Recent advances in mechatronics 2008 - 2009

Recent Advances in Mechatronics

Tomas Brezina and Ryszard Jablonski (Eds.)

Recent Advances in

Mechatronics

2008-2009

ABC

Prof. Tomas Brezina

Brno University of Technology

Faculty of Mechanical Engineering

Institute of Automation and Computer Science

Technická 2896/2

616 69 Brno

Czech Republic

Prof. Ryszard Jablonski

Warsaw University of Technology

Faculty of Mechatronics

Institute of Metrology and Biomedical Engineering

Sw. A. Boboli Street 8

02-525 Warsaw

Poland

ISBN 978-3-642-05021-3 e-ISBN 978-3-642-05022-0

DOI 10.1007/978-3-642-05022-0

Library of Congress Control Number: 2009937155

c 2009 Springer-Verlag Berlin Heidelberg

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Preface

This book comprises the best contributions presented at the 8th International Con￾ference “Mechatronics 2009”, organized by Brno Technical University, Faculty of

Mechanical Engineering, held on November 18–20, 2009, in Luhačovice, Czech

Republic.

For the first time, this conference took place in 1994 in the Czech Republic and

since then it has been organized alternately in the Czech Republic as “Mechatron￾ics, Robotics and Biomechanics”, and in Poland as “Mechatronics”. Until 2005 it

was held annually, since that time every second year. This year we used the name

“Mechatronics” for the Czech conference for the first time and decided to continue

with the Polish conference numbering. Each of the conferences provided a gather￾ing place for academicians and researchers focused on different topics, allowing

them to exchange ideas and to inspire each other mainly by specific forms and ar￾eas of use of spatial and functional integration.

When choosing the papers to be published in this volume, as is our tradition,

we looked for originality and quality within the thematic scope of mechatronics,

understood as synergic combination of suitable technologies with application of

the advanced simulation tools, aimed at reduction of complexity by spatial and

functional integration. Hence, the conference topics include Modelling and Simu￾lation, Metrology & Diagnostics, Sensorics & Photonics, Control & Robotícs,

MEMS Design & Mechatronic Products, Production Machines and Biomechanics.

We express our thanks to all of the authors for their contribution to this book.

Tomáš Březina

Conference Chairman

Brno University of Technology

Contents

Modelling and Simulation

Elastic Constants of Austenitic and Martensitic Phases of

NiTi Shape Memory Alloy ................................... 1

P. Sest´ ˇ ak, M. Cern´ ˇ y, J. Pokluda

Simulation Modeling of Mechatronic Drive Systems with

Chaotic Behavior ............................................ 7

L. Houfek, M. Houfek, C. Kratochv´ıl

Experimental Research of Chaos and Its Visualization ....... 13

C. Kratochvil, L. Houfek, M. Houfek

Discrete-Difference Filter in Vehicle Dynamics Analysis ..... 19

P. Porteˇs, M. Laurinec, O. Blat’´ak

3D Slide Bearing Model for Virtual Engine .................. 25

V. P´ıˇstˇek, P. Novotn´y, L. Dr´apal

Powertrain Dynamics Solution Using Virtual Prototypes .... 31

D. Sv´ıda, P. Novotn´y, V. P´ıˇstˇek, R. Ambr´oz

Description of Flow Intensities in Non-Homogeneous

Materials .................................................... 37

J. Mal´aˇsek

Acid Pickling Line Simulation ............................... 43

S. Simeonov, R. Hofman, L. Krotk´y

Metrology and Diagnostics, Sensorics and

Photonics

Metrological Aspects of Laser Scanning System for

Measurement of Cylindrical Objects ......................... 49

R. Jablo´nski, J. M

akowski

VIII Contents

Continuous Quality Evaluation: Subjective Tests vs.

Quality Analyzers ........................................... 55

A. Ostaszewska, S. Zebrowska- ˙ Lucyk, R. Kloda

Measurement of the Temperature Influence on NiMH

Accumulator Characteristic .................................. 61

M. Synek, V. Hub´ık, V. Singule

Synthetic Method of Complex Characteristics Evaluation

Exemplified by Linear Stepper Actuator Characteristic

Comparison ................................................. 67

K. Szykiedans

Aircraft Sensors Signal Processing ........................... 73

J. Bajer, R. Bystˇrick´y, R. Jaloveck´y, P. Jan˚u

Demonstration Model of the Passive Optoelectronic

Rangefinder ................................................. 79

V. Cech, J. Jevick´ ˇ y, M. Panc´ık

An Ultrasonic Air Temperature Meter ....................... 85

A. Jedrusyna

Optical Torque Sensor Development ......................... 91

P. Horv´ath, A. Nagy

The Temperature Effect of Photovoltaic Systems with

dc-dc Converters ............................................ 97

J. Leuchter, V. Reˇ ˇ rucha, P. Bauer

Design of Capsule Pressure Sensors Thermal

Compensation ............................................... 103

R. Vlach, J. Kadlec

The Cavitation Effect on the Electromagnetic Field .......... 109

F. Pochyl´y, S. Fialov´a

Identification of MR Fluids Properties in Mechatronic

Damping Elements .......................................... 115

J. Roupec, I. Maz˚urek, M. Klapka, P. C´ˇıˇz

Influence of External Magnetic Field on Measuring

Characteristics of the Magnetoelastic Sensors ................ 121

A. Bie´nkowski, R. Szewczyk, J. Salach

Mechatronic Lighting Pole Testing Device ................... 127

P. Steinbauer, M. Val´aˇsek

Contents IX

Neural Networks: Off-Line Diagnostic Tools of High-Voltage

Electric Machines ............................................ 133

P. Latina, J. Pavl´ık, M. Hammer

Artificial Intelligence in Diagnostics of Electric Machines .... 139

M. Hammer, M. Simkov´ ˇ a, M. Ministr

Expert Systems in Transformer Diagnostics .................. 145

M. Simkov´ ˇ a, M. Ministr, M. Hammer

Control and Robotics

N-link Inverted Pendulum Modeling ......................... 151

A. Gmiterko, M. Grossman

Human Pilot Behaviour Model during of Flight Control ..... 157

R. Jaloveck´y, P. Jan˚u

Servocontroller for a Class of Nonlinear Continuous-Time

System ...................................................... 163

J.E. Kurek

Mechatronic Stiffness of MIMO Compliant Branched

Structures by Active Control from Auxiliary Structure ...... 167

M. Neˇcas, M. Val´aˇsek

An Active Control of the Two Dimensional Mechanical

Systems in Resonance ....................................... 173

P. Solek, M. Hor´ ˇ ınek

Control Loop Performance Monitoring of Electrical

Servo-Drives ................................................. 179

R. Sch¨onherr, M. Rehm, H. Schlegel

High Level Software Architecture for Autonomous Mobile

Robot ....................................................... 185

J. Krejsa, S. Vˇechet, J. Hrb´aˇcek, P. Schreiber

Real Time Maneuver Optimization in General

Environment ................................................ 191

J. Mazal

Geometric Robot Motion Strategies ......................... 197

M. Seda, T. Bˇ ˇ rezina

Semi-autonomous Motion Control Layer for UGV-Type

Robot ....................................................... 203

M. Hiiemaa, M. Tamre

X Contents

Model Based Controller Design for Automotive Electronic

Throttle ..................................................... 209

R. Grepl, B. Lee

The Solution of 3D Indoor Simulation of Mobile Robots

Using ODE .................................................. 215

V. Ondrouˇsek

Sensors Data Fusion via Bayesian Network .................. 221

S. Vˇechet, J. Krejsa

Study Model of the Snake Like Robot ....................... 227

M. Kelemen, T. Kelemenov´a

Relative Error Indices for Comparison of Neural Models of

Different Robots ............................................. 233

J. Mo˙zaryn, J.E. Kurek

HexaSphere with Cable Actuation ........................... 239

M. Val´aˇsek, M. Kar´asek

MEMS Design and Mechatronic Products

Optimization of Vibration Power Generator Parameters

Using Self-Organizing Migrating Algorithm .................. 245

Z. Hadaˇs, C. Ondr˚ ˇ uˇsek, J. Kurfurst

¨

Recent Trends in Application of Piezoelectric Materials to

Vibration Control ........................................... 251

P. Mokr´y, M. Kodejˇska, J. V´aclav´ık

Piezo-Module-Compounds in Metal Forming: Experimental

and Numerical Studies ....................................... 257

R. Neugebauer, R. Kreißig, L. Lachmann, M. Nestler, S. Hensel,

M. Fl¨ossel

Commutation Phenomena in DC Micromotor as Source

Signal of Angular Position Transducer ....................... 263

M. Bodnicki, H.J. Hawlas

PWM Controlled DC Drive with ADuC812

Microcontroller .............................................. 269

M. Dub, R. Jaloveck´y

Sensor BLDC Motor Model in Simulink Environment ....... 275

V. Hub´ık, V. Singule

Contents XI

Automatic Control, Design and Results of Distance Power

Electric Laboratories ........................................ 281

D. Maga, J. Sit´ar, P. Bauer

Identification of Parametric Models for Commissioning

Servo Drives ................................................. 287

S. Hofmann, A. Hellmich, H. Schlegel

Electrical Drives for Special Types of Pumps: A Review ..... 293

J. Lapˇc´ık, R. Huzl´ık

Cable Length and Increased Bus Voltage Influence on

Motor Insulation System .................................... 299

M. Nesvadba, J. Duroˇn, V. Singule

Evaluation of Control Strategies for Permanent Magnet

Synchronous Machines in Terms of Efficiency ................ 305

E. Odv´aˇrka, C. Ondr˚ ˇ uˇsek

A Two Layered Process for Early Design Activities Using

Evolutionary Strategies ...................................... 311

A. Albers, H.-G. Enkler, M. Frietsch, C. Sauter

Virtual Design of Stirling Engine Combustion Chamber ..... 317

Z. Kaplan, P. Novotn´y, V. P´ıˇstˇek

500W Stirling Engine Development .......................... 323

P. Novotn´y, V. P´ıˇstˇek

The Design of an Insulin Pump – Preliminary

Requirements ................................................ 329

H.J. Hawlas, K. Lewenstein

Some Notes to the Design and Implementation of the

Device for Cord Implants Tuning ............................ 335

T. Bˇrezina, O. Andrˇs, P. Houˇska, L. Bˇrezina

Controller Design of the Stewart Platform Linear

Actuator .................................................... 341

T. Bˇrezina, L. Bˇrezina

Design and Implementation of the Absolute Linear Position

Sensor for the Stewart Platform ............................. 347

P. Houˇska, T. Bˇrezina, L. Bˇrezina

A Touch Panel with the Editing Software and Multimedia

Data Base ................................................... 353

M. Skotnicki, K. Lewenstein, M. Bodnicki

XII Contents

Production Machines

How to Compensate Tool Request Position Error at

Horizontal Boring Milling Machines ......................... 359

M. Dosedla

Verification of the Simulation Model for C Axis Drive in

the Control System Master-Slave by the Turning Centre..... 365

J. Kˇrepela, V. Singule

Compensation of Axes at Vertical Lathes .................... 371

J. Marek, P. Blecha

Mechatronic Backlash-Free System for Planar Positioning ... 377

P. Matˇejka, J. Pavl´ık, M. Opl, Z. Kol´ıbal, R. Knofl´ıˇcek

Compensation of Geometric Accuracy and Working

Uncertainty of Vertical Lathes ............................... 383

M. Michal´ıˇcek

Assessment of Design and Risk Analysis of a Tool Holder

Manipulator ................................................. 389

L. Novotn´y, P. Blecha

Design of the Controller for Elimination of Self-excited

Oscillations .................................................. 395

T. Bˇrezina, J. Vetiˇska, P. Blecha, P. Houˇska

Biomechanics

Problems of Quality of Convex Printouts for the Blind

People ....................................................... 401

R. Barczyk, D. Jasi´nska–Choroma´nska

Early Detection of the Cardiac Insufficiency ................. 407

M. Jamro˙zy, T. Leyko, K. Lewenstein

System for Gaining Polarimetric Images of Pathologically

Changed Tissues and Testing Optical Characteristics of

Tissue Samples .............................................. 413

N. Golnik, T. Palko, E. Zebrowska ˙

Long-Term Monitoring of Transtibial Prosthesis

Deformation ................................................. 419

D. Palouˇsek, P. Krejˇc´ı, J. Rosick´y

Tensile Stress Analysis of the Ceramic Head with Micro

and Macro Shape Deviations of the Contact Areas ........... 425

V. Fuis

Contents XIII

Estimation of Sympathetic and Parasympathetic Level

during Orthostatic Stress Using Artificial Neural

Networks .................................................... 431

M. Kaˇna, M. Jiˇrina, J. Holˇc´ık

Human Downfall Simulation ................................. 437

J. Cul´ ˇ ık, Z. Szab´o, R. Krupiˇcka

Heuristic Methods in Gait Analysis of Disabled People ...... 443

B. Kabzi´nski, D. Jasi´nska-Choroma´nska

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

Elastic Constants of Austenitic and Martensitic Phases

of NiTi Shape Memory Alloy

P. Šesták, M. Černý, and J. Pokluda

Brno University of Technology, Faculty of Mechanical Engineering, Institute of Physical

Engineering, Technická 2896/2, Brno, Czech Republic

[email protected]

Abstract. NiTi shape memory alloys start to be widely used in mechatronic sys￾tems. In this article, theoretical elastic constants of austenitic and martensitic

phases of perfect NiTi crystals and martensitic crystals containing twins in com￾pound twinning mode are presented as computed by using first principles meth￾ods. The comparison of elastic constants of the twinned NiTi martensite with

those for perfect crystals helps us to understand the transition from elastic to pseu￾doplastic behavior of NiTi alloys. The results indicate that the elastic response is

not influenced by the presence of the twins.

1 Introduction

The NiTi shape memory alloy (SMA) has been discovered in 1963 [1] and, since

that time, this material has been used in mechatronic (actuators), medicine (stents,

bone implants) [2] and other branches due to their pronounced shape memory ef￾fect (SME). This effect is caused by transformation from the martensitic to the

austenitic phase and vice versa (see Fig.1) and can be started by an external de￾formation or a temperature change. This particularly means that, after a deforma￾tion-induced shape change in the martensitic condition, the SMA returns to its

original geometrical shape when being warmed up to the austenitic state. Such a

behavior is facilitated by a reversible creation and vanishing of selected twining

variants in the domain-like martensitic microstructure. There are several possible

types of phase transformations depending on a particular alloy composition. An

extensive overview of a current state of the art can be found in the paper by Otsu￾ka and Ren [3]. There are also some papers investigating this alloy using the first

principles (ab-initio) calculations [4-7].

The elastic response corresponds to the near-equilibrium state and, in the case of

SMA, the transition from elastic to pseudoplastic behavior is of a great practical im￾portance. The elastic response of materials is characterized by elastic constants cij.

However, these constants for NiTi martensite have been unknown until the end of

2008 when the theoretical (ab-initio) data of these constants were published [5, 10].

It is generally known that the shape memory effect is based on twinning during

the pseudoplastic deformation of the NiTi martensite. In general, there are three

types of twinnig modes: Type-I, Type-II and compound [3]. Since all the previous

2 P. Šesták, M. Černý, and J. Pokluda

Fig. 1. Martensitic (monoclinic structure B19’) and austenitic (cubic structure B2) phase of

NiTi shape memory alloy.

theoretical results on cij [5, 10] were computed for perfect crystals, the influence of

twins on elastic characteristics remains still unknown. This influence can be as￾sessed only when the data of elastic characteristics are available for both twinned

and perfect NiTi martensite crystals. Indeed, the experimental determination of

elastic characteristics of the perfect structure is impossible due to fact that its

preparation is beyond the capability of contemporary technologies. Thus, the theo￾retical simulation represents the only way how to investigate this influence.

The aim of this article is to compute elastic constants of twinned and untwinned

martensitic structure as well as those of the austenitic one. Previously published

ab-initio results revealed that the B33 orthorhombic martensitic structure pos￾sesses a lower energy than the B19’ structure usually considered as the ground –

state structure. However, the B19’ structure is stabilized by residual stresses re￾maining after the cooling [8, 9]. For that reason, this structure is also studied in

this work.

2 The First Principles Calculations

The total energy Etot and the stress tensor τi (in the Voigt notation) of the studied

system have been computed by the Abinit program code [11]. Abinit is an efficient

tool for electronic structure calculations developed by the team of Prof. Xavier

Gonze at the Université Catholique de Louvain, which is distributed under GNU

General Public Licence. Another additional package including pseudopotentials to￾gether with its generators, manuals, tutorials, examples, etc. are available in [12].

The calculations were performed using GGA PAW pseudopotentials and the

cutoff energy was set to 270 eV. The solution was considered to be self￾consistent when the energy difference of three consequent iterations became

smaller than 1.0 µeV.

3 Computation of Elastic Constants

The elastic constants can be computed from the dependence of the total energy Etot

on applied deformations (ground state calculations - GS) using the relation

Elastic Constants of Austenitic and Martensitic Phases of NiTi Shape Memory Alloy 3

i j

tot

ij

E

V

c

∂ε ∂ε

∂ =

2

0

1 ,

where εi

correspond to applied strains, and V0

is equilibrium volume. The elastic

constants cij can be also computed from the stress – strain dependence as

j

i

ij d

d

c

ε

τ = .

Some elastic constants were obtained in this way but most of them were computed

by means of the Linear Response Function method (RF) implemented in the Ab￾init program code [13]. This approach enables us to obtain elastic constants during

a single program run. The elastic constants of a super-cell containing twins have

been calculated from the stress-strain dependence.

4 Construction of the Super-Cell

The simulation cell was build as a supper-cell composed of eight primitive cells

(of two different bases). The first base corresponds to a standard B19` martensite

and the other one represents a tilted base of B19` martensite. The tilted base was

created by giving the translation vector r3

a tilt that leads to an increase of the γ

angle – see the scheme in Fig. 2.

Fig. 2. The process of building the computational super-cell containing {100} twins.

Such a simulation cell is shown in Fig. 3 on the left. However, this cell could not

be used for computations of elastic constant cij yet, because the values of the stress

tensor and forces acting on individual atoms at the twin interface were still too

high. For this reason, the translation vectors describing the primitive cell and