The paper presents the possibilities of improving the time parameters of communication between the industrial PLC and the HMI operator panel. As shown, sometimes the appropriate configuration of communication tasks, reducing the number of commands sent in the Modbus protocol at the expense of the necessity to transmit additional data, may lead to the minimization of the total communication cycle time. The presented solution has been implemented in the CPDev engineering environment.
{"title":"Acceleration of Modbus Data Exchange between PLC and HMI Using the CPDev Engineering Environment","authors":"Dariusz Rzońca","doi":"10.14313/par_246/85","DOIUrl":"https://doi.org/10.14313/par_246/85","url":null,"abstract":"The paper presents the possibilities of improving the time parameters of communication between the industrial PLC and the HMI operator panel. As shown, sometimes the appropriate configuration of communication tasks, reducing the number of commands sent in the Modbus protocol at the expense of the necessity to transmit additional data, may lead to the minimization of the total communication cycle time. The presented solution has been implemented in the CPDev engineering environment.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"17 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":"123384750","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}
Marcin Hubacz, Bartosz Pawłowicz, Mateusz Salach, B. Trybus, Sebastian Kołcz
Textronic RFID transponders extend the possibilities of home appliance design. New application can be found in the laundry technology, where by means of RFID transponders sewn into the garment it is possible to encode information and use it later to select the best washing program for a given type of fabric or to keep statistics of material usage. As part of this work, a demonstration model of a washing device using RFIDtex transponders (identifiers) was designed and built. A control system was prepared for the constructed model of a washing machine equipped with a RWD (Read-Write Device) device, supporting decision-making about the selection of a given function on the basis of data provided by RFIDtex identifiers integrated with the clothing. The effectiveness of the device was also checked using prepared samples.
{"title":"Model of Washing Device Using Textronic RFID Transponders","authors":"Marcin Hubacz, Bartosz Pawłowicz, Mateusz Salach, B. Trybus, Sebastian Kołcz","doi":"10.14313/par_246/69","DOIUrl":"https://doi.org/10.14313/par_246/69","url":null,"abstract":"Textronic RFID transponders extend the possibilities of home appliance design. New application can be found in the laundry technology, where by means of RFID transponders sewn into the garment it is possible to encode information and use it later to select the best washing program for a given type of fabric or to keep statistics of material usage. As part of this work, a demonstration model of a washing device using RFIDtex transponders (identifiers) was designed and built. A control system was prepared for the constructed model of a washing machine equipped with a RWD (Read-Write Device) device, supporting decision-making about the selection of a given function on the basis of data provided by RFIDtex identifiers integrated with the clothing. The effectiveness of the device was also checked using prepared samples.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"330 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":"116645084","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}
M. Banaszkiewicz, M. Węgrzyn, F. Basmadji, M. Galicki
This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated extended transposed Jacobian controllers which seem to be effective in counteracting the unstructured disturbing forces. The numerical computations which are carried out for a space manipulator consisting of a spacecraft propelled by eight thrusters and holonomic manipulator of three revolute kinematic pairs, illustrate the performance of the proposed controller.
{"title":"Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space","authors":"M. Banaszkiewicz, M. Węgrzyn, F. Basmadji, M. Galicki","doi":"10.14313/par_246/27","DOIUrl":"https://doi.org/10.14313/par_246/27","url":null,"abstract":"This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated extended transposed Jacobian controllers which seem to be effective in counteracting the unstructured disturbing forces. The numerical computations which are carried out for a space manipulator consisting of a spacecraft propelled by eight thrusters and holonomic manipulator of three revolute kinematic pairs, illustrate the performance of the proposed controller.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"314 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":"123638781","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}
Patryk Bartkowiak, Radosław Patelski, M. Kwiatkowska, D. Pazderski
In this paper the novel control and communication scheme designed to ease the development and maintenance of the robotic astronomical telescope device is presented. The proposed solution allows the user to remotely access any signal in the controller of the telescope without imposing any additional overhead during telescope operation. The implemented scheme can be used by both an automated control system and human operators for easy supervision, control, and maintenance of the device.
{"title":"System Architecture for Development and Supervision of Robotic Astronomical Telescope","authors":"Patryk Bartkowiak, Radosław Patelski, M. Kwiatkowska, D. Pazderski","doi":"10.14313/par_246/43","DOIUrl":"https://doi.org/10.14313/par_246/43","url":null,"abstract":"In this paper the novel control and communication scheme designed to ease the development and maintenance of the robotic astronomical telescope device is presented. The proposed solution allows the user to remotely access any signal in the controller of the telescope without imposing any additional overhead during telescope operation. The implemented scheme can be used by both an automated control system and human operators for easy supervision, control, and maintenance of the device.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"11 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":"125241463","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}
Extremal problems for integral time lag infinite order parabolic systems are studied in the paper. An optimal boundary control problem for distributed infinite order parabolic systems in which integral time lags appear in the Neumann boundary conditions is solved. Such equations constitute in a linear approximation a universal mathematical model for many diffusion processes (e.g., modeling and control of heat transfer processes). The time horizon is fixed. Using the Dubovicki-Milutin framework, the necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance indexes and constrained control are derived.
{"title":"Extremal Problems for Infinite Order Parabolic Systems with Boundary Conditions Involving Integral Time Lags","authors":"A. Kowalewski, M. Miśkowicz","doi":"10.14313/par_246/37","DOIUrl":"https://doi.org/10.14313/par_246/37","url":null,"abstract":"Extremal problems for integral time lag infinite order parabolic systems are studied in the paper. An optimal boundary control problem for distributed infinite order parabolic systems in which integral time lags appear in the Neumann boundary conditions is solved. Such equations constitute in a linear approximation a universal mathematical model for many diffusion processes (e.g., modeling and control of heat transfer processes). The time horizon is fixed. Using the Dubovicki-Milutin framework, the necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance indexes and constrained control are derived.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"118 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":"125094998","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 article describes selected fragments of the process diagnosing communication between a process and operator station, and between process stations of a distributed mini system based on an AC800F modular industrial controller. Conducted experiments provided information on the transmission method and location of process variable values in transferred messages. The information can be used to make a decision regarding additional transfer protections or communicating system stations with expanding user resources.
{"title":"Diagnosis of Communication Between the Elements of a Distributed Control System","authors":"M. Bednarek","doi":"10.14313/par_246/91","DOIUrl":"https://doi.org/10.14313/par_246/91","url":null,"abstract":"The article describes selected fragments of the process diagnosing communication between a process and operator station, and between process stations of a distributed mini system based on an AC800F modular industrial controller. Conducted experiments provided information on the transmission method and location of process variable values in transferred messages. The information can be used to make a decision regarding additional transfer protections or communicating system stations with expanding user resources.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"1 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":"131047576","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 article presents a description of the case of ensuring the continuity of production of a ticket validator device in the presence of supply shortages in the market for electronic components. The criteria for decision-making and their impact on the design of the ticket validator are considered. Solutions are proposed that can reduce the risk of production stoppage by using replacements for missing components, taking into account the minimization of the cost of such changes.
{"title":"Ensuring Production Continuity in an Era of Electronic Component Shortages","authors":"Grzegorz Pawłowicz","doi":"10.14313/par_246/105","DOIUrl":"https://doi.org/10.14313/par_246/105","url":null,"abstract":"The article presents a description of the case of ensuring the continuity of production of a ticket validator device in the presence of supply shortages in the market for electronic components. The criteria for decision-making and their impact on the design of the ticket validator are considered. Solutions are proposed that can reduce the risk of production stoppage by using replacements for missing components, taking into account the minimization of the cost of such changes.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"16 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":"121296973","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 first of the above mentioned three issues.
{"title":"Robotics: Techniques, Functions, Social Role Part 1. Technical Foundations of Intelligence and Security of Robots","authors":"C. Zieliński","doi":"10.14313/par_246/5","DOIUrl":"https://doi.org/10.14313/par_246/5","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 first of the above mentioned three issues.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"378 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":"132537901","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 article presents the concept of building a low-energy programmable controller architecture developed in accord-ance with the IEC 61131-3 standard. The universality concerns the freedom of choice of the central unit and the possibility of easy replacement of the control algorithm. One of the three methods of software development and distribution is selected for the proposed solution. As part of the work, a prototype controller was prepared based on evaluation elements, intended to work in a distributed environment. The article also presents a comparison of the energy efficiency of selected STM32 systems from several different series.
{"title":"Architecture of Low Energy Universal Programmable Controller","authors":"Marcin Hubacz, Bartosz Pawłowicz, B. Trybus","doi":"10.14313/par_246/79","DOIUrl":"https://doi.org/10.14313/par_246/79","url":null,"abstract":"The article presents the concept of building a low-energy programmable controller architecture developed in accord-ance with the IEC 61131-3 standard. The universality concerns the freedom of choice of the central unit and the possibility of easy replacement of the control algorithm. One of the three methods of software development and distribution is selected for the proposed solution. As part of the work, a prototype controller was prepared based on evaluation elements, intended to work in a distributed environment. The article also presents a comparison of the energy efficiency of selected STM32 systems from several different series.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"31 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":"129077507","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 article presents an electric current sensor built of a fiber-optic differential interferometer using the Faraday effect in a single-mode fiber. It was applied to measure current waveforms with large amplitudes and mains frequency. The optical sensor does not introduce additional resistance and inductance into the measured circuit, which is a desirable phenomenon in this type of measurements. The magnetosensitive element is an optical fiber coil made of a quartz single-mode telecommunications fiber. The optical fiber, in which the core is twisted around its axis, is characterized by a small influence of disturbing quantities, i.e., mechanical vibrations and pressure changes, on the working of the differential interferometer by inducing linear birefringence in the glass fiber. The methods of elimination of the quantities influencing the operation of the optical fiber current sensor were proposed by reducing the linear birefringence induced in the optical fiber from these quantities. The dependence of the normalized light intensity was plotted. The results of experimental research on a design solution of a differential interferometer based on the Faraday effect, operating at a wavelength of 1550 nm, are presented. The sensor was used for measurements of sinusoidal current with a frequency of 50 Hz and amplitudes ranging 100–1500 A. The uncertainty of measurement of the electric current amplitude was determined in the range of the measured values, which was estimated at no more than 1.5 %.
{"title":"The use of a Fiber Optic Differential Interferometer in Measurements of Electric Current","authors":"Mariusz Ginter","doi":"10.14313/par_246/99","DOIUrl":"https://doi.org/10.14313/par_246/99","url":null,"abstract":"The article presents an electric current sensor built of a fiber-optic differential interferometer using the Faraday effect in a single-mode fiber. It was applied to measure current waveforms with large amplitudes and mains frequency. The optical sensor does not introduce additional resistance and inductance into the measured circuit, which is a desirable phenomenon in this type of measurements. The magnetosensitive element is an optical fiber coil made of a quartz single-mode telecommunications fiber. The optical fiber, in which the core is twisted around its axis, is characterized by a small influence of disturbing quantities, i.e., mechanical vibrations and pressure changes, on the working of the differential interferometer by inducing linear birefringence in the glass fiber. The methods of elimination of the quantities influencing the operation of the optical fiber current sensor were proposed by reducing the linear birefringence induced in the optical fiber from these quantities. The dependence of the normalized light intensity was plotted. The results of experimental research on a design solution of a differential interferometer based on the Faraday effect, operating at a wavelength of 1550 nm, are presented. The sensor was used for measurements of sinusoidal current with a frequency of 50 Hz and amplitudes ranging 100–1500 A. The uncertainty of measurement of the electric current amplitude was determined in the range of the measured values, which was estimated at no more than 1.5 %.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"12 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":"131211329","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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