mechatronic systems and materials (msm 2007)

8/14/2019 Mechatronic Systems and Materials (MSM 2007)

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ISSN 1822-8283

Kaunas University of TechnologyVilnius Gediminas Technical University

Lithuanian Academy of Sciences

Opole University of Technology

Bialystok Technical University

IFToMM National Committee of Lithuania

3rd International Conference

Mechatronic Systems and Materials (MSM 2007)

27 - 29 September, 2007, Kaunas, Lithuania

Abstracts of Reviewed Papers

TECHNOLOGIJA Kaunas, 2007


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AIM OF THE CONFERENCE

The aim of the conference is to provide an opportunity to share information andfacilitate co-operation in mechatronics and new materials and dissemination ofcurrent research results in this multidisciplinary field.

CONFERENCE VENUE

City of KaunasMSM 2007 will be organized in Kaunas. Kaunas with nearly 400 000 inhabitantsis one of the most significant cities of Lithuania. It is not only a city of oldtraditions, but also large centre of business and industry. It can also claim to be acity of young people with over 35,000 students studying at six state universities.Hundreds of years of cultural heritage are preserved in the historical and

architectural monuments, museums, theatres, art galleries and churches of Kaunas.

Kaunas University of TechnologyKaunas University of Technology is the largest technological University in theBaltic States. The University shares the best traditions of classical Universities,offering almost all fields of technological studies and research. The Social andPhysical Sciences are being particularly emphasized at the University, as amodern University graduate is expected to bear much more beyond theknowledge of his profession. Meanwhile the studies and research in the fields ofHumanities and Biomedicine, as well as in the interdisciplinary fields, haverecently been very successfully launched. New study programmes inMechatronics, Sport Engineering, Musical Engineering, and BiomedicalEngineering appeared to be very popular among the students.

ABOUT MSM 2007

The Program Committee of MSM 2007 has accepted 167 papers by authorscoming from 25 countries of Europe, America and Asia. We would like to thank

very much all the reviewers of the submitted papers - their names are listed lateron in the proceedings, their contribution to the quality and success of thisWorkshop is hereby grateful acknowledged. As a result of the selection process76 papers have been chosen and scheduled for oral presentations and 91 papers -for poster presentations, they are organized in 8 oral and 2 poster sessions.

A selection of best papers will be proposed for publication in a Special Issues ofthe International Journals: Solid State Phenomena, Journal ofVibroengineering, Elektronika ir Elektrotechnika, Mechanika.


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SCIENTIFIC EDITORIAL COMMITTEE

ChairmanR. Bansevicius, Lithuania

Vice Chairman

V. Ostasevicius, Lithuania

MembersG. Amza, RomaniaV. Augutis, LithuaniaS. Backaitis, USAV. Bagdonas, LithuaniaB. Baksys, LithuaniaV. Barzdaitis, Lithuania

I. Blekhman, RussiaC. Cempel, PolandA. Fedaravicius, LithuaniaR. Fourounjiev, BelarusV. Gelezevicius, LithuaniaJ. Holnicki-Szulc, PolandR. Jonusas, LithuaniaC. Kajdas, PolandH. Kawasaki, JapanS. Kausinis, LithuaniaV. V. Kliuev, RussiaJ. A. G. Knight, UKG. Kulvietis, LithuaniaJ. Laugis, EstoniaH. Loose, GermanyM. Meyyappan, USA

M. Min, EstoniaW. Ostachowicz, PolandA. Palevicius, LithuaniaA. E. Panich, RussiaR. Parkin, UKA. Preumont, Belgium

V. P. Royzman, UkraineA. Rovetta, ItalyA. Sachenko, UkraineJ. Sa da Costa, PortugalJ. Sawicki, USAJ. Sapragonas, LithuaniaJ. Skliba, Czech RepublicH. E. Stephanou, USAS. Tamulevicius, LithuaniaT. R. Tolocka, LithuaniaJ. Vantomme, BelgiumV. Vekteris, LithuaniaJ. Viba, LatviaV. Volkovas, LithuaniaW. Zwierzycki, Poland

ORGANIZING COMMITTEE

ChairmanA. Bubulis, Lithuania

Vice ChairmanE. Dragasius, Lithuania

MembersV. Jurenas, LithuaniaK. Juzenas, LithuaniaA. Lipnickas, Lithuania

A. Marcinkevicius, Lithuania

I. Skiedraite, LithuaniaA. Vilkauskas, LithuaniaP. Ziliukas, Lithuania


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LIST OF REVIEWERS

Adamiv O.Adaskevicius R.

Ailon A.Augutis V.Bagdonas V.Baksys B.Balasevicius L.Bansevicius R.Barauskas S.Bartkevicius V.Barzdaitis V.Blaziunas G.Bogdevicius M.Bubulis A.Dallet D.Dauksevicius R.Dervinis G.Dosinas A.Dragasius E.Endo T.Fedaravicius A.Gecys S.Gelezevicius V.Grinko A.Gurbuz R.Holnicki-Szulc J.Ivanescu M.Jokinen T.Kausinis S.Kawasaki H.

Klytta M.Kulvietis G.

Lipnickas A.Mandru D.Marcinkevicius A.Mariunas M.Mouri T.Mzyk G.Niemenmaa A.Ostasevicius V.Panovko G. Y.Ragulskis K.Ragulskis M.Ramonas C.Reuter M.Rinkeviciene R.Rutkauskas R.Saukh S.Y.Simutis R.Stambolov G.Tolocka R. T.Ueki S.Vaitkus V.Vekteris V.Vilkauskas A.Vodovozov V.Volkovas V.Zhurauski M.Ziliukas A.Zvironas A.


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MSM 2007 PROGRAMME

2007.09.27 (Thursday)

8:30 - 9:30 Registration

9:30 - 9:35 MSM 2007 Chairman R. Banseviius

9:35 - 9:40 KTU Vice Rector for Research R. J. Kays

Keynote lectures

9:40 - 10:05

1st keynote lectureH. Kawasaki. Multi-Fingered Haptic Interface Robot

and Its Application Systems

28

10:10 - 10:30

2nd keynote lectureV. Ostaeviius. Mechatronics for Human PhysicalActivity

31

10:35 - 11:00

3rd keynote lectureM. Meyyappan. Nanomaterials, Sensors andIntegration with MEMS

33

11:05 - 11:30

4th keynote lectureS. Samper. Mechatronics in Annecy-FRANCE,Projects and Reality

34

11:35 - 12:00

5th keynote lectureJ. Sawicki. Rotor Crack Detection Using ActiveMagnetic Bearings

35

12:05 - 12:25

6th keynote lectureR. Banseviius. Latest Trends in the Development ofPiezoelectric Multi-Degree-of-Freedom Actuators

37

12:25 - 12:50 Discussions

13:00 - 14:00LunchRestaurant IMTAS, V.Putvinskio str. 53


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2007.09.27 (Thursday)Section I: Mechatronic Systems

Room 1

14:15 - 14:30

Automatic Control of Longitudinal Form Accuracy of a

Shaft at GrindingAndrejus Henrikas Marcinkeviius

39

14:30 - 14:45

A Distributed Control for a Grasping Function of aHyperredundant ArmMircea Ivanescu, Mihaela Cecilia Florescu

40

14:45 - 15:00

Control of a Symmetrical Dual-drive Gantry SystemUsing Energetic Macroscopic RepresentationX. Kestelyn, J. Gomand , Alain Bouscayrol,

P.J. Barre

41

15:00 - 15:15

Control Algorithm for Tracking in Autonomous VTOLAircraftAmit Ailon

42

15:15 - 15:30

Control of the friction Forces with Stationary WavePiezoelectric ActuatorsJean-Franois Rouchon, C. Cnac-Morth,L. Garbuio

43

15:30 - 15:45 Coffee break15:45 - 16:15 Poster session 1 (Room 1)

16:15 - 16:30Pendulum-Generator as New Energy SourceG. Korouji, R. Hanitsch, B. Hbner 44

16:30 - 16:45

The Control System of the Stand for Fatigue Tests ofMaterials under Bending With TorsionL. Kasprzyczak, E. Macha

45


17:00 - 18:30 Free time

18:30 - 22:00Evening ProgrammeKauno Rotu (Town Hall), Rotus a. 15 (Town HallSquare 15)


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2007.09.27 (Thursday)Section II: Sensors and Actuators in Mechatronics

Room 2

14:15 - 14:30

Modelling of the Magnetic Attraction Force of The

Electromagnetic Module In The Relative Base - Air-Gap - Absolute Base SystemTomasz Hucio, KrzysztofFalkowski

48

14:30 - 14:45Constitutive Models of Vascular TissueMirota Kryspin 49

14:45 - 15:00

PBG Fiber Low Concentration Gas SensorJoanna Pawat, Xuefeng Li, Takahiro Matsuo,Tadashi Sugiyama, Toshitsugu Ueda

51

15:00 - 15:15

Fiber-Optical Sensors for Nanometric Displacement andVibration Measurements in MechatronicsVytautas Kleiza, Jonas Verkelis

52

15:15 - 15:30

Development and Experimental Analysis ofPiezoelectric Optical Scanner with ImplementedPeriodical MicrostructureGiedrius Janusas, Arvydas Palevicius, VytautasOstasevicius, Ramutis Bansevicius, Alfredas Busilas

54


16:15 - 16:30

Transient Characterisation and Analysis of ShapeMemory Alloy Wire Bundles for the Actuation ofFinger Joints in Prosthesis DesignK.T. OToole, M.M. McGrath, D.W. Hatchett

55

16:30 - 16:45Design Considerations of a Microelectrostatic Motor

Vytautas Bagdonas, Vytautas Ostaseviius57


17:00 - 18:30 Free time

18:30 - 22:00Evening ProgrammeKauno Rotu (Town Hall), Rotus a. 15 (Town HallSquare 15)


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2007.09.27 (Thursday)Section III: Analysis of Vibration

Room 3

14:15 - 14:30

Robustness Analysis of Vibration Control System for a

Magnetically Supported ShaftArkadiusz Mystkowski, Zdzisaw Gosiewski

59

14:30 - 14:45

Vibration Dampers for Transmission of MechatronicSystemsArnas Jaktas, Bronislovas Spruogis, VytautasTurla

61

14:45 - 15:00

On Passive Position-Dependent Damping for CabSuspension

Petter Kroneld, Toni Liedes, Kalervo Nevala, PasiRuotsalainen

63

15:00 - 15:15Vibration Control of Cantilever BeamJana Kovov, Schlegel Milo, Jan Dupal 64

15:15 - 15:30Modeling of the Beam as a Control Plane for theVibration Control SystemZdzisaw Gosiewski, Andrzej Piotr Koszewnik

65


16:15 - 16:30

Identification of Defects of Rotor Systems with Fluid-Film Bearings on the Base of Analisys of Shaft Orbitsand Continuous Wavelet TransformLeonid Savin, Oleg Solomin, Sergey Shirokov

67

16:30 - 16:45

The Rotating System Diagnostics ModelingV. K. Augustaitis, V. Barzdaitis, V. Buinskas, P.Maeika, M. Vasylius

68

16:45 - 17:00Vibrodiagnostics and Dynamic Behaviour ofAggregates in Small Hydroelectric Power PlantsVitalijus Volkovas

69

17:00 - 18:30 Free time

18:30 - 22:00Evening ProgrammeKauno Rotu (Town Hall), Rotus a. 15 (Town Hall

Square 15)


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2007.09.27 (Thursday)Section IV: Robotics

Room 4

14:15 - 14:30

Design of Dynamic Nonlinear Control Techniques for

Flexible-Link ManipulatorsV. Gavriloiu, V. Yurkevich, K. Khorasani

72

14:30 - 14:45

Simulation and Code Generation for a ParallelKinematic Manipulator with Three Degrees of FreedomRobert Amann, Franz Geiger

73

14:45 - 15:00Fuzzy Control of RobotsArkady S. Yuschenko 75

15:00 - 15:15A Path Planning Algorithm for Snake-Like RobotsErdinc Sahin Conkur, Riza Gurbuz 77

15:15 - 15:30Autonomous Mobile Robots for Outdoor TasksHarald Loose

78


16:15 - 16:30

Enhancing the Accuracy of MRI-compatible Robots

with an Optical Tracking SystemPetri Junttila, Kalervo Nevala, Petter Kroneld

79

16:30 - 16:45Analysis of Insertion Process for Robotic AssemblySigitas Kilikeviius, Bronius Bakys 81


17:00 - 18:30 Free time

18:30 - 22:00

Evening Programme

Kauno Rotu (Town Hall), Rotus a. 15 (Town HallSquare 15)


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11:45 - 12:00

Dynamical Quality Improvement of Mechatronic ServoSystem Using Variable Structure Velocity ControllerNerijus Sulcius, V.A. Gelezevicius

97

12:00 - 12:15

Uncertainty Modeling in Robust Control of Active

Magnetic SuspensionArkadiusz Mystkowski, Zdzisaw Gosiewski 99

12:15 - 12:30

Modelling of the Thermoelastic Damping in MEMSStructuresRimantas Barauskas, Saulius Kausinis

101

12:30 - 12.45 Discussions

13:00 - 14:00 Lunch

16:00 - 18:00Excursion in Kaunas (on foot starting from A.Mickevicius str. 37)


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11:45 - 12:00

Shape Control of a FRP Airfoil Structure Using SMA-actuators and Optical Fiber SensorsPasi Ruotsalainen, Petter Kroneld, Kalervo Nevala,Timo Brander, Tomi Lindroos, Merja Sippola

118

12:00 - 12:15 Cavitation Erosion Resistance of AusteniticMicrostructure Created by Means of Laser BeamMarek Szkodo

119

12:15 - 12:30

The Lubricity and Sorptive Experimental Investigationsof Gear OilsKrzysztof Czypryski, Tadeusz Kadoski, TomaszJ. Kadoski

129


13:00 - 14:00 Lunch



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2007.09.28 (Friday)Section VI: Failure Analysis

Room 3

9:00 - 9:15

Mechatronics Approach in Intelligent Control Systems

of the Overhead Traveling Cranes PrototypingJarosaw Smoczek, Janusz Szpytko

123

9:15 - 9:30

The Method of Complex Worthiness Assessment of anEngineering Object in the Process of Its Use and ServicePawe Lindstedt

125

9:30 - 9:45

Weak Interactions between Objects as New DiagnosticSignals in the Diagnostics of Leakages from PipelinesPawe Ostapkowicz

126

9:45 - 10:00Diagnostics of Scoring in GearsKryspin Mirota, Jerzy Tomaszewski,Jacek Rysiski 128

10:00 - 10:15

Failure Analysis of Destructive CoilsR.Kaianauskas, A. Kaeniauskas, E. Stupak, S.Baleviius, N. urauskien, J.Novickij

129

10:15 - 10:30

Determination of Factors Affecting Safety Strees inMachine Desing by Using Artifical IntelligenceTechnologiesDurmu Karayel,S. Serdar zkan, Fahri Vatansever

131


11:00 - 11:15

Modeling of Moment of Friction under Increasing LoadUsing Artificial Neural NetworksKrzysztof Gocman, Bolesaw Giemza, TadeuszKadoski

133

11:15 - 11:30Managing Changes in Product ConfigurationsLinas Burneika 135

11:30 - 11:45

Modelling of Force Drives of the Production GearHobbing Machine with CNCKastytis Slivinskas, Vladimir Gian, VytautasKazimieras Augustaitis

136

11:45 - 12:00

Modeling Similar Real Time Systems with Petri Nets

Robertas unokas, Egidijus Kazanaviius 138


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12:00 - 12:15

Adaptive Intelligent Vehicle Safety Systems of a NewGenerationReshat Fourounjiev, Yulij Slabko

139

12:15 - 12:30

The Automobile in the Transition from Passive to

Active SafetyStanley H. Backaitis 141


13:00 - 14:00 Lunch



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2007.09.28 (Friday)Section VII: Education in the Fields of Mechatronic Systems and

Materials ScienceRoom 4

9:00 - 9:15

Method of Dynamic Parameters Measurement of High-Speed DACsKvedaras Vygaudas, Kvedaras Rokas, UstinaviiusTomas

143

9:15 - 9:30

Rigid Rotation by Spectral Analysis in Robotics andAstrodynamicsRadu D. Rugescu, Sorin Aldea

145

9:30 - 9:45

Application of Modern E-Learning Techniques in the

Vocational Training in Automation and RoboticsZbigniew Pilat, Marcin Slowikowski, Jacek Zielinski

146

9:45 - 10:00

Survey of Mechatronics Education in the Nordic andBaltic CountriesM. Ottestad, G. Hovland, S. Persson, Kjell G.Robbersmyr, J. Pohl

147

10:00 - 10:15

The Subject Automatics at a Studying ofMechatronics Specialists

Aleksandr Grinko

148

10:15 - 10:30Less Expensive Equipment for Mechatronic Trainingand EducationIon Lungu, Dan Mndru, Simona Noveanu

149



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2007.09.28 (Friday)Section VIII: Measurement Techniques

Room 4

11:00 - 11:30 Poster session 2 (Room 1)

11:00 - 11:15Testing System for Composite Wood Based StripsV. Augutis, G. Balinas, D. Gailius 152

11:15 - 11:30Strain Measurements and Monitoring of ConstructionsRokas Kvedaras, Kvedaras Vygaudas 153

11:30 - 11:45

Wavelet Analysis of Barkhausen Noise inReconstructing Distributions of Residual StressCezary Kownacki

155

11:45 - 12:00

Analysis of Geometrical Accuracy of Long GratingScales Calibration ComparatorA. Barakauskas, A. Kasparaitis, A. ukys,P.Kojelaviius

157

12:00 - 12:15

Mechatronic Structure of Modern Test Bench forPrecision Angle CalibrationVytautas Giniotis, Domantas Bruas, PetrasPetrokeviius, Pranas Kuzas

158

12:15 - 12:30Adaptive Committees of Neural ClassifiersArnas Lipnickas 159


13:00 - 14:00 Lunch



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POSTER SESSION (2007.09.27 28)Poster Session: Mechatronic Systems

Application of Photogrammetric Method for Height MeasurementInstrumentationVytautas Giniotis, Jonas Skeivalas, Petras Petroskevicius

161

Transition Test Patterns Generation for BIST Implemented in ASICand FPGAVidas Abraitis, ydrnas Tamoeviius

162

Steering Wheel and Brake Pedal Feedback for Advanced DrivingSimulatorsPeter Bouchner, Martin Kozumplik, Stanislav Novotny, RomanPieknik, Tomas Radon

163

Tribological Aspects of Electrosensitive (ES) Lubricant Usageorobko E. V., Zhurauski M. A., Bedzik N. A., Novikova Z. A.,Basinuk V. L., Sushko M. I.

164

Intelligent Mechatronics Systems for Climate Parameters OptimizationUsing Fuzzy Logic ControlIvars Beinarts, Anatoly Levchenkov, Nadezhda Kunicina

165

A Classification of Flash Evoked Potentials Based on Artificial NeuralNetwork

Vidas Raudonis, Gintautas Narvydas, Rimvydas Simutis

167

State Controller Design in Programmable Logic ControllersLeonas Balaeviius, Vytis Svajnas Janueviius, SnieguolZakarait

168

Modeling and Investigation of Vector Controlled Induction DriveRoma Rinkeviien, Vygintas Batkauskas

169

PID Controller with Enhanced Disturbance RejectionValerijus Zlosnikas, Algirdas Baskys

170

The Operation of the Linear Induction Motor by Changing the Positionof the Inductors between Each OtherLionginas Radzevicius, Edvardas Matkevicius

172

Development of Electropneumatic Servo System with ReferenceModel Based Signal Adaptive Force ControllerA. Grigaitis, V.A. Gelezevicius

173

Research on Electric and Magnetic Asymmetry of Linear and ArcMotors

Bronius Karalinas

174


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Optimum Rapidity Ensuring and Power Resource Saving Two-Coordinate Positioning SystemGiedrius Blainas, ViliusGeleeviius

175

Examination of Selective Transfer Phenomenon

Andrzej Kotnarowski

177

Underactuated Manipulator with Control Based on Variable DynamicProperties of JointsRymantas Tadas Tolocka, K.Sarkauskas

178

Analysis of Holographic Interferogram of MicroelectromechanicalSystem with Non Harmonic Cycles ExcitationRaimondas Vasiliauskas, Arvydas Palevicius

180

Effect of Nanofillers on Wear Resistance of Polymer Coatings

Danuta Kotnarowska

181

Modeling of Trainers Electric Drive ControlLiudas Brazdeikis, Diana Rklaitien

183

Development of Smart Membrane Valve Based on Geometric MoireInterferometryRamutis Petras Banseviius, Minvydas Ragulskis, RtaMitruleviit

184

Dynamic of a Rewinder With Feedback by Tension Force

Vaclovas Kubilius, eslovas Ramonas, Arnas Lipnickas185

An Analysis of the Adhesive Layer Model Between Two Sheets ofPaperGeorgij Petriaszwili, Jurij Pyrjew

187

Analytic Description of Impulse Response SignalsAdam Kotowski

189

Control of Mobile Crane by means of Fuzzy Logic ControllerTomasz Pdrak,Jacek Kosiski

191

Control of Slewing Motion of a Crane Model Taking into AccountNon-Linearities in Drive SystemJanusz Jarosaw, Kosiski Jacek, Majewski Ludwik

192

Controlling of Work Motions of a Mobile Crane under a Threat of Lossof StabilityKosiski Jacek, JanuszJarosaw

194


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Poster Session: Sensors and Actuators in Mechatronics

Modeling and Design Optimization of Butterfly Type ActuatorDalius Maeika, Piotr Vasiljev

196

ERF Valves Controlled By Plane Capacitor Electric FieldR.Bansevicius, Juozapas Arvydas Virbalis

197

Holographic Interferometry Method for Analysis and Design of RotaryConverterLaima Pataien, Raimondas Vasiliauskas, AlgimantasFedaraviius

198

Dynamic Simulation of Nonlinear Electromechanical and Vibro-Impact Interactions in Electrostatically Driven MicroactuatorRolanas Dauksevicius, Vytautas Ostasevicius, Rimvydas Gaidys

200

Experimental Researches of a Flexible Waveguide With AlternateTightness of Ultrasound VibrationsM.Valaika, A.Bubulis ,V.Jrnas, A.Vilkauskas, I.Adzericho,V.T.Minchenia

202

Piezo-Monitoring of Magneto-Rheological FluidsE. Dragaius

204

Development of Electro-Rheological and Magneto-Rheological FluidsMonitoring systemPaulius Ibianskas, Egidijus Dragaius

205

A Flat Compound Piezoelectric Actuator of a Type a Shaking BeamPiotr Vasiljev, Regimantas Bareikis, Liudmila Vasiljeva , JonasTiskevicius, Algimantas Rotmanas

206

Poster Session: Analysis of Vibration

Application of Mathematical Modelling in the Analysis of theVibroacoustic ProcessesDanielius Guas, Algirdas iuelis

208

CFAR Vibration Signal Change Test and its Applications to Real-TimeRecognition of Developing Cracks in Jet Engine RotorsNicholas A. Nechval, Konstantin N. Nechval, Gundars Berzins,Maris Purgailis

210

An Oscillating Linear Electrical GeneratorSaulius Barauskas, Zigmantas Jankauskas, Vygaudas Kvedaras,

Valentinas Zaveckas

212


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The Transient Behavior of Rails Used in Electromagnetic Railguns:Numerical Investigations at Constant Loading VelocitiesL. Tumonis, Rimantas Kaianauskas, A.Kaeniauskas,M. Schneider

213

Interaction of Vibrating and Translational MotionsLaima Pataien, Kazimieras Ragulskis 215

Investigation of Actuators with Smart LinksEdmundas Kibirktis, Kstutis Vaitasius

217

Applications of High Frequency Vibrations for Surface MillingJ. Graeviit, I. Skiedrait, V. Jrnas, A. Bubulis,V.Ostaeviius

219

Analysis of the Dynamics of the Vibratory Valve-Injector

Vytenis Naginevicius, Minvydas Ragulskis, Arvydas Palevicius

220

Research of Complex Rotary Systems Vibrocondition Based OnAnalysis of Dynamical Processes and Spectrum of VibrationsEgidijus Juznas, Remigijus Jonuas, Kazimieras Juznas

221

Research of Dynamics of Rotary Vibration Actuators with MagneticCouplingKstutis Kanapeckas, Remigijus Jonuas, Kazimieras Ragulskis,Romualdas Ruzgus

222

Transportation and Orientation of Object on a Vibrating Platform withControlled Dry FrictionAlgimantas Fedaravicius, Kestutis Tarasevicius, MinvydasRagulskis

223

Dynamic Stability of a Flexible Rod under Parametric ExcitationGouskov A.M. , Myalo E.V. , Panovko G. Y., Tretyakova V. G.

224

The Pulse Wave Velocity and the Velocity of Sound in Blood FlowRolandas Girys, Arnas vironas

226

Concept and Methods an Adaptive Vibration Protection andStabilizationReshat Fourounjiev, Alexander Homich

228

Heavy Duty Gearing-Roller Bearings System Stability PerformanceP. Maeika, V. Barzdaitis, M. Bogdeviius, R. Didiokas, V.emaitis

230

Investigation of Vibrations of a sheet of paper in the Printing MachineL. Ragulskis, E. Kibirktis, A. Kabelkait, A. Dabkeviius

231


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Poster Session: Robotics

The Influence of Friction on the Dynamic Model for a 6-DOF ParallelRobot with Triangular PlatformTiberiu-Pavel Itul, Doina Liana Pisla

233

Mechatronics Approach for CNC Milling Machine DesignRiza GURBUZ

235

Aspects Concerning Modeling of Self-Reconfigurable Parallel RobotsCornel BRISAN

236

Study of Robot Actuator Operating as a System on Air FilmsK. Ragulskis, E. Kibirktis, D. Pauliukaitis

237

Development of Mobile Minirobots for in Pipe Inspection Tasks

Olimpiu Ttar, Dan Mndru, Ioan Ardelean238

Workspace and Stiffness Analysis of a Two Degree of Freedom MicroParallel RobotSergiu-Dan, Vistrian Mtie, Radu Blan

240

Autonomous Mobile Robot Control Using IF-THEN Rules andGenetic AlgorithmGintautas Narvydas, Rimvydas Simutis, Vidas Raudonis

241

Vibratory Alignment of the Parts during Robotized Assembly

Bronius Bakys, Jolanta Baskutien243

Local Navigation Method for Improvement of Mobile RobotMovementOleh Adamiv, Vasyl Koval, Arunas Lipnickas, Viktor Kapura

245

Hexapod Leg Control Algorithm in Fault ConditionsViorel Stoian, Mircea Nitulescu, Cristina Pana

247

Workspace Optimization of a Six Degree of Freedom Micro ParallelRobot

Sergiu-Dan, Vistrian Mtie, Radu Blan

248

Poster Session: Materials (properties, modeling, manufacturing andprocessing)

3-D Modeling of Nanostructures Evolution in Lateral EtchingProcessesRomualdas Navickas

250


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The Influence of Selected Powder Fillers on the Tribological Propertiesof Composite Materials for Dental FillingsJoanna Mystkowska, Jan Ryszard Dbrowski

251

Research on Wood Gluing Factors by a Resonant Oscillations Method

J.Vobolis, D.Albrektas

253

Vibration Based Research into Temperature Influence on Circular SawParametersKristina Ukvalbergien, Jonas Vobolis, Juozas vinys

255

Mechanical Properties of Smart Fluids under Combined Electric andMagnetic FieldsM. Zhurauski, E. Dragaius, E.V. Korobko, Z.A. Novikova

256

Influence of Cavitation Intensity on the Relative Cavitation Resistance

of Laser Processed C45 Carbon SteelMarek Szkodo 257

Express Diagnostics of Elastic Properties and Hardness of theMaterialsRimantas Dapkus

258

Investigation of Alloy Elements Transfer in Arc Facing by HighCarbon and Chromium Content ElectrodesValentinas Varnauskas, Algirdas Vaclovas Valiulis, VitalijusRudzinskas

260

Vibration Control of Oscillating System based on Governing Visco-Elestic Characteristics of Absorber by Means of External ElectricSignalBilyk V. A., Korobko E.V., Reizina G.N., Bashtovaya E.A.,Kaberdina E.B., Kuzmin V.A.

262

A Surface Micromachined Comb Drive with Superior Stability forApplication as a Power SourceYanxia Zhang, M.Kahrizi

264

Infrared Reflective Coatings for Window GlazingJitka Mohelnikova

265

Poster Session: Failure Analysis

Probabilistic Fatigue Reliability AssessmentKonstantin N. Nechval, Nicholas A. Nechval, Gundars Berzins,Maris Purgailis

260


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A Model for Estimation Mould Thermal Fatigue Life in PermanentMould CastingRamazan Kayikci, Mesut Durat, Ergun Nart, Ibrahim Ozsert

270

Methods and Computing Environment for Research and Designing of

Mechatronic systemsReshat Fourounjiev, Nikolay Gursky 271

Algorithm of Combined Simplex Search with State RecognitionAlgirdas Dambrauskas, Dainius Udris

273

The New Self-adjusting Method of the Multi-input DifficultTechnological Processes OptimizationGohar Manukyan, Eduard Stepanyan

274

Coupling of Energy Flows from Internal Combustion Engine and

Electrical Motor in Hybrid VehicleMartynas Stareviius, Kstutis Pilkauskas, Jonas Sapragonas 276

Selection of PDM Information SystemJi Maxa, Vilm Nedla

277

Stable Parametritic Identification of Vibratory Diagnostics ObjectsAnatoly V.Panyukov, Alexander N. Tyrsin

278

Simulation of Mechanical Systems Using Behavioural Hybrid ProcessCalculus

Tomas Krilaviius

280

Poster Session: Measurement Techniques

XML Data Schemas of the Sea Level Observations for Scalable VectorGraphics FormatEimuntas Parseliunas, Leonardas Marozas

282

The 90nm CMOS Charge Sensitive Preamplifier

Vaidotas Barzdnas, Romualdas Navickas284

Information Entropy Determination in Scales Measurement IncludingMechatronic ApproachMindaugas Rybokas, Ramutis Bansevicius, Vytautas Giniotis,

285

Implementation of Piezoceramic Transducers Testing Method forManufacturing of Ultrasonic Metering DevicesPaulius Borodias, Saulius Baskutis, Vytautas Petkus

386

Tool Edge Geometry and Wear Recognition by Using Contact

MethodInga Skiedrait 287


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The Analysis and Optimization of Piezomotor Driver for Laser BeamDeflectionVladas Juska, Linas Svilainis, Vytautas Dumbrava

288

Line Scale Comparator Carriage Vibrations during Dynamic

CalibrationA. Kasparaitis, V. Vekteris, A. Kilikevichius 290

The Test Stand for Analysis of Fatigue Crack Propagation underBending with TorsionGrzegorz Gasiak, Grzegorz Robak

291

Instability of Structure Plates under Two-directional CompressionAntanas Ziliukas

292

Assessment of Dynamical Properties of Die Hammer Mpm 10000 B

Considering Deformations of Working MaterialMajewski Ludwik,Trbka Arkadiusz 293

Poster Session: Education in the Fields of Mechatronic Systems andMaterials Science

Modelling and Control Aspects for a Type of Mobile RobotMircea Niulescu, Viorel Stoian

296


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KEYNOTE LECTURES


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Multi-Fingered Haptic Interface Robot and Its ApplicationSystems

Haruhisa Kawasaki1, a

Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

[email protected]

Keywords: Haptics, robot, virtual reality, redundant control, FEM, haptic rendering

Abstract

Haptic interfaces that present force and tactile feeling have been utilized in theareas of tele-manipulation, interaction with micro/nano scale phenomena, medicaltraining and evaluation, and so on. A multi-fingered haptic interface has greaterpotential for the above mentioned applications than does a single point haptic

interface. Several multi-fingered haptic interfaces have so far been developed.However, the issue of developing a haptic interface opposite to the human handhas so far not been addressed. The haptic interface must be safe, function in awide operation space, and present not only force at the contact points but also theweight of virtual objects. In addition, it should not have an oppressive feelingwhen it is attached to humans, and should not present its own weight. In responseto these issues we developed a five-fingered haptic interface robot named HIROII, which consists of a hand with 15 dof and an arm with 6 dof. The followingresearch issues are presented:

Design method of mechanism Redundant robot control taking humans sensitivity into consideration Physical simulation including frictional force and moment Application system 1: Future science encyclopedia Application system 2: VR breast palpation system

Design method of mechanism

Allocation of haptic fingers has great effect on the operability of the multi-fingered haptic interface opposite to the human hand. The product workspace

between the operators finger and the hapic finger should be large and the highopposability of the thumb and fingers is required to make easy pinching of asmall object. Reasonable design method optimizing both performance indexes ispresented.

Redundant robot control taking humans sensitivity into consideration

The hand posture is nonunique because of the redundancy of the HIRO II. Anapproach taking the redundancy into account is a combination control with afinger force control and an arm position control, in which a desired hand postureis determined to maximize the hand manipulability measure to respond to


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operators various hand poses. However, this control method causes large armmotion even though the operators finger motions are slight. This excessivemotion sometimes confuses the operator because it creates the illusion that thedevice is malfunctioning. For presenting haptic feeling in wide operation spaceand reducing the operators sense of unease, a modified hand manipulability

measure has been presented.

Physical simulation including frictional force and moment

When an object is manipulated by the operators hand in virtual space, it isdesirable that the object spatial movement is based on physics laws. Constraintforce and frictional force at the contact points between the operators fingertipsand object surface are important factors to enhance reality. As a physicalphenomenon there are two friction states at the contact point: static friction statewithout sliding and dynamic friction state with sliding. Moreover, computations

of not only friction force but also friction moment are required. Computationalmethods of frictional force and moment in virtual reality (VR) environment havebeen presented.

Application system 1: Future science encyclopedia

Maintaining a stable haptic interaction in VR environments, especially withphysically-based deformable objects, has long been an active area of research.Comprehensive haptic system architecture for the haptic rendering, where aphysically-based modeling using the FEM with elementary displacement

approach was implemented, has been proposed by our group. The Future Haptic

Fig. 1 Five-fingered haptic interface robot HIRO IIand future science encyclopedia (FSE)


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Science Encyclopedia (FHSE) has been developed to verify and demonstrate ourproposal at the 2005 World Exposition, Aichi, Japan.

Application system 2: VR breast palpation system

There is a strong need for palpation training in the detection of subsurface tumors.An important step in the breast modeling sequence is incorporation into a modelof large deformation effects and consideration of nonlinear material properties.We adopted a linear model adaptation technique for a nonlinear force update, inwhich the deformations of the model nodes are calculated according to a linearmodel and forces of the touched nodes are updated according to theexperimentally measured force-displacement curves. Some videos of experimentsand VR simulation are shown.

Fig.2 Haptic breast palpation using HIRO-II


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Mechatronics for Human Physical Activity

Vytautas Ostaeviius1, a1KTU International Studies Centre, A.Mickeviiaus 37, LT-44244 Kaunas,

Lithuaniaa

[email protected]

Keywords: mechatronics, personal analyzers, portable devices

Abstract

Many people worldwide are engaged in fitness training or jogging and there is aconstant increase of tools available for control of human health and physicaltrainingusually based on monitoring of pulse rate that is recorded by means ofdifferent devices. However, it is important not only to control heart rate frequency

during physical exercise, but also to evaluate functional status of a person,particularly adaptability of cardiovascular system, as well as estimate amount ofperformed work in order to make optimal planning of intensity and duration oftraining avoiding excessive variability of pulse rate, and also in order todetermine optimal combinations of individual physiological characteristics andphysical load, as well as proposing modifications of performed movements incase they are not optimal. Adaptive capabilities of cardiovascular system aresufficiently determined from autonomous regulation, which in turn may beestimated during active orthostatic test. Therefore it is intended to evaluate these

parameters before physical exercising thereby defining human functional statusand to specify parameters for exercising. Portable and user-friendly devices aredeveloped for execution of above-mentioned tasks. The devices have suchfunctional capabilities as: a) to record heart rate (RR intervals ofelectrocardiogram) during functional tests and physical exercising; b) to performanalysis of heart rate parameters and, by using results of the analysis, assesshuman functional status, specify intensity and duration of physical training aswell as pulse rate; c) to evaluate heart rate dynamics during physical exercising(such as running and other modes of human motion). The device could also be

applied for control of functional status of athletes and their training process.The devices possess the functionality to transmit monitoring results to dataacquisition and analysis equipment for subsequent development of holistic modelof human physiological states and then presenting it to the monitored person thusensuring information feedback.

In addition to the development of the personal analyzers, objective is a system(wireless hardware and software) for evaluation of interpersonal functional status,which could be used in sports and rehabilitation, and based on monitoring andanalysis of hybrid image, physiological and biomechanical data. The hardware

and software is used for: a) enhancing sports techniques; b) rehabilitation; c)scientific research in the fields of kinesiology, rehabilitation and sports.


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These products are universal and are intended both for global high-tech andconsumer markets including patients in medical rehabilitation institutions aswell as top sport professionals. Global market for these products is billions ofUSD per year. Proposed devices successfully compete with analogous productsfrom such companies as Polar Electro (Finland), Cardiosport (UK), Timex (USA),

Sensor Dynamics (USA), Mio Watch (USA), Ochron (USA), Intelligent HealthSystems (Australia), Reebok (USA), Suunto (USA) and others. Potential users ofthe proposed products: individuals, sport organizations, schools, clubs,rehabilitation centers, etc. Product manufacturer company UAB Baltec CNCTechnologies. This company participated in the following high-techdevelopment projects:- High Technologies and Equipment for Human Health Enhancement

(HOMOTECH) (2003-2005), which participants were Kaunas University ofTechnology, Lithuanian Academy of Physical Education and Institute of

Cardiology c/o Kaunas University of Medicine and partners. The project purposewas research of biomechanics and physiology of motion of fit and handicappedpersons, development of innovative methods, technologies and high-techequipment for enhancement of human functional capabilities, compensation andrehabilitation.

- High Technologies and Equipment of home of the future (KOMOTECH)(2003-2006), which participants were Kaunas University of Technology, UABKatra, UAB Rubikon apskaitos sistemos. The project was funded byLithuanian State Science and Studies Foundation. The project purpose wasdevelopment of smart system for enhancement of home comfort centralized

control of communal services, automatic devices, security and other installedsystems as well as development of functional capabilities in interaction betweenhome dwellers and public service organizations in the modern society.

- Integrated system for human fitness GUDRIS (contract no. BPD04-ERPF-3.1.7-03-05/0012). Participants of the project are Kaunas University ofTechnology, Lithuanian Academy of Physical Education, sports center Linijaand public organization Zaliakalnio slenis. Purpose of the project is to developinnovative fitness training equipment enabling implementation of e-version offitness training center, where all training loads and workout intensities will be

controlled by computerized expert systems according to individual interests, aims,physiological and biomotory state.- Problems in MicroSensorial Wireless Networks (SWN), call FP-2005-IST-5,

prioritytechnologies for information society. BCT is one of the project partnerstogether with Polytechnic University of Madrid, Kaunas University ofTechnology, companies Edosoft Factory and MTP (Spain), Coronis Systems andCEA LIST (France) and Institute of Industrial Systems at Patrase University(Greece). Major aim of the project is to develop new generation cellular wirelessinformation transfer system and adapt it to the transmission of humanphysiological and biomechanical parameters in the confined environment.


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Nanomaterials, Sensors and Integration with MEMS

M. Meyyappan1, a1NASA Ames Research Center, Moffett Field, CA 94035

[email protected]

Keywords: nanotechnology, sensors, actuators, MEMS

Abstract

There are strong research programs in nanotechnology related to chemical sensors,electromechanical devices, actuators, biosensors, and other nanodevices inleading laboratories across the world which use nanomaterials and othermolecularly-engineered approaches. In many cases, practical systems demandseamless integration of the nanodevice with higher order structures, for example,

MEMS. Examples of this using carbon nanotube based chemical and biosensorswill be presented. Opportunities using inorganic nanowires in the aboveapplications will also be highlighted.


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Mechatronics in Annecy-FRANCE, Projects and Reality

Serge Samper1, a

1SYMME-POLYTECHSAVOIE, BP 80439, 74944 ANNECY LE VIEUXCedex- France

[email protected]

Keywords: mechatronics, definition, projects, education, research

Abstract

The Mechatronics development in our area in the French Alps (Annecy area) is aglobal project that includes both local industries and universities. In this paper wepresent how we all evolve to build two mechatronic curricula and a mechatroniclaboratory with industrial partners. Some of our mechatronic research projects are

linked to local industries, while others are rather biomechatronic projects (whichrepresent a good perspective in our mind). In order to explain what mechatronic isto students and manufacturers, we propose a definition based on naturalbehaviours.

Conclusion

The mechatronic developments are based on three legs, industry, education andresearch. The main difficulty is to keep a good coherence between them. Fromseveral years, people have been working in research, education, and industry

fields aiming to make bricks of mechatronic. By adding them, the first step tobuild a mechatronic project is accomplished; but in order to progress, the way theassembly is made must be changed. Those bricks have to be thought togetherthanks to researchers, and they must be designed and manufactured by"mechatronicians" (how many are they?). In industry, research, and education,

people will have to continue to cross each others way in order to help theemergence of a true "mechatronic approach".

References

[1]http://www.thesame-innovation.com/Publi/Fichier/liste_formations_mecatronique_2.pdf (in french)

[2] http://www.mechatronics-net.de[3] G. Roberts, Editorial Twelve years of the Mechatronics journal. Mechatronics,

13 (2003), pp. 10251028[4] O. Kaynak, Recent Advances on Mechatronics. Guest Editorial of the Special

Issue of Robotics and Autonomous Systems, 19 (2) (1996).[5] W. Geiger ), B. Folkmer, J. Merz, H. Sandmaier, W. Lang "A new silicon rate

gyroscope" Sensors and Actuators 73 1999.pp. 4551


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Rotor Crack Detection Using Active Magnetic Bearings

Jerzy T. Sawicki1, a1RMDC, Dept. of Mechanical Engineering, Cleveland State University

[email protected]

Keywords: rotor crack, magnetic bearings, AMB-actuators

Abstract

Well-established procedures exist to monitor and diagnose fairly severe problemswith rotating machinery but little progress has been made in developingtechniques to detect subtle changes in machine condition for both improveddiagnostics, and to develop prognostic procedures for determining remainingservice life. Of all machine faults, crack initiated problems present probably the

most significant safety and loss hazard in modern turbomachinery, includingaircraft engines and power generation units. Different approaches are used tomodel, detect, and localize crack-induced damage in rotating structures. Thispaper presents novel application of active magnetic bearings (AMBs) for on-linerotor crack detection. AMB-actuators provide convenient means to apply a broadspectrum of known dynamic forces and monitor responses in a rotor-bearingsystem, which facilitates more sensitive and precise diagnostics. The paperpresents theoretical modeling and description of the experimental facility forproof-of-concept testing.

Fig. 1. Concept for application of AMB for rotor crack detection.

0 un ext Mq Dq K K q F F

0 11 1200 21 22

0,

0

k k kt

k k k

K K

K0 - undamaged stiffness matrix

tK - time dependent stiffness change matrix due to crackFexexternal excitation force

0 .1 0 .2 0 .3 0 .4 0 .5 0 .6 0 .7 0 .8 0 .9 1 1 .1-8

-6

-4

-2

0

2

4

6

8

10

SpeedRatio(/n)

AmplitudeinZ-d

irection

0 0 .2 0 . 4 0 . 6 0 .8 1 1 .2 1 . 4 1 . 6 1 .8 2-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

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1


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Fig. 2. Uncracked rotor response: Fig. 3. Cracked rotor response:speed 46 Hz, no external excitation. speed 46 Hz, no external excitation.

Fig. 4. The cracked rotor vertical Fig. 5. Rotor crack detection rig.

response: speed 46 Hz, externalexcitation 52 Hz.

0 50 100 150 200

10-10

10

-8

10-6

10-4

Response(m)

Frequency (Hz)

0 50 100 150 200

10-10

10

-8

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Respon

seamplitude(m)

Frequency (Hz)

0 50 100 150 200

10-10

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)

Frequency (Hz)

, for 1, 2, 3exc n

n n

4

40 46

1 1 10

52

n

m e

exc

Hz, Hz

kg, m

crack depth = 40% of radius

Hz


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Latest Trends in the Development of Piezoelectric Multi-Degree-of-Freedom Actuators

Ramutis Bansevicius1, a1Kaunas University of Technology, Mechatronics Centre for Research,

Studies & [email protected]

Keywords: active kinematical pairs; piezoactive links; several degrees-of-freedom; micro-robots; piezoelectric motors; transforming the oscillations; quasi-static motion

AbstractPaper presents latest developments of piezoelectric actuators with several degrees-of-freedom (DOF), realizing high precision displacements in the plane (up to 3 DOF)

and space (up to 6 DOF). The concept ofActive kinematical pairs with several DOF isintroduced and specified. In Active kinematical pairs one or both elements are active(usually made from piezoactive or magnetostrictive materials) and various methods oftransformation of resonant multi-component oscillations into continuous or start-stopmotion is taking place. The resolution of such actuators with several DOF lies in therange of 1 50 nm and depends on the rheological properties of the contact zoneand on the type of the dynamic interaction between active and passive links or, in caseof two active elements in the contact zone, on the ratio of absolute amplitudes two-component oscillations.

Time constant of such actuators depend on the masses of the links and could be

achieved as small as few ms for masses of the rotor or slider less than 1 kg. Thisspecific feature allow to design high accuracy actuation devices with zero errorsrelated to the positioning of the shaft, slider or any moving link in the space.Practically this feature is realized in Active supports and bearings, in which thesupporting surface is active and generates motion of the moving or rotating link.Simplest examples are the shaft mounted in the conical centers, performing torsionaland axial oscillations simultaneously or the same shaft mounted on the active V-block,made of piezoactive material and oscillating in the contact area with the shaft in twodirections (normal and tangential) with specific phase shift, depending on therheological properties of the contact zone. In both these cases indexing errors areequal to 0.

To achieve the resolution in the nanometer range quasi-static displacement of theactive links are generated; usually the frequency range of such mode of operation is1/3 of resonant frequency of the lowest form of oscillations.

A lot of examples of multi-degree-of-freedom piezoelectric actuators are given,including positioning systems on the plane, micro-robots, manipulators, even theschematics with infinite number of DOF snake or trunk robots. Lately sufficientattention is being paid to the development of mini-submarines (6 DOF); someexamples of possible actuators for this class of the devices are also described.

This research was partly financed by EC Framework VI project MINUET andLithuanian State Science and Studies Foundation (Project PiezoAdapt, 2007).


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PRESENTATIONS

Section I: Mechatronic Systems

(2007.09.27 14:15 17:00, room 1)


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Automatic Control of Longitudinal Form Accuracy of aShaft at Grinding

A. H. Marcinkeviius1, a1Machine Engineering Department, Vilnius Gediminas Technical

University, Basanaviiuas St. 28, Vilnius, LT 03224, [email protected]

Keywords: Control properties, theoretical background, use of control.

Abstract

One of the main tasks of accuracy achieving at shaft grinding is to keep accuracyof its longitudinal form with maximal productivity of the process. At manymachining processes problem of accuracy achieving and productivity increase is

searched in control the cutting force component Fz or Fy and keep it constant.Although in traverse grinding because of stiffness change of a technologicalsystem in a longitudinal stroke the constancy of grinding force does not warrantthe accuracy of a longitudinal form.

The different works were made for accuracy achieving of slender rollerswhich are character that the rate between the length and the diameter of a slenderroller was very large (up to 30-50), for this reason the grinding only withsupporting steadies is able. At moderate rate between the length and diameter ofthe shaft (in limits up to 78) the shafts are ground without steadies, the problem

of stiffness change of a technological system at longitudinal stroke has largeinfluence on accuracy. The main influence on this accuracy has radial componentFy of grinding force. Partial solution of the problem is searched by keepingconstant this force by change of cutting rates (in most cases longitudinal speedof the traverse stroke), but because of stiffness change in a longitudinal stroke theconstancy of grinding force does not warrant the accuracy of a longitudinal form.For that reason the method is proposed how to calculate the grinding force changein longitudinal stroke which would keep constant deflection in a system. Thedigital control system in this method would calculate and keep necessary value of

cutting force which would keep constancy of the longitudinal form. The systemconsists of measuring transducers which control elastic displacement of centerpins at grinding and keeps their previously calculated necessary sum ofdisplacements by automatically controlled longitudinal feed speed value. Becausegenerally in practice multi step shafts are used in machines, the multi step shaft isanalyzed in the work..

The calculated cutting rates, so the necessary grinding force is programmedfor the shaft beforehand depending on its stiffness and stiffness of thetechnological system.

Accuracy and productivity of the grinding is increased.


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A Distributed Control for a Grasping Function of aHyperredundant Arm

Mircea Ivanescu1, a, Mihaela Cecilia Florescu2, b1 Faculty of Automation, Computers and Electronics, University of Craiova,

Romania2 Faculty of Engineering and Management of Technological Systems,Calugareni 1, Dr.Tr.Severin, University of Craiova, Romaniaa [email protected], b [email protected]

Keywords: distributed parameter systems, force control, grasping, tentacle robots.

Abstract

The paper focuses on the control problem of a tentacle robot that performs thecoil function of grasping. First, the dynamic model of a hyperredundant arm withcontinuum elements produced by flexible composite materials in conjunctionwith active-controllable electro-rheological fluids is analyzed. Secondly, bothproblems, i.e. the position control and the force control are approached. Thedifficulties determined by the complexity of the non-linear integral-differentialequations are avoided by using a basic energy relationship of this system. Energy-based control laws are introduced for the position control problem. A forcecontrol method is proposed, namely the DSMC method in which the evolution ofthe system on the switching line by the ER fluid viscosity is controlled.

Numerical simulations are also presented.

References

[1] Chirikjian, G.S., J. W. Burdick, Kinematically optimal hyperredundantmanipulator configurations, IEEE Trans. Robotics and Autom., vol. 11, no. 6(1995), pp. 794 - 798.

[2] Mochiyama, H., H. Kobayashi, The shape Jacobian of a manipulator withhyper degrees of freedom, Proc. 1999 IEEE Int. Conf. on Robotics andAutom., Detroit (1999), pp. 2837- 2842.

[3] Mochiyama, H., E. Shimeura, H. Kobayashi, Direct kinematics ofmanipulators with hyper degrees of freedom and Serret-Frenet formula, Proc.1998 IEEE Int.Conf. on Robotics and Autom., Leuven, Belgium (1998), pp.1653-1658.

[4] Robinson, G., J.B.C. Davies, Continuum robotsa state of the art, Proc. 1999IEEE Int. Conf. on Robotics and Autom., Detroit, Michigan (1999), pp. 2849-2854.


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Control of a Symmetrical Dual-drive Gantry System UsingEnergetic Macroscopic Representation

X. Kestelyn1, a, J. Gomand 1, Alain Bouscayrol2, P.J. Barre11L2EP-ENSAM, Bd Louis XIV 59040 Lille, FRANCE

2L2EP-USTL, University of Lille, 59655 Villeneuce dAscq, [email protected]

Keywords: Dual-drive, Gantry system, Energetic Macroscopic Representation,Control.

Abstract

Dual-drive gantry systems are commonly used in many industrial applications.However, as few papers are available in the literature, this kind of system is

difficult to broach. Based on an energetic approach so-called EnergeticMacroscopic Representation (EMR), this paper presents a graphical modellingbased on lumped-parameters. The initial drive is decomposed into a set ofdecoupled fictitious systems using a mathematical transformation. Since themodelling respects the integral causality, inversion-based controls are thusdeduced. More generally,this approach proposes a way to analyze and deducemodels and controls of multi-drive mechatronic systems.

References

[1] Widdowson G.P., Youyong L., Gaunekar A.S., Kuah, T.H., Srikanth N., Design of a high speed linear motor driven gantry table, Power ElectronicDrives and Energy Systems for Industrial Growth, 1998. Proceedings. 1998International Conference on Volume 2, 1-3 Dec. 1998 Page(s):936 - 941 Vol.2

[2] Heung-Keun Park, Sung-Su Kim, Jin-Moo Park, Tae-Yeon Cho, Daehie Hong, Dynamics of dual-drive servo mechanism, Industrial Electronics, 2001.Proceedings. ISIE 2001. IEEE International Symposium on Volume 3, 12-16June 2001 Page(s):1996 - 2000 vol.3

[3] Ph. Poignet , M. Gautier, W. Khalil, M.T. Pham, Modeling, simulation andcontrol of high speed machine tools using robotics formalism , Mechatronics,2002 Elsevier Science Ltd.

[4] Sungsoo Kim, Baeksuk Chu, Daehie Hong, Heung-Keun Park, Jin-Moo Parkand Tae-Yeon Cho, Synchronizing Dual-Drive Gantry of Chip Mounter withLQR Approach, Proceeding of the 2003 IEEE/ASME, InternationalConference on Advanced Intelligent Mechatronics (AIM 2003)


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Control Algorithm for Tracking in Autonomous VTOLAircraft

Amit Ailon1, a

1Department of Electrical and Computer Engineering, Ben Gurion

University of the Negev, Beer Sheva 84105, [email protected]

Keywords: Vertical take-off and landing aircraft, motion-planning, control,trajectory following.

AbstractControl problems of a Vertical Take-off and Landing (VTOL) aircraft have received a lotof attention by the control community. This study presents a simple algorithm for motion-planning and design tools for tracking control of a VTOL aircraft. The considered

simplified model is given by (see [1]):

= 1sin1 + 2cos = 1cos1 + 2sin = 2wherex and y are respectively the lateral and vertical coordinates of the aircraft center ofmass, is the roll angle, u1 and u2 are the vertical control force and the rotational moment,respectively, g>0

is the gravitational acceleration, and is the constant coupling between

the roll moment and the lateral force.The resulting control schemes are useful for flight control of an autonomous VTOL

aircraft in case the control objective is to drive the system from a given state to aprescribed target and when a reference path should be followed.

Our analysis is based on the state-space model of the VTOL aircraft. In the currentanalysis we adopt tools from the earlier works [2], and [3], which show that in linear time-invariant systems controllability is equivalent to polynomial controllability, namely, it isalways possible to transfer a controllable linear system from a given state to a desired onealong a polynomial trajectory, by means of a polynomial input. The polynomialcoefficients are computed simply by solving a linear algebraic equation. In this study wefurther extend these results and present a closed-form solution to the motion-planningproblem of the VTOL aircraft. Having established tools for motion-planning, a closed-loopcontrol scheme is presented for solving the trajectory tracking problems. Simulation results,which demonstrate the controller performances, are given.References[1] J. Hauser, S. Sastry, and G. Meyer, "Nonlinear control design for slightly non-

minimum phse systems: Application to V/STOL aircraft," Automatica, vol. 28, pp.665-679, 1992.

[2] A. Ailon, L. Baratchart, G. Grimm, and G. Langholz, "On polynomial controllabilitywith polynomial state for linear constant systems," IEEE Trans. Automat. Contr., vol.31, pp. 155-156, 1986.

[3] A. Ailon and G. Langholz, "More on controllability of linear time invariant systems,"Int. J. Contr., vol. 46, pp. 1161-1176. 1986.


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Control of the Friction Forces with Stationary WavePiezoelectric Actuators

J-F. Rouchon1, a, C. Cnac-Morth1, b, L. Garbuio2, c1LAPLACE-ENSEEIHT-GREM3, 2 rue Camichel - B.P. 7122 -

31071 Toulouse Cedex 07, France2LMN-ENSIEG-INPG, rue de la Houille Blanche-Domaine Universitaire,BP46

38402 St Martin d'Hres Cedex, [email protected], [email protected],

[email protected]

Keywords: piezoelectric actuators, stationary wave, mechanical vibrations,electroactive lubrication, friction force control, friction coefficient reduction

Abstract

This article deals with the advantages of flexural stationary wave piezoelectricactuators in the control of the friction forces thanks to their high pressuresgenerated at high frequencies (>10 Khz). Indeed, the apparent friction coefficientbetween two solids in dry contact can be modified by the imposition of vibrations.[1], [2] In order to optimize this new concept (higher relative speeds), twoimprovement ways are possible: the increase of contact frequency by the choiceof dedicated piezoelectric structure, and the vibratory amplitude minimization by

the decoupling of contact stiffness.A first study about specific contact geometry is presented to optimize the

lubrication effect. Specific contact geometry is defined by the Hertz theoryassociated with partial slip contact conditions. In the case of this discretizedcontact, an analytical model determines the parameters of mechanical vibration(amplitude and frequency). The required frequency can just be obtained by thechoice of appropriate structure, like flexural stationary wave piezoelectricactuators. For a piezoelectric torque limiter application, the design and thenumerical simulation of dedicated piezoelectric actuator are presented. In

agreement with the modeling of contact, the characterization of the completeactuator on mechanical test bench validates the "torque limiter" required function.

References

[1] L. Garbuio and J-F. Rouchon, in: Piezoelectric thrust bearing for severeenvironments, Actuator 2006, Volume A5.3 (2006), p. 326-346.

[2] L. Garbuio and J-F. Rouchon, in: Etude du dbrayage des moteurspizolectriques rotation de mode, edited by RIGE, Volume 10 (2003), p.1-19.


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Pendulum-Generator as New Energy Source

G. Korouji1, a, R. Hanitsch2, b, B. Hbner3, c1University of Technology Berlin, Einsteinufer 11, 10587 Berlin, Germany2University of Technology Berlin, Einsteinufer 11, 10587 Berlin, Germany

3

IBH Consulting, Am Studio 20a, 12487 Berlin, [email protected],[email protected],[email protected],

Keywords: Pendulum generator, Permanent magnets, energy storage, Super-capacitors, wireless sensor networks

Abstract

For a variety of applications in the logistic sector an energy supply is needed. The

classical approach is to use recharging and/or change of the battery which isadding complexity to the system. The idea is to implement a novel generator inorder to bypass external recharging.

The construction details of the prototype will be described and measuredparameters of interest will be given in the full paper.

The construction principle is characterised by the following features. Thestator consists of an upper and lower part and both parts are equipped with highenergy permanent magnets. The remanence of the NdFeB magnets is 1.2 T.Based on the material parameters and the chosen airgap length we obtain a flux

density of 0.75 T in the airgap. The ironless rotor is a wok-type structure withintegrated coils. If we place such a system on a truck within a container theacceleration and braking action will trigger the movement of the pendulum rotorand we can measure an induced voltage at the coil terminals.

The energy coming from this device is then used to charge a Li-battery orsupercapacitors which act as energy supply for security devices inside thecontainer or wireless sensor networks.

Depending on the type of transportation such as rail, road or sea the specialrotor will move with a frequency between 0.1 Hz and 10 Hz. For the existing

prototype we measured voltages up to 4.5 V as peak values. The power level ofthe generator is well above 20 mW.The electronic interface between pendulum generator and Li-battery has to be

designed in such a fashion that losses are on minimum level. Mobile wirelessnetworks can also be supplied from such a generator. A lot of the commercialfocus in this new market is on piezoelectric systems for harvesting energy fromregular vibrations. The pendulum generator, based on the electromagneticprinciple, is tailored for stochastic vibrations.


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The Control System of the Stand for Fatigue Tests ofMaterials under Bending with Torsion

Leszek Kasprzyczak1, a, Ewald Macha1,b1 Opole University of Technology, Department of Mechanics and Machine

Design, Mikolajczyka St. 5, 45-271 Opole, [email protected], [email protected]

Keywords: mechatronic systems of fatigue test stands, biaxial fatigue,pseudorandom loading.

Abstract

The paper presents structure and a principle of operation of the test stand MZGS100 PL for fatigue tests of round specimens made of constructional materials (Fig.

1). The test stand can be used for estimation of fatigue life of the tested specimensunder plane bending or torsion or combined bending with torsion. The tests canbe performed under constant or variable amplitude cyclic loading. It is alsopossible to conduct the fatigue tests under random loading. It is realized bysumming of 4 sinusoids from inertial vibrator combined with 4 rotating disks withunbalanced masses. Every disk is motioned through toothed belt and differentgear by inductive motor.

Fig. 1. The fatigue test stand MZGS 100 PL1inductive motor, 2shaft, 3toothed belts, 4disks of the vibrator, 5weights, 6elastic beams, 7lever, 8

specimen holder, 9specimen, 10rotating column, 11strain gauges

9

7 11 89

10

1

5

4 6 3 2


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The paper contains a description of the control system of the machine, usingan inverter drive. The frequency converter converts 1 phase voltage 230 V to 3

phase voltage 230 V which supplies the motor. The converter enables to changethe frequency of the motor rotations. The frequency converter can be configuredmanually or remotely with the protocol MODBUS RTU. The moment of a force

loading the specimen is measured with a strain gauges bridge.

With the support of the European Social Fund and the national budget.


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Section II: Sensors and Actuators in Mechatronics

(2007.09.27 14:15 17:00, room 2)


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Modelling of the Magnetic Attraction Force of theElectromagnetic Module In The Relative Base - Air-Gap -

Absolute Base System

Tomasz Hucio1, a, Krzysztof Falkowski1, b1Mechanical Department, Technical University of Bialystok, ul.

Wiejska 45C, 15-351 [email protected], bfalkowski@ pb.edu.pl

Keywords: relative base - air-gap - absolute base system, magnetic attractionforces.AbstractThe relative base - air-gap - absolute base system (planar stepping motor) is themain element of precise coordinate positioning systems of the specialized devices(Fig. 1). Possible fields of application of the precise coordinate systems with theplanar stepping motor: manipulators, machine tools, measuring machines,assembly operations in microelectronics and instrument engineering, surfacemounting elements and units assembly, laser technological complexes.

Fig. 1. Basic elements of the relative base - air-gap - absolute base system: 1- planaraerostatic two-coordinate relative base - the forcer with gas-film lubrication (aerostatic

lubrication); 2- absolute base - the immovable stator (platen); 3- motion control card; 4- airfilter and regulator

In the paper the estimate of the magnetic attraction force in the relative base -air-gap - absolute base system is presented. The attraction force of the relativebase (forcer) to the ferromagnetic absolute base (stator) is a result of the attraction

permanent magnets, which are parts of the electromagnetic modules. The physicalmodel and mathematical description of the particular electromagnetic module arepresented. Obtained solutions will allow us to work out a module of the computerprogram. This module will be used for calculations connected with the flow ofmagnetic flux through the electromagnetic path. The computer program SPAPwill be used for computer aided design (design and optimisation of a structure) ofthe planar aerostatic two-coordinate relative base with electromagnetic drive.Computer program SPAP consist of two modules: SPAPAERO used forcalculations connected with airflow in the relative base - air-gap - absolute base

system, SPAPMAG

used for calculations connected with flow of magnetic flux inthe electromagnetic drive.


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Constitutive Models of Vascular Tissue

Kryspin Mirota1, a1Akademia Techniczno-Humanistyczna w Bielsku-Bialej, Poland

[email protected]

Keywords: biomechanics, finite elasticity, strain energy, elastin, collagen, smoothmuscle

Abstract

Arterial energy systolic storing and diastolic releasing processes allow the heartto work at an optimal level stroke volume and rate. Even small changes of arterialtree elasticity and compliance affect this dynamical equilibrium state and heartfunction. Finally, adaptive responses of heart are resulting in a combination of

pathological events.With exception of small vessel, circulatory conduits for blood flow have wallmade of three concentric layers of tissue, [1,3,6,9]: tunica intimainnermost layerconsists single layer of endothelial cells on

basement membrane of collagen IV, laminin, fibronection, and proteoglycans; tunica mediamiddle layer, responsible for most of its mechanical properties

comprised of elastin, collagen type I, III, and V, and proteoglycans; tunica adventitiaoutermost layer, providing additional structural support

composed of type I collagen fibers with some elastin and fibroblasts.

Veins possess slightly different configuration. Vein walls are thinner and containless elastic material then arteries but more flexible. Even, it may collapse innormal function. Number of layers is proportional to wall thickness whichdiminish with diameter. Accordingly to Hrthle results for aorta, proportions are:collagen 3010%, elastin 3040%, smooth muscle 3050%.Vessel soft tissue exhibits strictly nonlinear behavior over finite deformations.There is not proportionality between applied forces and arises deformations.Therefore, the commonly used approaches in description of biomechanicalproperties are based on strain energy function, which relate Lagrange-Green

strain and 2nd

Piola-Kirchhoff stress tensors.The essential method was formulated by Fung at the end of sixties. He proposedexponential approximation of strain energy function fitted to experimental data ofwhole vascular wall. It is probably most commonly used in biomechanics ofliving tissue till now. Fungs model has been generalized for three-dimensionalstates of deformations by setting pseudostrain function Q and extended recentlyto

qQecW Q2

11

2

1 . (1)


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Afterwards, concept of homogenous macroscopic response was undertaken bymany authors such as Delfino, Takamizawa and Hayashi, Vaishnav. Otherapproach has tried to derive SEF function directly from vessels histology. Thisgroup uses heterogeneous stored energy function decomposed into isotropic andanisotropic part governed by collagen spatial matrix. Last work of Holzapfel and

Gasse represents this methodology

1

1212

12

2 22112211

EEEEW

is o , 1 Qaniso eCW . (2)

In the hindmost, introduces layer specific SEF functions. It is self-evident, thestructural and heterogeneous layer specific method looks promising. Of course,search for sufficientconstitutive model to satisfy the full requirements is not yetaccomplished but still in preliminary stage.


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PBG Fiber Low Concentration Gas Sensor

Joanna Pawat1, a, Xuefeng Li1, a, Takahiro Matsuo1, 3, a,Tadashi Sugiyama2, b, Toshitsugu Ueda1, c

1Graduated School of IPS, Waseda University, 808-0135 Fukuoka ken,

Kitakyushu-shi, Wakamatsu-ku, 2-7 Hibikino, Japan2Yokogawa Electric Corporation, 180-8750, Tokyo, Musashino-shi, 2-9-32Naka-cho, Japan

3Sakamoto Electric MFG. Co., Ltd.,

811-0202 Fukuoka-shi, Higashi-ku, Wajiro 3-27-55, [email protected], [email protected],

[email protected]

Keywords: Photonic Bandgap Fiber, Low Gas Concentration Sensor,

Microcapillary Gas Flow.

Abstract

The photonic bandgap fiber for a high-sensitivity, compact set-up, which enablesthe precise measurement of low concentration of gas was designed. Fiber wasused instead the traditional glass gas cell during the spectroscopic measurements.Ar ion beam was proposed among the other methods to process the inlet andoutlet surface of fiber and adjust it to the required parameters. The gas flow insidePBF fiber and its optical properties were investigated.

References

[1] T. Ueda, Y. Okamoto, Proc. 1st Symp. Adv. Photon Proces. Meas. Technol.(1998), p. 25-28.

[2] T. Sugiyama, M. Wada, S. Nakajima, T. Ueda, Proc. 4th Workshop on Adv.Photon Proces. and Meas.t Technol. (2001), p. 63-66.

[3]T. Sugiyama, T. Ueda, Proc. of Tech. Meeting on Sensors and Micromachines,CHS-03-56, (2003) p. 1-4.

[4] J. Pawat, T. Matsuo, T. Sugiyama, T. Ueda, J. Adv. Oxid. Technol. Vol. 9(2),

(2006), p.150-155.[5] Z. Huang, Journal of Microscopy, Vol. 215(3), (2004), p. 219223.


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Fiber-Optic Sensors for Nanometric Displacement andVibration Measurement in Mechatronics

Vytautas Kleiza1, a, Jonas Verkelis2, b1Kaunas University of Technology, Klaipdos 1, LT-35209 Panevys,

Lithuania2Semiconductor Physics Institute, Gotauto 11, LT-01108 Vilnius,Lithuania

[email protected], [email protected]

Keywords: Fiber-optic sensor, displacement, modeling, design, experiment

Abstract

Fiber-optic sensors are widely used for displacement and vibration measurements

in mechatronic systems. Sensors can be of very small size and operate in blastdanger conditions and strong electromagnetic interference environment. In thiswork modeling and experimental investigation of the characteristics U-h of fiber-optic sensor of displacement have been accomplished with a view to obtain themaximal sensitivity in the displacement and vibration measurements. Themodeling and experimental results were perfectly coincidental, therefore the limitsensitivity of sensors can be predicted by modeling. Configurations of non-contact fiber optic sensors of the maximal possible sensitivity have been found,the metrological parameters of which do not depend either on the degradation of

the light source, intensity or on the elements used in the mechatronics systemmeasurements as well as on the value of the mirror reflection coefficient andchanges with the aging process. All that increases the reliability of mechatronicsystem monitoring, which is of utmost importance for their exploitation.

To produce very stable sensors, another light receiving fiber was added [1]and an angle 2was formed between a light emitting (to a reflecting mirror) fiberaxis and two reflected light receiving fiber axes located on the same plane. It hasbeen shown in theory that, by using an output signal (A-B)/(A+B) (here A andBare signals emerging in the light receiving fibers), it is possible to eliminate the

influence on measurement results related with the light source intensity variationsdue to its aging and radiation fluctuations. Fiber-optic sensors of this kind werefurther investigated and improved in the works [4, 5, 6]. It has been proved in atheoretical and experimentally way that their sensitivity is exponentiallyincreasing with a decrease in the distance between active fiber tips [5], that is offinite quantity due to fiber cross-section, and it is increasing if the angle increases [3].

Fiber-optic sensors and transducers of new kind have been created that consistof two fiber pairs [6]. The sensitivity of these sensors is higher by an order [3]

than that of one-pair sensors [1]. It has been shown in this work that experimental


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signal Udependences of one fiber optopair reflection sensors on the distance h(U-h characteristics) can be exactly described by mathematical expressions [7].The target of this paper is to simulate a two-fiber optopair sensor by employingexperimental one optopair U-h characteristics, that are quite congruent with themodeling results, and to establish limit sensitivity values of these sensors.

A prototype of one-fiber optopair sensor has been created where the anglebetween the axes of active fiber tips is 35. The diameter of the sensor head is 4mm, and the length is 10 mm. Fiber with SMA 905 connectors are 3 m long (maybe up to 300 m). The U-h characteristic of this kind of sensor has been measured.The distance between tips was made minimal on purpose by assemblingtechnology with a view to attain the maximal values of signal U.

The experimental U-h characteristic is described by modeling formulaaccurately enough. The maximal sensitivity dA/dh=174mV/m and 134 mV/m,as I0 is fixed. It has been shown that by employing a second optopair (identical

with the first one) and choosing the operation point in the rising part and thedescending one ofU-h for the first and second pair, respectively (artificial U-hintersection), it is possible to create sensors whose signal Udiv and sensitivitySdiv=dUdiv/dh thereby are independent of light source fluctuations and degradationas well as of the mirror reflection coefficient variation in time.

The maximal sensitivity of the sensor Ssub=dUsub/dh=9000mV/m, and if thesignals A(h) and A(h) are amplified by 30 times then Sdiv=dUdiv/dh=22.380a.u./m. The linearity of sensor U-h characteristics depends on themeasurement interval, however it can be increased by electronic devices.

Acknowledgements

The authors are much obliged to the Lithuanian Semiconductor Physics Institutein which the experiments have been carried out, as well as to the companiesAndaOpteck for fiber-optic sensors supplied free of charge and Skaidra whichpresented measurement equipment and produced fiber pigtails.

References

[1] Y W.H. Ko, K.-M. Chang, G.-J. Hwang: Sensors and Actuators A Vol.49 (1995),p. 51

[2] Y. Libo, P. Jian, Y. Tao, M. Guochen: Sensors and Actuators A Vol.36 (1993),p.177

[3] J. Verkelis: Lithuanian Journal of Physics Vol. 42 (2002), p. 99[4] V. Kleiza, J. Kleiza: Lithuanian Mathematical Journal Vol.45 (2005), p.494498[5] V. Kleiza, J. Verkelis: Electronics and Electrical Engineering Vol.62 (2005), p.77[6] V. Kleiza, J. Verkelis: Proc. SPIE Vol.6596 (2007), p.142[7] V. Kleiza, J. Verkelis: Proc. SPIE Vol.6596 (2007), p.253


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Development and Experimental Analysis of PiezoelectricOptical Scanner with Implemented Periodical

Microstructure

Giedrius Janusas1, a, Arvydas Palevicius1, b, VytautasOstasevicius1, c, Ramutis Bansevicius2, d, Alfredas Busilas3, e

1International Studies Centre of Kaunas University of Technology,A.Mickeviciaus 37, LT-44244 Kaunas, Lithuania

2Kaunas University of Technology, K.Donelaicio 73, LT-44029 Kaunas,Lithuania

3Kaunas University of Technology, A.Mickeviciaus 37, LT-44244, Kaunas,Lithuania

[email protected], [email protected],[email protected], [email protected],

[email protected]

Keywords: Piezoelectric optical scanner, holography, periodical microstructure.

Abstract

Piezoelectric optical scanner is developed for multi-coordinate control of opticallaser beam by excitation of microstructures. The manufactured microstructure isthe periodical structure which was implemented in piezoelectric optical scannerdesign. Such type of opto-micro-mechanical systems can be used for accurateangular or linear deflection of optical elements in various optomechanical andoptoelectronic systems. The operating principle of these devices is based onpiezoelectric effect and on conversion of high-frequency multi-dimensionalmechanical oscillations of piezoelectric vibration transducers into directionalmulti-coordinate motion of the optical elements in the measurement chain. Themain distinctive feature of such optical piezoelectric scanners is the combinationof high micrometer range resolution with a wide range of angular deflections ofthe scanning elements. The manufacturing process and visualization of themicrostructure were presented. The device consists of piezoelectric cylinder and ascanning element with three degrees of freedom. The control model of this devicewas derived using simulation results of optical scanner by comsol multiphysicssoftware. Espi digital holographic prisma system was used to validate the resultof simulation of piezoelectric optical scanner and to test the functionality ofpiezoelectric optical scanner with implemented microstructures.


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Transient Characterisation and Analysis of ShapeMemory Alloy Wire Bundles for the Actuation of Finger

Joints in Prosthesis Design

K.T. OToole1, a, M.M. McGrath1, b and D.W. Hatchett1, c1School of Manufacturing & Design Engineering, Dublin Institute of

Technology, Rep. of [email protected], [email protected], [email protected]

Keywords: Shape Memory Alloys, Wire Bundle Actuators, Prosthetic Fingers,Transient Response

Abstract

Most current lower arm/hand prosthesis designs incorporate relatively bulky,

heavy dc motors that produce substantial noise when performing actuation.Although new designs using these motors facilitate good system integration, theheavy weight and significant operational noise render them uncomfortable for theuser. The engineering challenge is to produce more effective powered upper limbprosthetic solutions. Identification, characterisation and testing of actuationmethods with better force to weight ratios are essential pre-requisites for this. Themain aim of this work is to carry out a comprehensive study to establishconclusively the feasibility of employing Shape Memory Alloys (SMAs) in theactuation of prosthetic finger designs. This full characterisation of the actuators,

as well as identification of the dynamics of a human hand/wrist, coupled withmodern manufacturing methods will lead to the development of improvedprosthetic designs.

A comprehensive review of existing literature has been undertaken in order toestablish the maximum grip forces at each phalanx of the human hand underdifferent loading conditions. The maximum forces at each phalanx and thepercentage contribution of each phalanx to the total grip force exerted have beenestablished. An experiment was developed in conjunction with this to estimate thetime response of the hand during a gripping/releasing action. The extent, velocity,

and acceleration of the angular displacement, as well as the forces required fortypical everyday tasks, will be used as the indicators of ultimate performancerequirements of a prosthetic finger design. Dimensional characteristics of atypical working limb were also determined in order to set appropriate workinglimits for the design.

The use of SMAs as actuators involves the passage of a controllable currentthrough a suitably-sized SMA wire bundle. Due to the electrical resistance of thewire, the temperature is raised, which changes its dimensions and produces anassociated force. A test rig has been developed which can facilitate complete

characterisation of a range of SMA wire diameters and bundle configurations. A


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number of different configurations were tested, each configuration having adifferent combination of 150m and 300m diameter Nitinol wires. Full transientanalysis of the SMA wire arrangements was carried out. The followingrelationships were characterised for each configuration: Current vs. Strain, Forcevs. Time, and Strain vs. Time. Dynamic loading/unloading of SMA bundles was

also undertaken to facilitate fatigue testing of the materials. A LabView-based(from National Instruments) data acquisition system was used to capture andretain data pertaining to the full characterisation of the bundles and in particularthe strain and force capabilities of the various arrangements. The rig also providesa platform for the development of an adaptive control strategy for SMA actuationwith a view to minimising the associated non-linearity and hysteresis.

A mechanical hand framework is at the early stages of development. Theframework will allow for the testing of SMA bundles within the dimensionalrestrictions of a typical working limb. Testing of the SMA under conditions

similar to the application is viewed as essential to finding an effectivecontrollable device.

Future work will involve the use of forced cooling during the characterisationexperimentation. This will be carried out with a view to reducing the hysteresis inthe SMA response. This is intended to be the starting point in the development ofan effective heat transfer solution in the design of the prosthetic hand structure.This work will contribute to the development of an improved powered prostheticsolution.


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Design Considerations of a Microelectrostatic Motor

V.Bagdonas1, a, V. Ostaeviius1, b1KTU International Studies Centre, A.Mickeviiaus 37, LT-44244 Kaunas,

Lithuaniaa

[email protected],b

[email protected]

Keywords: MEMS, micromotor, microelectrostatic, electrostatic, modeling, FEM,simulation.

Abstract

One of the more common MEMS devices is micromotor which is analyzed here.Though this type of actuator is not very popular, because i

mechatronic systems and materials (msm 2007)

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