Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018230
Zdeněk Katolický, Bohuslav Bušov, M. Bartlová
Comparing to concurrent small turbojet engines this Czech design has several important parametrical advantages: weight, power, reliability, cost, etc. Innovations were obtained by creative/inventive solutions in which several instruments TRIZ were used objectively. In this article, the turbojet engine is presented as a case study: As an example for teaching the TRIZ methodology to students and engineers and as a solution of turbojet engine for small and unmanned air vehicles.
{"title":"Turbojet engine innovation and TRIZ","authors":"Zdeněk Katolický, Bohuslav Bušov, M. Bartlová","doi":"10.1109/MECHATRONIKA.2014.7018230","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018230","url":null,"abstract":"Comparing to concurrent small turbojet engines this Czech design has several important parametrical advantages: weight, power, reliability, cost, etc. Innovations were obtained by creative/inventive solutions in which several instruments TRIZ were used objectively. In this article, the turbojet engine is presented as a case study: As an example for teaching the TRIZ methodology to students and engineers and as a solution of turbojet engine for small and unmanned air vehicles.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128089721","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018232
K. Urbanski
The paper presents a comparison of methods of the back EMFs estimation for the permanent magnets synchronous motor in a case of position estimation at the low speed range. These methods are based on the following structures for back EMF estimation: observer for model of the electrical part of the motor, the observer for the modified correction function and estimation based on the simplified model. Obtained in this way the instantaneous values of the back EMFs, depending on the method of obtaining them, are characterized by different quality and accuracy of the estimated shaft position.
{"title":"Comparison of methods for back EMF estimation at low speed for PMSM drive","authors":"K. Urbanski","doi":"10.1109/MECHATRONIKA.2014.7018232","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018232","url":null,"abstract":"The paper presents a comparison of methods of the back EMFs estimation for the permanent magnets synchronous motor in a case of position estimation at the low speed range. These methods are based on the following structures for back EMF estimation: observer for model of the electrical part of the motor, the observer for the modified correction function and estimation based on the simplified model. Obtained in this way the instantaneous values of the back EMFs, depending on the method of obtaining them, are characterized by different quality and accuracy of the estimated shaft position.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126181370","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018337
V. Blahnik, T. Kosan, J. Talla
This paper introduces the advanced control designed for the single-phase AC/DC traction converter. This type of control provides direct current control and sufficient control of output voltage. The proposed control strategy is based on second order general integrator phase locked loop (SOGI-PLL), which is used for trolley voltage synchronization. In this case SOGI-PLL evaluates voltage position, amplitude and frequency. These data are used for precise and robust current control, which uses PR controller. The behavior of designed control and SOGI-PLL synchronization is analyzed by both simulations and experiments made on developed 1.5 kW laboratory prototype.
{"title":"Control of single-phase AC/DC converter based on SOGI-PLL voltage synchronization","authors":"V. Blahnik, T. Kosan, J. Talla","doi":"10.1109/MECHATRONIKA.2014.7018337","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018337","url":null,"abstract":"This paper introduces the advanced control designed for the single-phase AC/DC traction converter. This type of control provides direct current control and sufficient control of output voltage. The proposed control strategy is based on second order general integrator phase locked loop (SOGI-PLL), which is used for trolley voltage synchronization. In this case SOGI-PLL evaluates voltage position, amplitude and frequency. These data are used for precise and robust current control, which uses PR controller. The behavior of designed control and SOGI-PLL synchronization is analyzed by both simulations and experiments made on developed 1.5 kW laboratory prototype.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126206206","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018343
S. Karakaya, G. Kucukyildiz, C. Toprak, H. Ocak
In this paper, a differential drive mobile robot platform was developed in order to perform indoor mobile robot researches. The mobile robot was localized and remote controlled. The remote control consists of a pair of 2.4 GHz transceivers. Localization system was developed by using infra-red reflectors, infra-red leds and camera system. Real time localization system was run on an industrial computer placed on the mobile robot. The localization data of the mobile robot is transmitted by a UDP communication program. The transmitted localization information can be received any computer or any other UDP device. In addition, a LIDAR (Light Detection and Ranging; or Laser Imaging Detection and Ranging) and a Kinect three-dimensional depth sensor were adapted on the mobile robot platform. LIDAR was used for obstacle and heading direction detection operations and Kinect for eliminating depth data of close environment. In this study, a mobile robot platform which has specialties as mentioned was developed and a human tracking application was realized real time in MATLAB and C# environment.
{"title":"Development of a human tracking indoor mobile robot platform","authors":"S. Karakaya, G. Kucukyildiz, C. Toprak, H. Ocak","doi":"10.1109/MECHATRONIKA.2014.7018343","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018343","url":null,"abstract":"In this paper, a differential drive mobile robot platform was developed in order to perform indoor mobile robot researches. The mobile robot was localized and remote controlled. The remote control consists of a pair of 2.4 GHz transceivers. Localization system was developed by using infra-red reflectors, infra-red leds and camera system. Real time localization system was run on an industrial computer placed on the mobile robot. The localization data of the mobile robot is transmitted by a UDP communication program. The transmitted localization information can be received any computer or any other UDP device. In addition, a LIDAR (Light Detection and Ranging; or Laser Imaging Detection and Ranging) and a Kinect three-dimensional depth sensor were adapted on the mobile robot platform. LIDAR was used for obstacle and heading direction detection operations and Kinect for eliminating depth data of close environment. In this study, a mobile robot platform which has specialties as mentioned was developed and a human tracking application was realized real time in MATLAB and C# environment.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127060817","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018247
J. Martiš, P. Vorel
A device for induction heating of smaller iron components was designed and constructed. The shape of the work coil was matched to horseshoe heating. Required simplicity and robustness of the device excludes the use of water cooled work coil (made of copper tube) which is mainly used in the applications of induction heating. A HF Litz-wire was used in the construction of the work coil in our solution. A non-tradition conception of the input rectifier with a low DC-link capacity is used. This way a sufficiently high power factor can be achieved without any additional PFC circuit. A double acting inverter using a MOS-FET half-bridge is used for exciting the series resonant tank. The system description of the designed induction heater is presented including some important details.
{"title":"Apparatus for induction heating 2.5 kW using a series resonant circuit","authors":"J. Martiš, P. Vorel","doi":"10.1109/MECHATRONIKA.2014.7018247","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018247","url":null,"abstract":"A device for induction heating of smaller iron components was designed and constructed. The shape of the work coil was matched to horseshoe heating. Required simplicity and robustness of the device excludes the use of water cooled work coil (made of copper tube) which is mainly used in the applications of induction heating. A HF Litz-wire was used in the construction of the work coil in our solution. A non-tradition conception of the input rectifier with a low DC-link capacity is used. This way a sufficiently high power factor can be achieved without any additional PFC circuit. A double acting inverter using a MOS-FET half-bridge is used for exciting the series resonant tank. The system description of the designed induction heater is presented including some important details.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127422855","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018243
Juraj Ďud’ák, Martin Skovajsa, Ivan Sladek
Communication systems are the fundamental building block of almost all industrial applications. In process control nowadays, the mutual communication between different parts of the system a must. System type and environmental conditions determine the communication protocol suitable for the particular purpose. Various communication protocols differ in their robustness, complexity and deployment options in the area of interest. One of the protocols that excels in its simplicity, implementation options and their univesality is the MODBUS protocol. MODBUS protocol was designed in 1979 with a focus on the control of programmable logic blocks (PLC).
{"title":"Proposal of a communication protocol for smart sensory systems","authors":"Juraj Ďud’ák, Martin Skovajsa, Ivan Sladek","doi":"10.1109/MECHATRONIKA.2014.7018243","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018243","url":null,"abstract":"Communication systems are the fundamental building block of almost all industrial applications. In process control nowadays, the mutual communication between different parts of the system a must. System type and environmental conditions determine the communication protocol suitable for the particular purpose. Various communication protocols differ in their robustness, complexity and deployment options in the area of interest. One of the protocols that excels in its simplicity, implementation options and their univesality is the MODBUS protocol. MODBUS protocol was designed in 1979 with a focus on the control of programmable logic blocks (PLC).","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126545167","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018304
J. Krejsa, S. Vechet
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
{"title":"Covering the working space of mobile robot","authors":"J. Krejsa, S. Vechet","doi":"10.1109/MECHATRONIKA.2014.7018304","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018304","url":null,"abstract":"Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122917662","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018229
P. Procházka, J. Knobloch, D. Cervinka, J. Kadlec, R. Cipín, I. Pazdera
The paper deals with internal communication system in experimental fully electric airplane VUT 051 RAY which is controlling the whole drivetrain system. The complex drivetrain system consist of battery blocks, main computer, control system of the traction inverter, control and monitoring panel, several simple control and monitoring devices placed on pilot board and finally control system of fast charger. Communication interface is realized with CAN network with parallel analog backup structure. All operating conditions are indicated on Onboard monitoring Panel. Significant part of the data structure of the airplane is implemented data logger which is restoring all system events on all communications links. These data can be used for deep analysis of the parameters of energy flows in the airplane drivetrain. The occurred errors and nonstandard drivetrain states are saved too. Finally, the state of charge estimation is discussed.
{"title":"Communication and energy management system of small electric airplane","authors":"P. Procházka, J. Knobloch, D. Cervinka, J. Kadlec, R. Cipín, I. Pazdera","doi":"10.1109/MECHATRONIKA.2014.7018229","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018229","url":null,"abstract":"The paper deals with internal communication system in experimental fully electric airplane VUT 051 RAY which is controlling the whole drivetrain system. The complex drivetrain system consist of battery blocks, main computer, control system of the traction inverter, control and monitoring panel, several simple control and monitoring devices placed on pilot board and finally control system of fast charger. Communication interface is realized with CAN network with parallel analog backup structure. All operating conditions are indicated on Onboard monitoring Panel. Significant part of the data structure of the airplane is implemented data logger which is restoring all system events on all communications links. These data can be used for deep analysis of the parameters of energy flows in the airplane drivetrain. The occurred errors and nonstandard drivetrain states are saved too. Finally, the state of charge estimation is discussed.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127820531","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018325
R. Votrubec, Miroslav S Vavroušek
This paper briefly characterizes a design of a control system of a rotary pneumatic motor. The paper describes linearization of control by two different ways. The first method is linearization using inverse approximation of a static characteristic. The second method employs creating a linearization element using neural networks. Both methods are compared in the conclusion.
{"title":"Control system of a rotary pneumatic motor","authors":"R. Votrubec, Miroslav S Vavroušek","doi":"10.1109/MECHATRONIKA.2014.7018325","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018325","url":null,"abstract":"This paper briefly characterizes a design of a control system of a rotary pneumatic motor. The paper describes linearization of control by two different ways. The first method is linearization using inverse approximation of a static characteristic. The second method employs creating a linearization element using neural networks. Both methods are compared in the conclusion.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121350814","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}
Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018261
Yu Zhang, T. Gordon
Steering control for vehicle lane keeping has attracted great attentions from both automotive industries and vehicle control researchers. Traditionally commonly used linear control model can not adequately represent the intermitted pulse-like qualities in real-world steering angle measurements. Therefore, based on an alternative `pulse control model' of steering control for vehicle lane keeping, steering angle measurements can be decomposed into a combination of ramps (global curvatures) and pulses (local corrections). Measurement trend is extracted through empirical mode decomposition (EMD) technique, where principal component analysis (PCA) is applied as a supplement to quantify the component contribution. Reversal points are found from the extracted pulses by further selections of conditional rules, which then reveals a pattern which is useful to test the overall model validation.
{"title":"Decomposition of steering angle measurements inspired by pulse control model for lane keeping","authors":"Yu Zhang, T. Gordon","doi":"10.1109/MECHATRONIKA.2014.7018261","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018261","url":null,"abstract":"Steering control for vehicle lane keeping has attracted great attentions from both automotive industries and vehicle control researchers. Traditionally commonly used linear control model can not adequately represent the intermitted pulse-like qualities in real-world steering angle measurements. Therefore, based on an alternative `pulse control model' of steering control for vehicle lane keeping, steering angle measurements can be decomposed into a combination of ramps (global curvatures) and pulses (local corrections). Measurement trend is extracted through empirical mode decomposition (EMD) technique, where principal component analysis (PCA) is applied as a supplement to quantify the component contribution. Reversal points are found from the extracted pulses by further selections of conditional rules, which then reveals a pattern which is useful to test the overall model validation.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129012431","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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