Mechatronic-Systems-and-Materials-MSM-2007

ISSN 1822-8283 Kaunas University of Technology Vilnius Gediminas Technical University Lithuanian Academy of Sciences Opole University of Technology Bialystok Technical University IF

ISSN 1822-8283

Kaunas University of Technology

Vilnius 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

Sudarė: Egidijus Dragašius, Algimantas Bubulis,

Kazimieras Juzėnas, Arūnas Lipnickas

Konferenciją remia:

Lietuvos valstybinis mokslo ir studijų fondas

Lietuvos Respublikos Švietimo ir mokslo ministerija

Kauno technologijos universitetas

Conference is supported by:

Lithuanian State Science and Studies Foundation

The Ministry of Education and Science of the Republic of Lithuania Kaunas University of Technology

Maketavo: Inga Skiedraitė

Layout done by: Inga Skiedraite

ISSN 1822-8283

Kauno technologijos universitetas, 2007

AIM OF THE CONFERENCE

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

CONFERENCE VENUE

City of Kaunas

MSM 2007 will be organized in Kaunas Kaunas with nearly 400 000 inhabitants

is one of the most significant cities of Lithuania It is not only a city of old traditions, but also large centre of business and industry It can also claim to be a city 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 Technology

Kaunas University of Technology is the largest technological University in the Baltic States The University shares the best traditions of classical Universities, offering almost all fields of technological studies and research The Social and Physical Sciences are being particularly emphasized at the University, as a modern University graduate is expected to bear much more beyond the knowledge of his profession Meanwhile the studies and research in the fields of Humanities and Biomedicine, as well as in the interdisciplinary fields, have recently been very successfully launched New study programmes in Mechatronics, Sport Engineering, Musical Engineering, and Biomedical Engineering appeared to be very popular among the students

ABOUT MSM 2007

The Program Committee of MSM 2007 has accepted 167 papers by authors coming 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 later

on in the proceedings, their contribution to the quality and success of this Workshop is hereby grateful acknowledged As a result of the selection process

76 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 of the International Journals: ―Solid State Phenomena‖, ―Journal of Vibroengineering‖, ―Elektronika ir Elektrotechnika‖, ―Mechanika‖

SCIENTIFIC EDITORIAL COMMITTEE

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

MSM 2007 PROGRAMME 2007.09.27 (Thursday)

H Kawasaki Multi-Fingered Haptic Interface Robot

M Meyyappan Nanomaterials, Sensors and

11:05 - 11:30

4th keynote lecture

S Samper Mechatronics in Annecy-FRANCE,

R Bansevičius Latest Trends in the Development of

Piezoelectric Multi-Degree-of-Freedom Actuators 37 12:25 - 12:50 Discussions

13:00 - 14:00 Lunch Restaurant ŃIMTAS, V.Putvinskio str 53

2007.09.27 (Thursday) Section I: Mechatronic Systems

15:45 - 16:15 Poster session 1 (Room 1)

16:15 - 16:30 Pendulum-Generator as New Energy Source G Korouji, R Hanitsch, B Hübner 44

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 System

Tomasz Huścio, Krzysztof Falkowski

48

14:30 - 14:45 Constitutive Models of Vascular Tissue Mirota Kryspin 49

14:45 - 15:00

PBG Fiber Low Concentration Gas Sensor

Joanna Pawłat, Xuefeng Li, Takahiro Matsuo, Tadashi Sugiyama, Toshitsugu Ueda

Giedrius Janusas, Arvydas Palevicius, Vytautas Ostasevicius, Ramutis Bansevicius, Alfredas Busilas

K.T O’Toole, M.M McGrath, D.W Hatchett

2007.09.27 (Thursday) Section III: Analysis of Vibration

Fluid-Leonid Savin, Oleg Solomin, Sergey Shirokov

67

16:30 - 16:45

The Rotating System Diagnostics Modeling

V K Augustaitis, V Barzdaitis, V Bučinskas, P

2007.09.27 (Thursday) Section IV: Robotics Room 4

14:45 - 15:00 Fuzzy Control of Robots Arkady S Yuschenko 75

15:00 - 15:15 A Path Planning Algorithm for Snake-Like Robots Erdinc Sahin Conkur, Riza Gurbuz 77 15:15 - 15:30 Autonomous Mobile Robots for Outdoor Tasks

Petri Junttila, Kalervo Nevala, Petter Kroneld 79

16:30 - 16:45 Analysis of Insertion Process for Robotic Assembly Sigitas Kilikevičius, Bronius Bakšys 81 16:45 - 17:00 Discussions

2007.09.28 (Friday) Section I: Mechatronics Systems

Analysis of Hydro Motor Velocity Stabilization

Antanas Lapinskas, Aleksandras Kirka, Renatas

10:15 - 10:30

Calculation Spectral Characteristics of Magnetic Field

of the Linear Induction Motor at the Braking Modes

B Karaliūnas, E Matkevičius

90

10:30 - 11:00 Coffee break

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

11:00 - 11:15 Use of Liquid Crystals for Metal Machining Vadim Mokshin, Vladas Vekteris 91

11:15 - 11:30

Experimental Researches of Rotor Axis Revolution Orbit of Rotor Systems with Adaptive and Sleeve Liquid-Friction Bearings

Vladas Vekteris, Audrius Čereška, Mindaugas Jurevičius

93

11:30 - 11:45

Analysis of Timings in Networks That Use TCP/IP or UDP/IP Protocols for Communication with Industrial Controllers in Mechatronics Systems

Krzysztof Pucher, Dariusz Polok

95

13:00 - 14:00 Lunch

16:00 - 18:00 Excursion in Kaunas (on foot starting from A

Mickevicius str 37)

2007.09.28 (Friday) Section V: Materials (Properties, Modeling, Manufacturing and

Processing) Room 2

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 Prototyping

Jarosław Smoczek, Janusz Szpytko

Failure Analysis of Destructive Coils

R.Kačianauskas, A Kačeniauskas, E Stupak, S

10:15 - 10:30

Determination of Factors Affecting Safety Strees in Machine Desing by Using Artifical Intelligence Technologies

Durmuş Karayel,S Serdar Özkan, Fahri Vatansever

Modeling Similar Real Time Systems with Petri Nets

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

Materials Science Room 4

2007.09.28 (Friday) Section VIII: Measurement Techniques

Room 4

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

11:00 - 11:15 Testing System for Composite Wood Based Strips V Augutis, G Balčiūnas, D Gailius 152

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

POSTER SESSION (2007.09.27 – 28) Poster Session: Mechatronic Systems

Application of Photogrammetric Method for Height Measurement

Peter Bouchner, Martin Kozumplik, Stanislav Novotny, Roman

Pieknik, Tomas Radon

163

Tribological Aspects of Electrosensitive (ES) Lubricant Usage

Кorobko E V., Zhurauski M A., Bedzik N A., Novikova Z A.,

State Controller Design in Programmable Logic Controllers

Leonas Balaševičius, Vytis Svajūnas Januševičius, Snieguolė

Zakaraitė

168

Modeling and Investigation of Vector Controlled Induction Drive

PID Controller with Enhanced Disturbance Rejection

The Operation of the Linear Induction Motor by Changing the Position

of the Inductors between Each Other

Lionginas Radzevicius, Edvardas Matkevicius

172

Development of Electropneumatic Servo System with Reference

Model Based Signal Adaptive Force Controller

A Grigaitis, V.A Gelezevicius

Optimum Rapidity Ensuring and Power Resource Saving

Two-Coordinate Positioning System

Giedrius Blaţiūnas, Vilius Geleţevičius

Analysis of Holographic Interferogram of Microelectromechanical

System with Non Harmonic Cycles Excitation

Raimondas Vasiliauskas, Arvydas Palevicius

180

Effect of Nanofillers on Wear Resistance of Polymer Coatings

Modeling of Trainer‘s Electric Drive Control

Development of Smart Membrane Valve Based on Geometric Moire

Interferometry

Ramutis Petras Bansevičius, Minvydas Ragulskis, Rūta

Mitrulevičiūtė

184

Dynamic of a Rewinder With Feedback by Tension Force

Vaclovas Kubilius, Česlovas Ramonas, Arūnas Lipnickas 185

An Analysis of the Adhesive Layer Model Between Two Sheets of

Control of Mobile Crane by means of Fuzzy Logic Controller

Control of Slewing Motion of a Crane Model Taking into Account

Non-Linearities in Drive System

Janusz Jarosław, Kłosiński Jacek, Majewski Ludwik

Poster Session: Sensors and Actuators in Mechatronics

Modeling and Design Optimization of Butterfly Type Actuator

ERF Valves Controlled By Plane Capacitor Electric Field

Holographic Interferometry Method for Analysis and Design of Rotary Converter

Laima Patašienė, Raimondas Vasiliauskas, Algimantas

Fedaravičius

198

Dynamic Simulation of Nonlinear Electromechanical and

Vibro-Impact Interactions in Electrostatically Driven Microactuator

Rolanas Dauksevicius, Vytautas Ostasevicius, Rimvydas Gaidys

200

Experimental Researches of a Flexible Waveguide With Alternate

Tightness of Ultrasound Vibrations

M.Valaika, A.Bubulis ,V.Jūrėnas, A.Vilkauskas, I.Adzericho,V.T

A Flat Compound Piezoelectric Actuator of a Type «a Shaking Beam»

Piotr Vasiljev, Regimantas Bareikis, Liudmila Vasiljeva , Jonas

Tiskevicius, Algimantas Rotmanas

206

Poster Session: Analysis of Vibration

Application of Mathematical Modelling in the Analysis of the

An Oscillating Linear Electrical Generator

Saulius Barauskas, Zigmantas Jankauskas, Vygaudas Kvedaras,

Valentinas Zaveckas

212

The Transient Behavior of Rails Used in Electromagnetic Railguns:

Numerical Investigations at Constant Loading Velocities

L Tumonis, Rimantas Kačianauskas, A Kačeniauskas,

M Schneider

213

Interaction of Vibrating and Translational Motions

Investigation of Actuators with Smart Links

Applications of High Frequency Vibrations for Surface Milling

J Graţevičiūtė, I Skiedraitė, V Jūrėnas, A Bubulis,V

Ostaševičius

219

Analysis of the Dynamics of the Vibratory Valve-Injector

Vytenis Naginevicius, Minvydas Ragulskis, Arvydas Palevicius 220

Research of Complex Rotary Systems Vibrocondition Based On

Analysis of Dynamical Processes and Spectrum of Vibrations

Egidijus Juzėnas, Remigijus Jonušas, Kazimieras Juzėnas

Transportation and Orientation of Object on a Vibrating Platform with

Controlled Dry Friction

Algimantas Fedaravicius, Kestutis Tarasevicius, Minvydas

Ragulskis

223

Dynamic Stability of a Flexible Rod under Parametric Excitation

Gouskov A.M , Myalo E.V , Panovko G Y., Tretyakova V G 224

The Pulse Wave Velocity and the Velocity of Sound in Blood Flow

Concept and Methods an Adaptive Vibration Protection and

Stabilization

Reshat Fourounjiev, Alexander Homich

228

Heavy Duty Gearing-Roller Bearings System Stability Performance

P Maţeika, V Barzdaitis, M Bogdevičius, R Didţiokas, V

Ţemaitis

230 Investigation of Vibrations of a sheet of paper in the Printing Machine

L Ragulskis, E Kibirkštis, A Kabelkaitė, A Dabkevičius 231

Poster Session: Robotics

The Influence of Friction on the Dynamic Model for a 6-DOF Parallel

Robot with Triangular Platform

Tiberiu-Pavel Itul, Doina Liana Pisla

Study of Robot Actuator Operating as a System on Air Films

Development of Mobile Minirobots for in Pipe Inspection Tasks

Workspace and Stiffness Analysis of a Two Degree of Freedom Micro

Vibratory Alignment of the Parts during Robotized Assembly

Local Navigation Method for Improvement of Mobile Robot

Movement

Oleh Adamiv, Vasyl Koval, Arunas Lipnickas, Viktor Kapura

245

Hexapod Leg Control Algorithm in Fault Conditions

Workspace Optimization of a Six Degree of Freedom Micro Parallel

The Influence of Selected Powder Fillers on the Tribological Properties

of Composite Materials for Dental Fillings

Joanna Mystkowska, Jan Ryszard Dąbrowski

Influence of Cavitation Intensity on the Relative Cavitation Resistance

of Laser Processed C45 Carbon Steel

Investigation of Alloy Elements Transfer in Arc Facing by High

Carbon and Chromium Content Electrodes

Valentinas Varnauskas, Algirdas Vaclovas Valiulis, Vitalijus

Rudzinskas

260

Vibration Control of Oscillating System based on Governing

Visco-Elestic Characteristics of Absorber by Means of External Electric

Signal

Bilyk 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 for

Application as a Power Source

Yanxia Zhang, M.Kahrizi

264

Infrared Reflective Coatings for Window Glazing

Poster Session: Failure Analysis

Probabilistic Fatigue Reliability Assessment

Konstantin N Nechval, Nicholas A Nechval, Gundars Berzins,

A Model for Estimation Mould Thermal Fatigue Life in Permanent

Algorithm of Combined Simplex Search with State Recognition

The New Self-adjusting Method of the Multi-input Difficult

Technological Processes Optimization

Gohar Manukyan, Eduard Stepanyan

274

Coupling of Energy Flows from Internal Combustion Engine and

Electrical Motor in Hybrid Vehicle

Martynas Starevičius, Kęstutis Pilkauskas, Jonas Sapragonas

276

Selection of PDM Information System

Stable Parametritic Identification of Vibratory Diagnostics Objects

Simulation of Mechanical Systems Using Behavioural Hybrid Process

Calculus

Tomas Krilavičius

280

Poster Session: Measurement Techniques

XML Data Schemas of the Sea Level Observations for Scalable Vector Graphics Format

Eimuntas Parseliunas, Leonardas Marozas

282

The 90nm CMOS Charge Sensitive Preamplifier

Information Entropy Determination in Scales Measurement Including

Mechatronic Approach

Mindaugas Rybokas, Ramutis Bansevicius, Vytautas Giniotis,

285

Implementation of Piezoceramic Transducers Testing Method for

Manufacturing of Ultrasonic Metering Devices

Paulius Borodičas, Saulius Baskutis, Vytautas Petkus

The Analysis and Optimization of Piezomotor Driver for Laser Beam

The Test Stand for Analysis of Fatigue Crack Propagation under

Bending with Torsion

Grzegorz Gasiak, Grzegorz Robak

291

Instability of Structure Plates under Two-directional Compression

Assessment of Dynamical Properties of Die Hammer Mpm 10000 B

Considering Deformations of Working Material

Majewski Ludwik, Trąbka Arkadiusz

293

Poster Session: Education in the Fields of Mechatronic Systems and

Materials Science

Modelling and Control Aspects for a Type of Mobile Robot

KEYNOTE LECTURES

Multi-Fingered Haptic Interface Robot and Its Application

to these issues we developed a five-fingered haptic interface robot named HIRO

II, which consists of a hand with 15 dof and an arm with 6 dof The following research issues are presented:

 Design method of mechanism

 Redundant robot control taking human‘s 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 fingered haptic interface opposite to the human hand The product workspace between the operator‘s finger and the hapic finger should be large and the high opposability of the thumb and fingers is required to make easy pinching of a small object Reasonable design method optimizing both performance indexes is presented

multi-Redundant robot control taking human’s sensitivity into consideration

The hand posture is nonunique because of the redundancy of the HIRO II An approach taking the redundancy into account is a combination control with a finger force control and an arm position control, in which a desired hand posture

operator‘s various hand poses However, this control method causes large arm motion even though the operator‘s finger motions are slight This excessive motion sometimes confuses the operator because it creates the illusion that the device is malfunctioning For presenting haptic feeling in wide operation space and reducing the operator‘s 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 operator‘s hand in virtual space, it is desirable that the object spatial movement is based on physics laws Constraint force and frictional force at the contact points between the operator‘s fingertips and object surface are important factors to enhance reality As a physical phenomenon there are two friction states at the contact point: static friction state without sliding and dynamic friction state with sliding Moreover, computations

of not only friction force but also friction moment are required Computational methods of frictional force and moment in virtual reality (VR) environment have been presented

Application system 1: Future science encyclopedia

Maintaining a stable haptic interaction in VR environments, especially with physically-based deformable objects, has long been an active area of research Comprehensive haptic system architecture for the haptic rendering, where a physically-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 II

and future science encyclopedia (FSE)

Science Encyclopedia (FHSE) has been developed to verify and demonstrate our proposal 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 model

of large deformation effects and consideration of nonlinear material properties

We adopted a linear model adaptation technique for a nonlinear force update, in which the deformations of the model nodes are calculated according to a linear model and forces of the touched nodes are updated according to the experimentally measured force-displacement curves Some videos of experiments and VR simulation are shown

Fig.2 Haptic breast palpation using HIRO-II

Mechatronics for Human Physical Activity

1KTU International Studies Centre, A.Mickevičiaus 37, LT-44244 Kaunas,

Lithuania a

of human physiological states and then presenting it to the monitored person thus ensuring 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 and analysis 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

These products are universal and are intended both for global high-tech and consumer markets – including patients in medical rehabilitation institutions as well as top sport professionals Global market for these products is billions of USD per year Proposed devices successfully compete with analogous products from such companies as Polar Electro (Finland), Cardiosport (UK), Timex (USA), Sensor Dynamics (USA), Mio Watch (USA), Ochron (USA), Intelligent Health Systems (Australia), Reebok (USA), Suunto (USA) and others Potential users of the proposed products: individuals, sport organizations, schools, clubs, rehabilitation centers, etc Product manufacturer – company UAB ―Baltec CNC Technologies‖ This company participated in the following high-tech development projects:

- ―High Technologies and Equipment for Human Health Enhancement (HOMOTECH)‖ (2003-2005), which participants were Kaunas University of Technology, Lithuanian Academy of Physical Education and Institute of Cardiology c/o Kaunas University of Medicine and partners The project purpose was research of biomechanics and physiology of motion of fit and handicapped persons, development of innovative methods, technologies and high-tech equipment for enhancement of human functional capabilities, compensation and rehabilitation

- ―High Technologies and Equipment of home of the future (KOMOTECH)‖ (2003-2006), which participants were Kaunas University of Technology, UAB

―Katra‖, UAB ―Rubikon apskaitos sistemos‖ The project was funded by Lithuanian State Science and Studies Foundation The project purpose was development of smart system for enhancement of home comfort – centralized control of communal services, automatic devices, security and other installed systems as well as development of functional capabilities in interaction between home dwellers and public service organizations in the modern society

- ―Integrated system for human fitness GUDRIS‖ (contract no 3.1.7-03-05/0012) Participants of the project are Kaunas University of Technology, Lithuanian Academy of Physical Education, sports center ―Linija‖ and public organization ―Zaliakalnio slenis‖ Purpose of the project is to develop innovative fitness training equipment enabling implementation of e-version of fitness 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

BPD04-ERPF ―Problems in MicroSensorial Wireless Networks‖ (SWN), call FPBPD04-ERPF 2005BPD04-ERPF ISTBPD04-ERPF 5, priority – technologies for information society BCT is one of the project partners together with Polytechnic University of Madrid, Kaunas University of Technology, companies Edosoft Factory and MTP (Spain), Coronis Systems and CEA LIST (France) and Institute of Industrial Systems at Patrase University (Greece) Major aim of the project is to develop new generation cellular wireless information transfer system and adapt it to the transmission of human physiological and biomechanical parameters in the confined environment

Nanomaterials, Sensors and Integration with MEMS

1

NASA Ames Research Center, Moffett Field, CA 94035

ammeyyappan@mail.arc.nasa.gov

Keywords: nanotechnology, sensors, actuators, MEMS

Abstract

There are strong research programs in nanotechnology related to chemical sensors, electromechanical devices, actuators, biosensors, and other nanodevices in leading laboratories across the world which use nanomaterials and other molecularly-engineered approaches In many cases, practical systems demand seamless integration of the nanodevice with higher order structures, for example, MEMS Examples of this using carbon nanotube based chemical and biosensors will be presented Opportunities using inorganic nanowires in the above applications will also be highlighted

Mechatronics in Annecy-FRANCE, Projects and Reality

1SYMME-POLYTECH’SAVOIE, BP 80439, 74944 ANNECY LE VIEUX

Cedex- France a

serge.samper@univ-savoie.fr

Keywords: mechatronics, definition, projects, education, research

Abstract

The Mechatronics development in our area in the French Alps (Annecy area) is a

global project that includes both local industries and universities In this paper we

present how we all evolve to build two mechatronic curricula and a mechatronic

laboratory with industrial partners Some of our mechatronic research projects are

linked to local industries, while others are rather biomechatronic projects (which

represent a good perspective in our mind) In order to explain what mechatronic is

to students and manufacturers, we propose a definition based on natural

behaviours

Conclusion

The mechatronic developments are based on three legs, industry, education and

research The main difficulty is to keep a good coherence between them From

several years, people have been working in research, education, and industry

fields aiming to make bricks of mechatronic By adding them, the first step to

build a mechatronic project is accomplished; but in order to progress, the way the

assembly is made must be changed Those bricks have to be thought together

thanks 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 other‘s way in order to help the

emergence of a true "mechatronic approach"

[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 45–51

Rotor Crack Detection Using Active Magnetic Bearings

1

RMDC, Dept of Mechanical Engineering, Cleveland State University

aj.sawicki@csuohio.edu

Keywords: rotor crack, magnetic bearings, AMB-actuators

Abstract

Well-established procedures exist to monitor and diagnose fairly severe problems with rotating machinery but little progress has been made in developing techniques to detect subtle changes in machine condition for both improved diagnostics, and to develop prognostic procedures for determining remaining service life Of all machine faults, crack initiated problems present probably the most significant safety and loss hazard in modern turbomachinery, including aircraft engines and power generation units Different approaches are used to model, detect, and localize crack-induced damage in rotating structures This paper presents novel application of active magnetic bearings (AMBs) for on-line rotor crack detection AMB-actuators provide convenient means to apply a broad spectrum of known dynamic forces and monitor responses in a rotor-bearing system, which facilitates more sensitive and precise diagnostics The paper presents theoretical modeling and description of the experimental facility for proof-of-concept testing

Fig 1 Concept for application of AMB for rotor crack detection

K - time dependent stiffness change matrix due to crack

Fex – external excitation force

0.1 0.3 0.5 0.7 0.9 1 1.1 -8

-4 0 4 8 10

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, external

Latest Trends in the Development of Piezoelectric

Multi-Degree-of-Freedom Actuators

1

Kaunas University of Technology, Mechatronics Centre for Research,

Studies & Information a

ramutis.bansevicius@ktu.lt

Keywords: active kinematical pairs; piezoactive links; several

degrees-of-freedom; micro-robots; piezoelectric motors; transforming the oscillations;

quasi-static motion

Abstract

Paper 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 of Active kinematical pairs with several DOF is

introduced and specified In Active kinematical pairs one or both elements are active

(usually made from piezoactive or magnetostrictive materials) and various methods of

transformation of resonant multi-component oscillations into continuous or start-stop

motion is taking place The resolution of such actuators with several DOF lies in the

range of 1 … 50 nm and depends on the rheological properties of the contact zone

and on the type of the dynamic interaction between active and passive links or, in case

of 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 This

specific feature allow to design high accuracy actuation devices with zero errors

related 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 the

supporting surface is active and generates motion of the moving or rotating link

Simplest examples are the shaft mounted in the conical centers, performing torsional

and 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 two

directions (normal and tangential) with specific phase shift, depending on the

rheological properties of the contact zone In both these cases indexing errors are

equal to 0

To achieve the resolution in the nanometer range quasi-static displacement of the

active links are generated; usually the frequency range of such mode of operation is

1/3 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 the

schematics with infinite number of DOF – snake or trunk robots Lately sufficient

attention is being paid to the development of mini-submarines (6 DOF); some

examples of possible actuators for this class of the devices are also described

This research was partly financed by EC Framework VI project MINUET and

Lithuanian State Science and Studies Foundation (Project PiezoAdapt, 2007).

PRESENTATIONS Section I: Mechatronic Systems (2007.09.27 14:15 – 17:00, room 1)

Automatic Control of Longitudinal Form Accuracy of a

Shaft at Grinding

1

Machine Engineering Department, Vilnius Gediminas Technical

University, Basanavičiuas St 28, Vilnius, LT 03224, Lithuania

aandma@me.vtu.lt

Keywords: Control properties, theoretical background, use of control

Abstract

One of the main tasks of accuracy achieving at shaft grinding is to keep accuracy

of its longitudinal form with maximal productivity of the process At many

machining 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 technological

system in a longitudinal stroke the constancy of grinding force does not warrant

the accuracy of a longitudinal form

The different works were made for accuracy achieving of slender rollers

which are character that the rate between the length and the diameter of a slender

roller was very large (up to 30-50), for this reason the grinding only with

supporting steadies is able At moderate rate between the length and diameter of

the shaft (in limits up to 7…8) the shafts are ground without steadies, the problem

of stiffness change of a technological system at longitudinal stroke has large

influence on accuracy The main influence on this accuracy has radial component

Fy of grinding force Partial solution of the problem is searched by keeping

constant this force by change of cutting rates (in most cases – longitudinal speed

of the traverse stroke), but because of stiffness change in a longitudinal stroke the

constancy 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 change

in longitudinal stroke which would keep constant deflection in a system The

digital control system in this method would calculate and keep necessary value of

cutting force which would keep constancy of the longitudinal form The system

consists of measuring transducers which control elastic displacement of center

pins at grinding and keeps their previously calculated necessary sum of

displacements by automatically controlled longitudinal feed speed value Because

generally in practice multi step shafts are used in machines, the multi step shaft is

analyzed in the work

The calculated cutting rates, so the necessary grinding force is programmed

for the shaft beforehand depending on its stiffness and stiffness of the

technological system

Accuracy and productivity of the grinding is increased

A Distributed Control for a Grasping Function of a

References

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hyper degrees of freedom, Proc 1999 IEEE Int Conf on Robotics and

Autom., Detroit (1999), pp 2837- 2842

[3] Mochiyama, H., E Shimeura, H Kobayashi, Direct kinematics of

manipulators with hyper degrees of freedom and Serret-Frenet formula, Proc

1998 IEEE Int.Conf on Robotics and Autom., Leuven, Belgium (1998), pp 1653-1658

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