Ship autopilots can be divided into conventional, only capable of maintaining a given heading, and advanced, which can additionally follow a „track” connecting the given navigation points along the ship’s route. The article presents the structure of the prototype autopilot of the ship implemented in the CPDev environment and the formulas allowing to determine the settings of the course controller (PID) and track controller (PI) in the cascade control. For each of them, individual design parameters were adopted to define the dynamics of the closed control loop. These rules were applied in the software of the autopilot prototype, created in cooperation with a Dutch company designing control and visualization systems for ships.
{"title":"A Prototype of a Cascade Ship Autopilot Implemented in the CPDev Environment","authors":"Z. Świder","doi":"10.14313/par_247/61","DOIUrl":"https://doi.org/10.14313/par_247/61","url":null,"abstract":"Ship autopilots can be divided into conventional, only capable of maintaining a given heading, and advanced, which can additionally follow a „track” connecting the given navigation points along the ship’s route. The article presents the structure of the prototype autopilot of the ship implemented in the CPDev environment and the formulas allowing to determine the settings of the course controller (PID) and track controller (PI) in the cascade control. For each of them, individual design parameters were adopted to define the dynamics of the closed control loop. These rules were applied in the software of the autopilot prototype, created in cooperation with a Dutch company designing control and visualization systems for ships.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127280361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the second of the above mentioned three issues.
{"title":"Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots","authors":"C. Zieliński","doi":"10.14313/par_247/5","DOIUrl":"https://doi.org/10.14313/par_247/5","url":null,"abstract":"In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the second of the above mentioned three issues.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124510836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The work presents the issue of measuring and analyzing energy consumption during a thermal drilling cycle. A research stand based on a CNC lathe was presented, the equipment of which was an experimental energy consumption system based on an electricity meter and a force gauge. The measuring devices used allowed for recording the load on the power grid, the load on the machine tool drives, the axial force, the drill braking torque, the current rotation of the machine tool spindle, the position of the drill in relation to the workpiece and the values of auxiliary parameter registers in the strategy of adaptive feed control. Two cases of a drilling cycle were considered: making a single hole and making a series of holes in one cycle. Five feed control strategies were tested during the drilling cycle, including adaptive feed control and a recursive feed optimization method. For comparison, holes were also made with traditional HSS twist drills. Based on the obtained test results, it can be concluded that the friction drilling method can be included in the energy-saving methods of making holes in thin-walled elements.
{"title":"Measurement of Energy Consumption During a Thermal Drilling Cycle","authors":"Paweł Błaszczak, R. Stryczek","doi":"10.14313/par_247/93","DOIUrl":"https://doi.org/10.14313/par_247/93","url":null,"abstract":"The work presents the issue of measuring and analyzing energy consumption during a thermal drilling cycle. A research stand based on a CNC lathe was presented, the equipment of which was an experimental energy consumption system based on an electricity meter and a force gauge. The measuring devices used allowed for recording the load on the power grid, the load on the machine tool drives, the axial force, the drill braking torque, the current rotation of the machine tool spindle, the position of the drill in relation to the workpiece and the values of auxiliary parameter registers in the strategy of adaptive feed control. Two cases of a drilling cycle were considered: making a single hole and making a series of holes in one cycle. Five feed control strategies were tested during the drilling cycle, including adaptive feed control and a recursive feed optimization method. For comparison, holes were also made with traditional HSS twist drills. Based on the obtained test results, it can be concluded that the friction drilling method can be included in the energy-saving methods of making holes in thin-walled elements.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"23 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113979236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Arm-Z is a concept of a robotic manipulator comprised of linearly joined congruent modules with possibility of relative twist (1 DOF). The advantages of Arm-Z are: economization (mass-production) and robustness (modules which failed can be replaced, also if some fail the system can perform certain tasks). Non-intuitive and difficult control are the disadvantages of Arm-Z. In other words, the combination of non-trivial module shape with forming of practical modular structures and their control (from state A to B) is computationally expensive. However, due to availability of modern computational power, proposed here approach is rational and competitive, especially considering the high cost and sensitivity of non-standard solutions. This paper outlines the general concept of Arm-Z manipulator and presents preliminary work towards making a proof-of-the-concept prototype.
{"title":"Prototype of the Arm-Z Modular Hyper-Redundant Manipulator","authors":"Ela Zawidzka, M. Zawidzki, Wojciech Kiński","doi":"10.14313/par_247/39","DOIUrl":"https://doi.org/10.14313/par_247/39","url":null,"abstract":"Arm-Z is a concept of a robotic manipulator comprised of linearly joined congruent modules with possibility of relative twist (1 DOF). The advantages of Arm-Z are: economization (mass-production) and robustness (modules which failed can be replaced, also if some fail the system can perform certain tasks). Non-intuitive and difficult control are the disadvantages of Arm-Z. In other words, the combination of non-trivial module shape with forming of practical modular structures and their control (from state A to B) is computationally expensive. However, due to availability of modern computational power, proposed here approach is rational and competitive, especially considering the high cost and sensitivity of non-standard solutions. This paper outlines the general concept of Arm-Z manipulator and presents preliminary work towards making a proof-of-the-concept prototype.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121830066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system for ship autopilot is presented. Uniformity of the design follows from observation that for each of the controllers the controlled plant looks like an integrator with time constant. In case of the heading controller, the plant is represented by the known Nomoto model. Due to elimination of the plant time constant by the controller, each of the closed loop systems becomes of 2nd order. One assumes that such system should have a double time constant, different in a prescribed ratio from time constant of the controlled plant. It is shown that the heading controller designed in this way suppresses disturbances better than the controller with standard settings.
{"title":"Uniform Design of Heading and Track Controllers for Ship Autopilot","authors":"Andrzej Stec, Z. Świder, L. Trybus","doi":"10.14313/par_247/45","DOIUrl":"https://doi.org/10.14313/par_247/45","url":null,"abstract":"Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system for ship autopilot is presented. Uniformity of the design follows from observation that for each of the controllers the controlled plant looks like an integrator with time constant. In case of the heading controller, the plant is represented by the known Nomoto model. Due to elimination of the plant time constant by the controller, each of the closed loop systems becomes of 2nd order. One assumes that such system should have a double time constant, different in a prescribed ratio from time constant of the controlled plant. It is shown that the heading controller designed in this way suppresses disturbances better than the controller with standard settings.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"22 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123419898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The aim of the project described in the article was to develop assumptions for the automatic management of liquid microdosing processes with a volume of 0.5 μl in biomedical engineering. The structure of typical, catalog dispensers selected for testing, which does not guarantee the achievement of the volume of the mentioned portion of liquid, is presented. A set of the most important dependencies, phenomena and coefficients characterizing liquid microflows and their record, used in the calculator of the processor controller for the automated microdosing process, was given. The construction of a micro-dosing process measuring station, allowing for experimental verification of the quality of micro-dosing of liquids with the use of typical dispensers, developed dependencies and a processor controller of this process, was described by tested dispenser heads and the results of automated microportioning, meeting all the given assumptions of this process.
{"title":"Problems and Implementation of Liquid Flows in Automated Microdispensing Stations","authors":"K. Woźniak, M. Olszewski","doi":"10.14313/par_247/67","DOIUrl":"https://doi.org/10.14313/par_247/67","url":null,"abstract":"The aim of the project described in the article was to develop assumptions for the automatic management of liquid microdosing processes with a volume of 0.5 μl in biomedical engineering. The structure of typical, catalog dispensers selected for testing, which does not guarantee the achievement of the volume of the mentioned portion of liquid, is presented. A set of the most important dependencies, phenomena and coefficients characterizing liquid microflows and their record, used in the calculator of the processor controller for the automated microdosing process, was given. The construction of a micro-dosing process measuring station, allowing for experimental verification of the quality of micro-dosing of liquids with the use of typical dispensers, developed dependencies and a processor controller of this process, was described by tested dispenser heads and the results of automated microportioning, meeting all the given assumptions of this process.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"272 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115420149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The demand for electric vehicles is high due to the fact of their low travel costs. Meanwhile, an increase in the car driving range is expected. Hence, this paper examines different concepts related to driving a battery electric vehicle. The driving scenarios were divided into two parts. The first part consisted of four stages: driving in a mixed cycle, charging the battery, driving a very short distance, and driving distances that were within the maximum theoretical range of the batteries. The second part involved driving a distance until the range extender system was activated. The outcomes of these experimental investigations are described and the key findings are presented in the discussion.
{"title":"The Effect of Driving Style on Battery Electric Vehicle Range","authors":"P. Błaszczyk, M. Kopeć","doi":"10.14313/par_247/85","DOIUrl":"https://doi.org/10.14313/par_247/85","url":null,"abstract":"The demand for electric vehicles is high due to the fact of their low travel costs. Meanwhile, an increase in the car driving range is expected. Hence, this paper examines different concepts related to driving a battery electric vehicle. The driving scenarios were divided into two parts. The first part consisted of four stages: driving in a mixed cycle, charging the battery, driving a very short distance, and driving distances that were within the maximum theoretical range of the batteries. The second part involved driving a distance until the range extender system was activated. The outcomes of these experimental investigations are described and the key findings are presented in the discussion.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115477161","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A relevant identification of significant factors affecting the process of anti collision manoeuvre computation in case of moving obstacles, is necessary for getting results reliable enough and describing a proposed trajectory of such a manoeuvre as well as its realisation. The requirement for the appropriate separation, the airplane to obstacle distance, is treated as the relevant index for verification of the course of passing by manoeuvre. Subject matter of this work is the appropriate selection of mathematical models for the subsequent phases of preparation of flight trajectory passing by the obstacles. The impact of selected simplifications of mathematical model on the shape of flight trajectory and the distance between the airplane and obstacles have been studied. Considerations have been illustrated by the results of selected computer simulations of an airplane while carrying out an obstacle avoiding manoeuvre.
{"title":"Making Use of Mathematical Models for Preparation and Verification of Automatically Controlled, Manoeuvres Carried Out to Avoid Moving Obstacles","authors":"J. Graffstein","doi":"10.14313/par_247/51","DOIUrl":"https://doi.org/10.14313/par_247/51","url":null,"abstract":"A relevant identification of significant factors affecting the process of anti collision manoeuvre computation in case of moving obstacles, is necessary for getting results reliable enough and describing a proposed trajectory of such a manoeuvre as well as its realisation. The requirement for the appropriate separation, the airplane to obstacle distance, is treated as the relevant index for verification of the course of passing by manoeuvre. Subject matter of this work is the appropriate selection of mathematical models for the subsequent phases of preparation of flight trajectory passing by the obstacles. The impact of selected simplifications of mathematical model on the shape of flight trajectory and the distance between the airplane and obstacles have been studied. Considerations have been illustrated by the results of selected computer simulations of an airplane while carrying out an obstacle avoiding manoeuvre.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117129023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Biology not only provides inspiration in the design of walking machines, but also suggests detailed design solutions. Concise information on legged locomotion in the animal world is presented, and the relationships between engineering solutions and the biological world are shown. The construction of animal legs is briefly described and the most commonly used leg structures for walking machines are discussed, including references to biological patterns. Examples of bio-inspired walking machines developed by our team are given and several concepts of bio-inspired robots are discussed. The general aim of the article is to show how knowledge of the animal world inspires innovative design solutions for robots intended for practical applications.
{"title":"Transforming Biological Patterns into Robot Concepts","authors":"T. Zielińska","doi":"10.14313/par_247/27","DOIUrl":"https://doi.org/10.14313/par_247/27","url":null,"abstract":"Biology not only provides inspiration in the design of walking machines, but also suggests detailed design solutions. Concise information on legged locomotion in the animal world is presented, and the relationships between engineering solutions and the biological world are shown. The construction of animal legs is briefly described and the most commonly used leg structures for walking machines are discussed, including references to biological patterns. Examples of bio-inspired walking machines developed by our team are given and several concepts of bio-inspired robots are discussed. The general aim of the article is to show how knowledge of the animal world inspires innovative design solutions for robots intended for practical applications.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123686927","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This publication proposes a visual localization method using images from a simulated camera and a georeferenced map. The UAV model and flight simulation were made in the MATLAB Simulink package, which sent UAV orientation data to the described program. The visualization of the camera image was performed in real time using the FlightGear software, the image of which was also captured by the NW program. This method is performed by two processes in two modules: Global Positioning Component and Motion Positioning Component. The first one compares the image from the simulated camera with the orthophotomap. The second determines the position based on the assessment of the displacement of characteristic points in the image in relation to the last known location. The result of the operation of both modules is illustrated in the graphic window of the NW application, which allows for a visual comparison of the obtained results. With the global method of location, additional camera orientation correction is required to determine the position in 2D space. For this purpose, data on the current camera orientation expressed in quaternions were used. This allowed for the introduction of a position correction, which significantly improved the accuracy of the result obtained in the GPC module despite significant UAV tilts during the simulated flight.
{"title":"Self-Localization of the Unmanned Aerial Vehicle Taking Into Account the Variable Orientation of the Camera","authors":"T. Zielińska, Tomasz Pogorzelski","doi":"10.14313/par_246/53","DOIUrl":"https://doi.org/10.14313/par_246/53","url":null,"abstract":"This publication proposes a visual localization method using images from a simulated camera and a georeferenced map. The UAV model and flight simulation were made in the MATLAB Simulink package, which sent UAV orientation data to the described program. The visualization of the camera image was performed in real time using the FlightGear software, the image of which was also captured by the NW program. This method is performed by two processes in two modules: Global Positioning Component and Motion Positioning Component. The first one compares the image from the simulated camera with the orthophotomap. The second determines the position based on the assessment of the displacement of characteristic points in the image in relation to the last known location. The result of the operation of both modules is illustrated in the graphic window of the NW application, which allows for a visual comparison of the obtained results. With the global method of location, additional camera orientation correction is required to determine the position in 2D space. For this purpose, data on the current camera orientation expressed in quaternions were used. This allowed for the introduction of a position correction, which significantly improved the accuracy of the result obtained in the GPC module despite significant UAV tilts during the simulated flight.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131327222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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