations or extending the method presented to cover the investigation of non-linear systems. Originality/value: The modelling and analysis of discrete-continuous vibration systems with conjugations using the non-classical method is a more general approach as compared to modelling and analysis in classical terms.

10

An innovative system for interactive rehabilitation of children at the age of three

Chuchnowska I., Sękala A.

Archives of Materials Science and Engineering

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2011

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Vol. 50, nr 1

36-42

EN

Purpose: The article discusses the assumptions and a concept of a system aiding progress in rehabilitation by stimulating a child’s senses through image and sound. A special rehabilitation device comprised of a training bike with a chair and a synoptic screen enables the patient to perform prophylactic and corrective exercises. Brain activity measurement with an EEG sensor is used as a function steering the rehabilitation process. Design/methodology/approach: The article discusses a method of combining traditional cyclotherapy with the stimulation of a child’s intellectual development with the Glenn Doman rehabilitation method or with music therapy depending on the degree of a child’s intellectual development. Findings: Combination of the traditional cycle-therapy with music therapy or Glenn Doman’s method in rehabilitation of small patients will help to maximize the children’s activity and their involvement, which at this stage of development is possible only by giving rehabilitation exercises an attractive form of plays and games. Research limitations/implications: In further stages of works it is expected to make a prototype device that can be transferred to a public benefit organization in order to conduct researches within their own works. Practical implications: The proposed device should be very effective in the rehabilitation process, even for the youngest children, and due to its relatively simple modular construction and the possibility of cooperation with many plays and games. Originality/value: The device being developed will include all the most important factors that may affect the physical structure of children and their psyche, which can directly affect the improvement of their health.

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Koncepcja stacjonarnego, interaktywnego rowerka rehabilitacyjnego dla dzieci

Chuchnowska I., Świder J., Sękala A., Baczyński A.

Aktualne Problemy Biomechaniki

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2010

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z. 4

35--38

PL

W pracy przedstawiono koncepcję stacjonarnego, interaktywnego rowerka rehabilitacyjnego dla dzieci poniżej trzeciego roku życia. Rehabilitacja małych dzieci musi być dostosowana do ich potrzeb oraz możliwości, a także powinna w sposób wszechstronny uwzględniać ich odrębność strukturalną i czynnościową wynikającą z wieku. Leczenie dysfunkcji kończyn dolnych przy minimalnej świadomości dziecka podczas zabawy podnosi atrakcyjność rehabilitacji, zwiększając zainteresowanie małego pacjenta oraz umożliwia dłuższe wykonywanie różnych czynności nie powodując znudzenia. Koncepcję rowerku wykonano w programie Autodesk Inventor.

EN

This paper presents the concept of a stationary, interactive rehabilitation bicycle for children below the age of three. The rehabilitation of small children has to be adjusted to their needs and possibilities and it should comprehensively take into account children’s structural and functional diversity related to their age. The treatment of dysfunction of lower limbs while the child is barely aware of it during play, increases the attractiveness of rehabilitation and thus child’s engagement and allows for longer exercises that do not cause boredom. The concept of the bicycle has been prepared with the use of Inventor software.

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Grafy hybrydowe w modelowaniu i analizie drgających układów mechanicznych o dyskretno-ciągłym rozkładzie parametrów ze sprzężeniami

Sękala A., Świder J.

Przegląd Mechaniczny

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2005

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nr 5

14-20

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Zastosowanie grafów przepływowych w analizie ciągłych układów drgających

Sękala A., Świder J.

Systems : journal of transdisciplinary systems science

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2004

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Vol. 9, No. sp. II

762-768

PL

Przedstawiono zagadnienie modelowania i analizy drgających układów ciągłych za pomocą grafów przepływowych. Wykorzystanie metody grafów przepływowych pokazano na przykładzie układów drgających wzdłużnie.

EN

The paper presents a method of design and analysis of continuous vibrating systems by means of flow graphs. On examples of longitudinal vibrating continuous models an application of flow graphs has been shown.