New technologies, development and application

Alim Abazović “Dzemal Bijedic” University of Mostar, Mostar, Bosnia andHerzegovinaKarlo Ajvazović University of Sarajevo, Sarajevo, Bosnia and HerzegovinaAldina Aldžić University of Biha

Lecture Notes in Networks and Systems 42

Isak Karabegović Editor

New

Technologies, Development and

Application

Volume 42

Series editor

Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Polande-mail: kacprzyk@ibspan.waw.pl

The series “Lecture Notes in Networks and Systems” publishes the latestdevelopments in Networks and Systems—quickly, informally and with high quality.Original research reported in proceedings and post-proceedings represents the core

The series covers the theory, applications, and perspectives on the state of the artand future developments relevant to systems and networks, decision making, control,complex processes and related areas, as embedded in thefields of interdisciplinaryand applied sciences, engineering, computer science, physics, economics, social, andlife sciences, as well as the paradigms and methodologies behind them

Advisory Board

Fernando Gomide, Department of Computer Engineering and Automation—DCA, School of Electrical and Computer Engineering —FEEC, University of Campinas—UNICAMP, São Paulo, Brazil

e-mail:gomide@dca.fee.unicamp.br

Okyay Kaynak, Department of Electrical and Electronic Engineering, Bogazici University, Istanbul, Turkey

e-mail:okyay.kaynak@boun.edu.tr

Derong Liu, Department of Electrical and Computer Engineering, University of Illinois

at Chicago, Chicago, USA and Institute of Automation, Chinese Academy of Sciences, Beijing, China

e-mail:derong@uic.edu

Witold Pedrycz, Department of Electrical and Computer Engineering, University of Alberta, Alberta, Canada and Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

e-mail:wpedrycz@ualberta.ca

Marios M Polycarpou, KIOS Research Center for Intelligent Systems and Networks, Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus e-mail:mpolycar@ucy.ac.cy

Imre J Rudas, Óbuda University, Budapest Hungary

e-mail: rudas@uni-obuda.hu

Jun Wang, Department of Computer Science, City University of Hong Kong

Kowloon, Hong Kong

e-mail:jwang.cs@cityu.edu.hk

More information about this series at http://www.springer.com/series/15179

Isak Karabegovi ć

Editor

New Technologies, Development

and Application

123

Bosnia and Herzegovina

Lecture Notes in Networks and Systems

ISBN 978-3-319-90892-2 ISBN 978-3-319-90893-9 (eBook)

https://doi.org/10.1007/978-3-319-90893-9

Library of Congress Control Number: 2018942170

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their Development and Application

The content of this book is very interesting and important as it covers a wide range

of technologies and technical disciplines including complex systems such as:robotics, mechatronics systems, automation, manufacturing, cyber-physical sys-tems, autonomous systems, sensor, networks, control systems, energy systems,automotive systems, biological systems, vehicular networking and connectedvehicles, effectiveness and logistics systems, smart grids, nonlinear systems, powersystems, social systems, economic systems and other The papers included in thiscontent have been presented at the international conference New Technologies,Development and Application, held in Sarajevo, Bosnia and Herzegovina, on

28–30 June 2018 Majority of organized conferences are usually focusing on anarrow part of the issues within a certain discipline while conferences such these arerare There is a need to hold such conferences The value of this conference is thatvarious researchers, programmers, engineers and practitioners come to the sameplace where ideas and latest technology achievements are exchanged Such eventslead to the creation of new ideas, solutions and applications in the manufacturingprocesses of various technologies New coexistence is emerging, horizons areexpanding, and unexpected changes and analogies arise Best solutions andapplications in technologies are critically evaluated

Thefirst chapter begins with robots, robotic systems, modelling of compressorsystems, mechatronic systems, automation of manufacturing processes andadvanced production Thefirst article offers an analysis of automation of weldingprocesses using industrial robots The following article in this chapter analyses themodelling of multiphase twin screw machines, commonly used for pumpingfluidswhich often contain gas, liquid and solid particles, and are of exceptional impor-tance to industry and ecology The following article in this chapter analyses the

influence of injection moulding process parameters on part quality The last articleoffers a power and control system of knee and ankle powered above kneeprosthesis

The second chapter is intended to innovative and interdisciplinary applications ofadvanced technologies (IATs) It is based on the analysis (IoT) of technological tools

as an opportunity to use new technologies in the development of society as a whole

v

Thefirst article is devoted to the cybersecurity capacity building planning withinorganizations Thefinal article offers application of weighted particle swarm opti-mization to imbalanced data in software defect prediction.

The third chapter is intended to transport systems, logistics and intelligenttransport systems Thefirst article gives an analysis of cooperative control in trafficand transportation technology The second article provides a solution to trafficcontrol in urban areas, while the final article offers the use of unmanned aerialvehicles in logistics processes

The fourth chapter is intended to electric power systems with different spectrum

of topics from turbulence analysis of wind power plants, pico power plants, highenergy efficiency to analysis of combustion technologies with the aim of achievingecological standards

Thefifth chapter is intended to new methods in agricultural culture of a broadspectrum of topics: modelling the extraction process of sage, effects of sage extract,from occurrence of apple powdery mildew to application of multivariate statistic toclassify blueberry fruits, and in addition the detection of heavy metals in haircolours by the atomic absorption spectrophotometry, the content of heavy metals in

“PET” bottles of drinking water and its electrical conductivity, microbiologicalanalysis of surface waters and research of antimicrobial resistance of clinicalimportant multiresistant gram-negative bacterial isolates

The sixth chapter focuses on new technology in civil engineering, education,control quality and other The first article focuses on nanotechnology in civilengineering In next article, information about parametric vector analysis ofavailable resources for minimization of project duration is given The last article inthis chapter considers education at universities

The whole content of this book is intended to a wide range of technical systems;different technical disciplines in order to apply the latest solutions and achievements

in technologies and to improve manufacturing processes in all disciplines wheresystemic thinking has a very important role in the successful understanding andbuilding of human, natural and social systems We hope this content will be thefirst

in a series of publications that are intended to the development and implementation

of new technologies in all industries

Isak Karabegović

vi Interdisciplinary Research of New Technologies, their Development and Application

New Technologies in Mechanical Engineering, Metallurgy,

Mechatronics, Robotics and Embedded Systems

Automation of the Welding Process by Use of Industrial Robots . 3Isak Karabegović and Riaz Mirza

Modelling of Multiphase Twin Screw Machines . 18Ahmed Kovacevic, Sham Rane, and Nikola Stosic

Influence of Injection Molding Process Parameters on Part Quality . 33Janez Gotlih, Miran Brezočnik, Igor Drstvenšek, Timi Karner,

and Karl Gotlih

Numerical Analysis of Material Fatigue Impact on Bicycle Frame

Safety in Accordance with EN 14764 . 41Nermina Zaimović-Uzunović, Ernad Bešlagić, and Almir Porča

The Influence of the Tool Geometry on the Quality of the Weld

in FSW Process . 50Aleksandra Koprivica, NikolaŠibalić, Milan Vukčević,

and Mirjana Jokanović

Dimension Measurement of Injection Moulded Toybricks . 57Samir Lemeš and Anel Baručija

Wire and Arc Additive Manufacturing (WAAM)– A New Advance

in Manufacturing . 65Nikola Knezović and Angela Topić

Analysis of the Type and Chemical Content of the Inclusion on SEM

of the Stainless Steel With and Without the Addition of Zr and Te . 72Derviš Mujagić, Aida Imamović, Mirsada Oruč,

and Sulejman Muhamedagić

vii

Strength and Deformation Calculation of Flat O-Springs . 80Ivan Balashev, Mariel Penev, Ivan Stoyanov, and Radoslav Balashev

Prototype Apparatus for Calibration Contact Sensors for Measuring

the Temperature of a Solid Surface . 86Edin Terzić, Raif Seferović, and Narcisa Jarović-Bajramović

Automatic Control of Tube Hydroforming Process

in Experimental Conditions . 101Edina Karabegović, Edin Šemić, and Safet Isić

Analysis and Determination of Friction in Hydroforming Process

of Cross Tube . 107Mehmed Mahmić, Edina Karabegović, and Ermin Husak

Science of Metals Through Lens of Microscope . 113Belma Fakić, Adisa Burić, and Edib Horoz

Increase of Performance of Grinding by Plate Circles . 121Tonkonogyi Vladimir, Yakimov Alexey, and Bovnegra Liubov

Analysis of Torsional Vibration of the Engine Connected

with Propeller Through Pair of Gears . 128Ermin Husak and Erzad Haskić

FEM Model of Misaligned Rotational System

with Rotating Looseness . 135Emir Nezirić, Safet Isić, Isak Karabegović, and Avdo Voloder

Application of Explosives in Metal Forming . 144DarkoŠunjić and Stipo Buljan

Application of Iterative Methods to Solve Inverse Kinematics

Problem of Robot . 149Avdo Voloder

Parameter Fitting for Soft Dielectric Elastomer Actuator . 156Timi Karner, Janez Gotlih, Boštjan Razboršek, and Karl Gotlih

Timber Construction and Robots . 163Salah-Eldien Omer

Conceptual Solution of the Robotic Arm/Plotter . 170Milena Djukanovic, Rade Grujicic, Luka Radunovic, and Vuk Boskovic

Robot for Cleaning Ventilation Ducts . 180Milos Bubanja, Marina Mijanovic Markus, Milena Djukanovic,

and Mihailo Vujovic

Cloud Robotics . 191Samir Vojić

Vibration Analysis of Motorcycle Handles . 196Zlata Jelačić and Boran Pikula

Acoustic Diagnostics of Lever Mechanisms with Subsequent

Processing of Data on Neural Networks . 202Sergiy Kovalevskyy, Olena Kovalevska, and Raul Turmanidze

Power and Control System of Knee and Ankle Powered

Above-Knee Prosthesis . 211Miljan Rupar, Zlata Jelačić, Remzo Dedić, and Adisa Vučina

Computer Science, Information and Communication

Technologies, e-Business

Cyber Security Capacity Building Planning Within Organisations . 219RamoŠendelj and Ivana Ognjanović

New Method of Sequences Spiral Hybrid Using Machine Learning

Systems and Its Application to Engineering . 227Matej Babič, Isak Karabegović, Sanda Ipšič Martinčič, and Gyula Varga

A Multifunctional Platform for Elders’ Assisting to Live Alone . 238Blerina Zanaj, Fatjon Shaba, Majlinnda Belegu, and Gerti Boshnjaku

Economic Aspects of the Application of Cloud Computing . 247Mirha Bičo Ćar, Savo Stupar, and Elvir Šahić

The Role of Hadoop Technology in the Implementation

of Big Data Concept . 254Savo Stupar, Mirha Bičo Ćar, and Elvir Šahić

Cybernetization of Industrial Product-Service Systems

in Network Environment . 262Elvis Hozdić and Zoran Jurković

Technology-Enhanced Systems in Idiopathic Scoliosis 3D Diagnosis

and Screening . 271

Saša M Ćuković, William R Taylor, and Ionuţ G Ghionea

Contributions to Improve the Sustainability in Services Based

Organizations . 279Mihail Aurel Titu, Bianca Alina Pop, and Stefan Titu

Applying Weighted Particle Swarm Optimization to Imbalanced

Data in Software Defect Prediction . 289Lucija Brezočnik and Vili Podgorelec

Intelligent Transport Systems, Logistics, Traffic Control

Cooperative Systems in Traffic Technology and Transport . 299Sadko Mandžuka

Wireless Sensor Network Based Alarm Detection and Monitoring

of Cyber-Physical System with Mobile Robot Inspection . 309Lejla Banjanovic-Mehmedovic and Mirzet Zukic

Review of Simulation Based Comparison of VANET Protocols . 317Zlatan Jukic and Muhammad Arshad

Ramp Metering on Urban Motorways . 332Martin Gregurić, Sadko Mandžuka, and Edouard Ivanjko

Terminology Extraction to Build an Ontology of Intelligent

Transport Systems . 338PeroŠkorput, Sadko Mandžuka, and Markus Schatten

Cooperative Vehicle Actuated Traffic Control in Urban Areas . 345Miroslav Vujić, Sadko Mandžuka, and Luka Dedić

Application of Mini Computers and RFID Technology

in Automation . 354MalikČabaravdić, Sanela Čančar, and Anel Husaković

Application of Unmanned Aerial Vehicles in Logistic Processes . 359Jasmina Pašagić Škrinjar, Pero Škorput, and Martina Furdić

New Technologies in the Field Energy: Renewable Energy,

Power Quality, Advanced Electrical Power Systems

The Turbulence Intensity of the Wind Bora . 369Blago Pehar, Elvir Zlomušica, and Suad Zalihić

Lab-Scale Tests as Support to Selection of Sustainable Coal

Combustion Technology - Case Study: Support to Design

of TPP Kakanj Unit 8 - . 377Nihad Hodžić, Sadjit Metović, and Anes Kazagić

Influence of New Technologies on Higher Energy Efficiency

of Hydrostatic Devices and Systems . 386MilutinŽivković, Predrag Dašić, and Zvonko Petrović

Design of Pico Hydropower Plants for Rural Electrification . 397Krsto Batinić, Dušan Golubović, Stojan Simić, and Goran Orašanin

Development of Construction of Mini Hydro Power Plant Model

Based on Pelton Turbine . 405Radoslav Tomović, Aleksandar Tomović, Marko Mumović,

and Vuk Vujošević

Gas Escape from Combustion Chamber to Crankcase, Analysis

of a Set of Parameters Affecting the Blow by . 413Cristiana Delprete, Arian Bisha, and Erjon Selmani

Comb-Based Decimator for Multiples-of-Five Decimation Factors . 423Gordana Jovanovic Dolecek and Isak Karabegovic

The Filter-Compensation Device Applications to the AC 25 kV 50 Hz

AC of Serbian Railways . 429Branislav Gavrilovic and Zoran Bundalo

Optimization of Water Supply System Using Software EPANET 2.0 . 443Aleksandar Košarac, Dejan Romić, Goran Orašanin,

and Jovana Blagojević

The Possibilities of the Cadastral Land Use Assessment

by the Methods of Remote Sensing . 452Admir Mulahusić, Jusuf Topoljak, Nedim Tuno, and Karlo Ajvazović

Analysis of the Energy Potential of Organic Bioradable Part

of Municipal Waste . 459Mahmut Jukić and Ifet Šišić

New Technologies in Agriculture and Ecology, Chemical Processes

Modeling the Extraction Process of Sage (Salvia Officinalis L.)

with Supercritical CO2at Different Temperatures . 469Sabina Begić, Vladan Mićić, and Darko Manjenčić

The Effect of Concentration of Methanol as a Solvent on the

Antioxidative Activity of Sage Extract . 480Selma Osmić, Sabina Begić, and Vladan Mićić

Occurrence of Apple Powdery Mildew,Podosphaera Leucotricha

(Ellis & Everh.) E S Salmon in North-Western Region of Bosnia

and Herzegovina . 491Zemira Delalić

Application of Multivariate Statistic to Classify Blueberry Fruits . 498Vildana Alibabić, Azra Skender, Melisa Orašćanin, and Ibrahim Mujić

The Effect of Technological Process on Physico-Chemical

and Nutritional Properties of Sour Cherries Products . 507Ramzija Cvrk, Azra Begović, Snježana Marić, and Nils V Juul

Application of New Technologies in Meat Processing Industry

in the Function of Improvement of Total Quality of Products

and Consumer Protection . 513Amir Ganić, Munevera Begić, and Enver Karahmet

The Impact of Water on PVC Floor Coverings . 522Mario Krzyk and Darko Drev

Exposure to PM10 Aerosol Particles and Other Aerial Pollutants

in the Capital City of Montenegro . 529Jovana Jovanovic and Svetlana Stevovic

New Technological Procedures for Production of Thioncarbamates

as a Selective Flotation Reagents . 542Milutin M Milosavljević, Milan M Milosavljević, Milutin Živković,

and Ljiljana Pecić

The Content of Heavy Metals in“PET” Bottles of Drinking Water

and Its Electrical Conductivity . 552Ekrem Pehlić, Aida Šapčanin, Husein Nanić, and Adnan Ćehajić

Determination of Heavy Metals in Hair Dyes by the Atomic

Absorption Spectrophotometry . 561Ekrem Pehlić, Husein Nanić, Huska Jukić, and Aldina Aldžić

Microbiological Analysis of Surface Waters in the Area

of National Park“Una” . 568Melisa Zulić, Huska Jukić, Asmir Aldžić, and Adnan Ćehajić

Research of Antimicrobial Resistance of Clinical Important

Multi-resistent Gram Negative Bacterial Isolates

in the Una-Sana Canton Area . 575Asmir Aldžić, Huska Jukić, Kanita Dedić, and Amela Dubinović-Rekić

New Technologies in Civil Engineering, Education, Control Quality

Nanotechnology in Civil Engineering . 585MerimaŠahinagić-Isović, Marko Ćećez, and Fuad Ćatović

Support Parametric Vector Analysis of Available Resources for

Minimisation of Project Duration–Four Varieties of Conditions . 590Omer Kurtanović and Lejla Dacić

New Technologies in Education at“Džemal Bijedić” University

in Mostar . 597Alim Abazović, Dragi Tiro, and Fuad Ćatović

Author Index . 605

Alim Abazović “Dzemal Bijedic” University of Mostar, Mostar, Bosnia andHerzegovina

Karlo Ajvazović University of Sarajevo, Sarajevo, Bosnia and HerzegovinaAldina Aldžić University of Bihac, Bihać, Bosnia and Herzegovina

Asmir Aldžić University of Bihać, Bihać, Bosnia and Herzegovina

Yakimov Alexey Institute of Industrial Technologies, Design and Management,Odessa National Polytechnic University, Odessa, Ukraine

Vildana Alibabić University of Bihać, Bihać, Bosnia and Herzegovina

Muhammad Arshad University of Engineering and Technology Lahore, Lahore,Pakistan

Matej Babič Jožef Stefan Institute, Ljubljana, Slovenia

Ivan Balashev Technical University of Gabrovo, Gabrovo, Bulgaria

Radoslav Balashev PRONY Engineering Ltd., Gabrovo, Bulgaria

Lejla Banjanovic-Mehmedovic University of Tuzla, Tuzla, Bosnia andHerzegovina

Anel Baručija University of Zenica, Zenica, Bosnia and Herzegovina

Krsto Batinić University of East Sarajevo, East Sarajevo, Bosnia and HerzegovinaMunevera Begić University of Sarajevo, Sarajevo, Bosnia and HerzegovinaSabina Begić University of Tuzla, Tuzla, Bosnia and Herzegovina; University ofEast Sarajevo, Zvornik, Bosnia and Herzegovina

Azra Begović Faculty of Technology, University of Tuzla, Tuzla, Bosnia andHerzegovina

xiii

Majlinnda Belegu Agricultural University of Tirana, Tirana, Albania

Ernad Bešlagić University of Zenica, Zenica, Bosnia and Herzegovina

Arian Bisha Universiteti Politeknik i Tiranes, Tirana, Albania

Mirha Bičo Ćar University of Sarajevo, Sarajevo, Bosnia and HerzegovinaJovana Blagojević University of East Sarajevo, East Sarajevo, Bosnia andHerzegovina

Gerti Boshnjaku New Media Communications, Tirana, Albania

Vuk Boskovic University of Montenegro, Podgorica, Montenegro

Lucija Brezočnik Faculty of Electrical Engineering and Computer Science,University of Maribor, Maribor, Slovenia

Miran Brezočnik University of Maribor, Maribor, Slovenia

Milos Bubanja University of Montenegro, Podgorica, Montenegro

Stipo Buljan Federal Ministry of Energy, Mostar, Bosnia and HerzegovinaZoran Bundalo Railway College of Vocational Studies, Belgrade, Serbia

Adisa Burić University of Zenica, Metallurgical Institute “Kemal Kapetanović”,Zenica, Bosnia and Herzegovina

MalikČabaravdić University of Zenica, Zenica, Bosnia and HerzegovinaSanelaČančar University of Zenica, Zenica, Bosnia and Herzegovina

Fuad Ćatović “Džemal Bijedić” University of Mostar, Mostar, Bosnia andHerzegovina

Marko Ćećez “Džemal Bijedić” University of Mostar, Mostar, Bosnia andHerzegovina

AdnanĆehajić University of Bihać, Bihać, Bosnia and Herzegovina

Saša M Ćuković Department of Health Sciences and Technology, Institute forBiomechanics, Swiss Federal Institute of Technology – ETH Zurich, Zurich,Switzerland

Ramzija Cvrk Faculty of Technology, University of Tuzla, Tuzla, Bosniaand Herzegovina

Lejla Dacić University of Travnik, Travnik, Bosnia and Herzegovina

Predrag Dašić High Technical Mechanical School of Professional Studies,Trstenik, Serbia

Kanita Dedić Cantonal Hospital, “Dr Irfan Ljubijankić” Bihac, Bihac, Bosnia andHerzegovina

Luka Dedić University of Zagreb, Zagreb, Croatia

Remzo Dedić University of Mostar, Mostar, Bosnia and Herzegovina

Zemira Delalić University of Bihać, Bihać, Bosnia and Herzegovina

Cristiana Delprete Politecnico di Torino, Turin, Italy

Milena Djukanovic University of Montenegro, Podgorica, Montenegro

Darko Drev University of Ljubljana, Ljubljana, Slovenia

Igor Drstvenšek University of Maribor, Maribor, Slovenia

Amela Dubinović-Rekić Cantonal Hospital, “Dr Irfan Ljubijankić” Bihac, Bihac,Bosnia and Herzegovina

Belma Fakić University of Zenica, Metallurgical Institute “Kemal Kapetanović”,Zenica, Bosnia and Herzegovina

Martina Furdić University of Zagreb, Zagreb, Croatia

Amir Ganić University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Branislav Gavrilovic Railway College of Vocational Studies, Belgrade, Serbia

Ionuţ G Ghionea Faculty of Engineering and Management of TechnologicalSystems, University Politehnica of Bucharest, Bucharest, Romania

Dušan Golubović University of East Sarajevo, East Sarajevo, Bosnia andHerzegovina

Janez Gotlih University of Maribor, Maribor, Slovenia

Karl Gotlih University of Maribor, Maribor, Slovenia

Martin Gregurić University of Zagreb, Zagreb, Croatia

Rade Grujicic University of Montenegro, Podgorica, Montenegro

Erzad Haskić University of Bihać, Bihać, Bosnia and Herzegovina

Nihad Hodžić University of Sarajevo, Sarajevo, Bosnia and HerzegovinaEdib Horoz University of Zenica, Metallurgical Institute“Kemal Kapetanović”,Zenica, Bosnia and Herzegovina

Elvis Hozdić University of Ljubljana, Ljubljana, Slovenia

Ermin Husak University of Bihać, Bihać, Bosnia and Herzegovina

Anel Husaković University of Zenica, Zenica, Bosnia and Herzegovina

Aida Imamović Institute “Kemal Kapetanović”, University of Zenica, Zenica,Bosnia and Herzegovina

Safet Isić Faculty of Mechanical Engineering, University “Džemal Bijedić”Mostar, Mostar, Bosnia and Herzegovina

Edouard Ivanjko University of Zagreb, Zagreb, Croatia

Narcisa Jarović-Bajramović Metallurgical Institute “Kemal Kapetanović”,University of Zenica, Zenica, Bosnia and Herzegovina

Zlata Jelačić University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Mirjana Jokanović University of East Sarajevo, East Sarajevo, Bosnia andHerzegovina

Gordana Jovanovic Dolecek Institute INAOE, Puebla, Mexico

Jovana Jovanovic University Union Nikola Tesla, Belgrade, Serbia

Zlatan Jukic HTL Rankweil & Vienna University of Technology, Vienna, AustriaHuska Jukić University of Bihać, Bihać, Bosnia and Herzegovina

Mahmut Jukić University of Bihac, Bihać, Bosnia and Herzegovina

Zoran Jurković University of Rijeka, Rijeka, Croatia

Nils V Juul Sør-Trøndelag University College (HiST), Høgskolen i

Sør-Trøndelag, Trondheim, Norway

Edina Karabegović Faculty of Technical Engineering Bihać, University of Bihać,Bihać, Bosnia and Herzegovina

Isak Karabegović Technical Faculty, University of Bihać, Bihać, Bosnia andHerzegovina

Enver Karahmet University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Timi Karner University of Maribor, Maribor, Slovenia

Anes Kazagić University of Sarajevo, Sarajevo, Bosnia and HerzegovinaNikola Knezović University of Mostar, Mostar, Bosnia and HerzegovinaAleksandra Koprivica University of East Sarajevo, East Sarajevo, Bosnia andHerzegovina

Ahmed Kovacevic Centre for Compressor Technology, City, University ofLondon, London, UK

Olena Kovalevska Department of Machine Building Technology, Donbass StateEngineering Academy, Kramatorsk, Ukraine

Sergiy Kovalevskyy Department of Machine Building Technology, Donbass StateEngineering Academy, Kramatorsk, Ukraine

Aleksandar Košarac University of East Sarajevo, East Sarajevo, Bosnia andHerzegovina

Mario Krzyk University of Ljubljana, Ljubljana, Slovenia

Omer Kurtanović University of Bihac, Bihać, Bosnia and Herzegovina

Samir Lemeš University of Zenica, Zenica, Bosnia and Herzegovina

Bovnegra Liubov Institute of Industrial Technologies, Design and Management,Odessa National Polytechnic University, Odessa, Ukraine

Mehmed Mahmić University of Bihać, Bihać, Bosnia and Herzegovina

Sadko Mandžuka Faculty of Traffic and Transport Sciences, University ofZagreb, Zagreb, Croatia

Darko Manjenčić University of Novi Sad, Novi Sad, Serbia

Snježana Marić Faculty of Technology, University of Tuzla, Tuzla, Bosnia andHerzegovina

Marina Mijanovic Markus University of Montenegro, Podgorica, MontenegroSanda Ipšič Martinčič University of Rijeka, Rijeka, Croatia

Sadjit Metović University of Sarajevo, Sarajevo, Bosnia and HerzegovinaMilan M Milosavljević University of Priština, Kosovska Mitrovica, SerbiaMilutin M Milosavljević University of Priština, Kosovska Mitrovica, SerbiaRiaz Mirza University of Engineering & Technology, Lahore, Pakistan

Vladan Mićić University of Tuzla, Tuzla, Bosnia and Herzegovina; University ofEast Sarajevo, Zvornik, Bosnia and Herzegovina

Sulejman Muhamedagić Institute “Kemal Kapetanović”, University of Zenica,Zenica, Bosnia and Herzegovina

Derviš Mujagić Institute “Kemal Kapetanović”, University of Zenica, Zenica,Bosnia and Herzegovina

Ibrahim Mujić University of Bihać, Bihać, Bosnia and Herzegovina; ColegiumFluminense Polytechnic of Rijeka, Rijeka, Croatia

Admir Mulahusić University of Sarajevo, Sarajevo, Bosnia and HerzegovinaMarko Mumović University of Montenegro, Podgorica, Montenegro

Husein Nanić University of Bihac, Bihać, Bosnia and Herzegovina

Emir Nezirić ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia andHerzegovina

Ivana Ognjanović University of Donja Gorica, Podgorica, Montenegro

Salah-Eldien Omer SAG CONSULTING d.o.o., Zagreb, Croatia

Goran Orašanin University of East Sarajevo, East Sarajevo, Bosnia andHerzegovina

Melisa Orašćanin University of Bihać, Bihać, Bosnia and Herzegovina

Mirsada Oruč Institute “Kemal Kapetanović”, University of Zenica, Zenica,Bosnia and Herzegovina

Selma Osmić University of Tuzla, Tuzla, Bosnia and Herzegovina

Ljiljana Pecić Bachelor School for Professional Technical Studies, Trstenik,Serbia

Blago Pehar ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia andHerzegovina

Ekrem Pehlić University of Bihac, Bihać, Bosnia and Herzegovina

Mariel Penev Technical University of Gabrovo, Gabrovo, Bulgaria

Zvonko Petrović High Technical Mechanical School of Professional Studies,Trstenik, Serbia

Boran Pikula University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Vili Podgorelec Faculty of Electrical Engineering and Computer Science,University of Maribor, Maribor, Slovenia

Bianca Alina Pop SC TEHNOCAD SA, Baia Mare, Romania

Almir Porča University of Zenica, Zenica, Bosnia and Herzegovina

Luka Radunovic University of Montenegro, Podgorica, Montenegro

Sham Rane Department of Engineering Science, University of Oxford, Oxford,UK

Boštjan Razboršek University of Maribor, Maribor, Slovenia

Dejan Romić University of East Sarajevo, East Sarajevo, Bosnia and HerzegovinaMiljan Rupar University of Mostar, Mostar, Bosnia and Herzegovina

Markus Schatten University of Zagreb, Zagreb, Croatia

Raif Seferović Metallurgical Institute “Kemal Kapetanović”, University of Zenica,Zenica, Bosnia and Herzegovina

Erjon Selmani Universiteti Politeknik i Tiranes, Tirana, Albania

Fatjon Shaba New Media Communications, Tirana, Albania

Stojan Simić University of East Sarajevo, East Sarajevo, Bosnia and HerzegovinaAzra Skender University of Bihać, Bihać, Bosnia and Herzegovina

Svetlana Stevovic University of Beograd, Belgrade, Serbia

Nikola Stosic Centre for Compressor Technology, City, University of London,London, UK

Ivan Stoyanov Podem Gabrovo Ltd., Gabrovo, Bulgaria

Savo Stupar University of Sarajevo, Sarajevo, Bosnia and Herzegovina

William R Taylor Department of Health Sciences and Technology, Institutefor Biomechanics, Swiss Federal Institute of Technology – ETH Zurich,Zurich, Switzerland

Edin Terzić Metallurgical Institute “Kemal Kapetanović”, University of Zenica,Zenica, Bosnia and Herzegovina

Dragi Tiro “Dzemal Bijedic” University of Mostar, Mostar, Bosnia andHerzegovina

Mihail Aurel Titu Lucian Blaga University of Sibiu, Sibiu, Romania

Stefan Titu The Oncology Institute “Prof dr Ion Chiricuță” Cluj Napoca,Cluj-Napoca, Romania

Aleksandar Tomović University of Montenegro, Podgorica, MontenegroRadoslav Tomović University of Montenegro, Podgorica, Montenegro

Angela Topić University of Mostar, Mostar, Bosnia and Herzegovina

Jusuf Topoljak University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Nedim Tuno University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Raul Turmanidze Department of Machine Building Technology, Donbass StateEngineering Academy, Kramatorsk, Ukraine

Gyula Varga University of Miskolc, Miskolc, Hungary

Tonkonogyi Vladimir Institute of Industrial Technologies, Design andManagement, Odessa National Polytechnic University, Odessa, Ukraine

Samir Vojić Technical Faculty Bihać, University of Bihać, Bihać, Bosnia andHerzegovina

Avdo Voloder Faculty of Mechanical Engineering, University of Sarajevo,Sarajevo, Bosnia and Herzegovina

Adisa Vučina University of Mostar, Mostar, Bosnia and Herzegovina

Miroslav Vujić University of Zagreb, Zagreb, Croatia

Mihailo Vujovic University of Montenegro, Podgorica, Montenegro

Vuk Vujošević University of Montenegro, Podgorica, Montenegro

Milan Vukčević University of Montenegro, Podgorica, Montenegro

Nermina Zaimović-Uzunović University of Zenica, Zenica, Bosnia andHerzegovina

Suad Zalihić ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia andHerzegovina

Blerina Zanaj Agricultural University of Tirana, Tirana, Albania

Elvir Zlomušica ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia andHerzegovina

Mirzet Zukic University of Tuzla, Tuzla, Bosnia and Herzegovina

Melisa Zulić University of Bihać, Bihać, Bosnia and Herzegovina

Merima Šahinagić-Isović “Džemal Bijedić” University of Mostar, Mostar,Bosnia and Herzegovina

ElvirŠahić University of Sarajevo, Sarajevo, Bosnia and Herzegovina

Aida Šapčanin Faculty of Pharmacy, University of Sarajevo, Sarajevo, Bosniaand Herzegovina

Edin Šemić Faculty of Mechanical Engineering, University “Džemal Bijedić”Mostar, Mostar, Bosnia and Herzegovina

RamoŠendelj University of Donja Gorica, Podgorica, Montenegro

NikolaŠibalić University of Montenegro, Podgorica, Montenegro

IfetŠišić University of Bihac, Bihać, Bosnia and Herzegovina

PeroŠkorput University of Zagreb, Zagreb, Croatia

Jasmina Pašagić Škrinjar University of Zagreb, Zagreb, Croatia

DarkoŠunjić University of Mostar, Mostar, Bosnia and Herzegovina

Milutin Živković High Technical Mechanical School of Professional Studies,Trstenik, Serbia

MilutinŽivković Bachelor School for Professional Technical Studies, Trstenik,Serbia

New Technologies in Mechanical Engineering, Metallurgy, Mechatronics, Robotics and Embedded Systems

Automation of the Welding Process

by Use of Industrial Robots

Isak Karabegović1(✉)

and Riaz Mirza2

1 University of Bihać, 77000 Bihać, Bosnia and Herzegovina

isak1910@hotmail.com

2 University of Engineering & Technology, Lahore, Pakistan

mriazmirza@uet.edu.pk

Abstract The development of robotic technology, owing to the advancement

of digital technology, is evolving each year, resulting in increased representation

of industrial robots We are currently in the fourth industrial revolution, referred

to as “Industry 4.0” by the Germans The implementation of the fourth techno‐ logical revolution depends on a series of new and innovative technological achievements, most of which are applied in robotic technology Automation of production processes, including automation of the welding process, must include industrial robots This paper demonstrates the representation of industrial robots

in the world continents, and four top countries: China, Japan, North America and Germany An analysis was conducted of the annual representation of industrial robots in the welding process worldwide and on continents of Asia/Australia, Europe, and Americas, for the period 2010–2016 As it is known that industrial robots are most represented in the automotive industry, a tendency of their repre‐ sentation was depicted in the automotive industry for the same period, as well as the percentage in all industrial branches by 2016 Industrial robots are most widely used in two welding processes: arc welding and spot welding, so an analysis of their representation in these two welding processes for the period 2010–2016 was conducted A comparative analysis of the annual production of vehicles in four countries was made: China, Japan, USA and Germany, as well as the presence of robots in these countries in the welding processes The paper also includes the analysis and possibilities of future industrial robot representation in this area.

Keywords: Industry · Process · Robot · Welding · Arc welding · Spot welding Application

1 Introduction

The production process in any industry branch is unconceivable without the use ofindustrial robots The automation process in the industry started in the 1960s whenindustrial robots were introduced, and it continues to this day The process of automation

of production process with application of the first-generation industrial robots at thattime period was positive because they replaced people in performing difficult anddangerous jobs This was a rigid and non-flexible automation, because in order to initiatethe production of another product in the same manufacturing process, it was necessary

© Springer International Publishing AG, part of Springer Nature 2019

I Karabegović (Ed.): NT 2018, LNNS 42, pp 3–17, 2019.

https://doi.org/10.1007/978-3-319-90893-9_1

to reprogram each robot with its grips, changing tools, etc., which in return caused lasting delays in the production and presented additional production costs We must alsostate the fact that industrial robots were enclosed with fences for reasons not to hurt theworkers engaged in the production process With the continuous automation of produc‐tion processes and their flexibility, as well as demands for constant change in productionlines, the function of industrial robot becomes increasingly demanding and complexwith the tendency of increasing the use of industrial robots Every day we have techno‐logical improvements in terms of flexibility, accuracy, security and simplification of theuse of industrial robots Medium and small businesses will start using flexible automa‐tion in order to be competitive in the market The presence of industrial robots is stillthe largest in the automotive industry in the welding process, but other industries do notlag behind in increasing the use of industrial robots Industrial robots are ideal for jobsthat are considered to be difficult and disadvantageous for people, and jobs that arehazardous to their health, particularly welding They are used for repetitive jobs that areconsidered monotonous, as well as for products which require high quality and highproductivity, such as automotive industry Various industrial robots have been designedprecisely for a specific type of task The application of robotic systems in the industryalso presents the humanization of work, and the best example is the welding processes

long-in any long-industry [1 14, 22–24, 29–35] Industrial robots are used for arc welding, spotwelding, laser welding, soldering and other types of welding The paper presents theanalysis of the use of industrial robots in the world, by continents, as well as in the fourcountries where the automotive industry is the most represented, i.e in the countrieswhere the most vehicles are produced In addition, the tendency of representation ofindustrial robots is presented in two welding processes: arc welding and spot welding,since these two welding processes mostly use industrial robots When it comes to thetransformation of production processes, we are referring to their modernization, withthe aim of achieving intelligent production processes This process is unimaginablewithout the presence of both industrial and service robots of the new generation Thenew generation of robots must be intelligent and autonomous, i.e to make independentdecisions and communicate with people and machines The application of such industrialand service robots will increase the reliability of the manufacturing process, reduce thetime to create the finished product, and enable adapting and precision in performingtasks that exceed human capabilities

2 The Representation of Industrial Robots

In order to depict the representation of industrial robots in production processes world‐wide, the data for statistical analysis were taken from the International Federation ofRobotics (IFR), the UN Economic Commission for Europe (UNECE) and the Organi‐zation for Economic Co-operation and Development (OECD) [15–25, 29], as are shown

in Fig 1

Worldwide representation of industrial robots at an annual level in the period 2009–

2016 is continually increasing, as shown in Fig 1(a), with the recorded decrease inrepresentation in 2012 In early 2008, there was an economic and industrial crisis in the

world that reflected the annual presence of industrial robots, so that the lowest repre‐sentation of only 60.011 industrial robot units was marked in 2009 We can point outthat the increase in the number of industrial robots in the world is growing from year toyear, so that in 2016 the tendency of use has raised to 259.000 industrial robot units.The reasons for this tendency of representation of industrial robots are many, includingthe fact that companies want to be competitive in the market and introduce automationinto their production processes, which reflects the presence of industrial robots Otherreasons include the development of robotic technology and the fourth digital revolutionthat simplifies the use of robots in production processes, decreasing price of industrialrobots, etc In order to depict the actual representation of industrial robots in the world,

we have to conduct an analysis of their representation on annual and total level bycontinents, as shown in Fig 2 [15–29]

41.000 56.000

Fig 2. The representation of industrial robots in the automation of production processes in the world on annual and total level for the period 2010–2016

The tendency of representation of industrial robots at the annual level, Fig 2.a, indi‐cates that Asia/Australia holds the first place by the presence of industrial robots in theproduction processes of the industry We see the continuous increase in the application

of robots in production processes from year to year in the period 2010–2016, so that therepresentation reached about 191.000 industrial robot units in 2016 The second place

is held by Europe, that demonstrates a growing tendency, but unlike Asia/Australia, it

is a slight increase from year to year In 2016 it reached the value of about 56.000

Fig 1. The representation of industrial robots in the automation of production processes in the world on annual and total level for the period 2009–2016

Automation of the Welding Process by Use of Industrial Robots 5

industrial robot units, which compared to Asia/Australia is almost four times less Thethird place is held by America with a slight increasing tendency, with about 41.000industrial robot units used in 2016, which is around five times less than Asia/Australia

in the same year In regard to the representation of industrial robots at the overall level,Fig 2.b, we can see that the tendency in all three continents has a growing character It

is more distinct in Asia/Australia, which holds the first place, and in 2016 the represen‐tation reached about 1 million industrial robot units Europe has a slower tendency ofrepresentation, which in 2016 reached about 460.000 units, whereas America markedaround 300.000 industrial robot units in the same year There is a far less difference inthe representation of industrial robots in Europe and America compared to Asia/Australia at the overall level than at the annual level We have to note that the analysisdid not include the continent of Africa, because the representation is very small andcannot be compared with other three continents We have conducted the analysis of therepresentation of industrial robots in the four developed countries in the world whereindustrial robots are most widely used The tendency of presence of industrial robots inthese countries is shown in Fig 3 [15–21]

of industrial robots six times, so that in 2016 about 87.000 robots were applied, which

is twice as high as Japan, almost three times more than the USA and four times morethan Germany, and it confirms the fact that their strategy is giving positive results whenindustrial production is concerned The second place by the presence of industrial robots

is held by Japan, with slight increase in the representation that reached 38.586 robot

units in 2016 The third place is held by USA, with the similar increasing trend of use

of industrial robots in the recent years, which in 2016 amounted to about 31.400 robotunits The fourth place is reserved for Germany, where tendency is constant over thelast few years, and in 2016 it reached about 20.000 industrial robot units Industrialrobots are installed on those jobs where they can protect the health of workers, assistthem with heavy and monotonous jobs, and gain greater accuracy The first group oftasks includes all welding processes, because they are harmful for health, and are largelyused in the automotive industry where automation of welding processes is advanced[22–28] For these reasons we have conducted the analysis of the representation ofindustrial robots in the welding processes

3 Automation of Welding Production Processes by Use of Industrial Robots

Welding procedures: spot welding, arc welding, laser welding, and soldering are part ofprocedures that are dangerous for workers to perform because of the dangerous gasesthat can damage their health In addition, these are boring, difficult and monotonous jobsthat should be avoided by the workers Industrial robots must be used instead, except inspecific tasks when it is not possible to apply robots In order to obtain the real illustration

of the automation of these jobs in the world, we need to conduct an analysis of therepresentation of industrial robots in welding processes The representation of industrialrobots in welding processes is shown in Fig 4 The statistical data on the tendency ofrepresentation of industrial robots were obtained from the International Federation ofRobotics (IFR), the UN Economic Commission for Europe (UNECE) and the Organi‐zation for Economic Co-operation development (OECD) [3 4, 15–21]

Number of units

Asia/A W

ustralia World

Automation of the Welding Process by Use of Industrial Robots 7

it can be seen that the representation in welding processes is 25%, representing onequarter of used industrial robots in all processes worldwide The first place by the pres‐ence of industrial robots in welding processes is held by Asia/Australia with growingtendency each year In 2016 about 41.400 industrial robot units were used in Asia/Australia, representing 2/3 of the total industrial robot representation in weldingprocesses in the world In the period from 2010 to 2016 the continent of Asia/Australiahas increased the representation of robots in welding processes with total 23.000 roboticunits, i.e almost 100% Representation of industrial robots in welding processes is farbehind on the continents of America and Europe, while the continent of Africa waseliminated in this analysis due to the fact that the representation is negligible in relation

to other three continents The representation of industrial robots in welding processes

in the North America can be considered as constant each year, and in 2016 it was about13.154 industrial robots units On the continent of Europe, the illustration of industrialrobot representation in welding processes is somewhat different, as the industrial robots’representation in 2010 and 2011 was higher than in the last five years It can be said thatthe representation is constant from year to year (period 2012–2016), and in 2016 therewere about 8.186 robot units Therefore, we can conclude that the tendency of industrialrobot application in welding processes is to be expected, when compared to the overalltendency of industrial robot application on the continents, as shown in Fig 2, and theapplication of industrial robots by countries, as illustrated in Fig 3 The reason for thisconclusion lies in the fact that China, which is located on the continent of Asia/Australia,

is the country with the largest representation of industrial robots in the world, with atendency of increasing application in the following years Higher number of industrialrobots is installed in the automotive industry where welding processes are represented[29–35] In order to obtain the real illustration of the tendency of the representation ofindustrial robots in automotive industry and how many industrial robots were installed

in welding production processes, we have conducted an analysis of their representation

in this industry in the period 2010–2016, as shown in Fig 5 [15–21]

we come to the conclusion that about 40% of industrial robots are represented in theautomotive industry each year in relation to the total representation of industrial robots

in all other production processes In 2016, around 103.323 robot units were used in theautomotive industry, which presents a very high level of representation, while in thesame year the representation of robot units in welding processes amounted to about65.000 units, accounting for 25% of the total number of industrial robots used in otherprocesses worldwide We can analyze the representation of industrial robots by industryfor 2016

The accurate illustration of the representation of industrial robots in industrialbranches can be seen in Fig 6(a), which indicates the percentage of the representation

of industrial robots in 2016 We come to the conclusion that the automotive industryholds the first place with usage of about 39% of industrial robots in 2016, which isreasonable conclusion, followed by the electric/electronic industry with about 34% ofindustrial robots, metal industry with about 11% of industrial robots, plastic and rubberindustry (i.e chemical) with about 7% of industrial robots, and at the end food industrywith about 3% of industrial robot units Figure 6(b) shows the representation of industrialrobots in welding processes in relation to the total representation of industrial robots inthe automotive industry in 2016, which is about 103.323 robot units It is notable that63% of industrial robots in the automotive industry are used in welding processes,whereas 37% of industrial robots are used in other processes of the automotive industry.The production processes of the automotive industry in which car body products aremanufactured use the following welding methods: arc welding, spot welding and laserwelding The first two processes are far more representative in car body production inthe automotive industry, and therefore the analysis was conducted of the presence ofindustrial robots in these processes So far, the analysis of the representation of industrialrobots in laser welding was omitted, due to the fact that industrial robots are far lessused than in the other two processes

a – Representation by industry

b – Representation in welding compared to

representation in automotive industry

Fig 6. Percentage of representation of industrial robots in 2016 in industrial branches and welding processes compared to other processes in the automotive industry in 2016 [ 15 ]

The annual representation of industrial robots in the arc welding process and spotwelding process in the period 2010–2016 is shown in Fig 7 Based on the diagram shownabove, we conclude that the trend of industrial robots’ representation in spot welding isgrowing, noticeably in the period 2014–2016, and there is far more robot application inthis welding process compared to the arc welding process The presence of industrialrobots in the welding process reached about 34.056 units in 2016 in the world When

Automation of the Welding Process by Use of Industrial Robots 9

we analyze the presence of industrial robots in the arc welding process, we can see thatthe representation of robots is smaller compared to the spot welding process In 2016the representation of industrial robots in this welding process was around 2.415 units inthe world In order to obtain a ratio of representation of industrial robots in all weldingprocesses in the world, we have analyzed the percentage of industrial robots in 2016, asshown in Fig 8.

Number of units

Welding p process

Arc Spot we

welding elding

65.004

25.415 34.056

Fig 7. The tendency of annual representation of industrial robots in welding processes in the world and representation of arc welding and spot welding in the period 2010–2016 [ 7 15 – 21 ]

Fig 8. Percentage of representation of industrial robots in 2016 in all welding processes [ 15 ]

Based on data [x] in 2016, around 65.004 units of industrial robots were used world‐wide in various welding processes Of this number, the largest representation of indus‐trial robots is in the process of spot welding with about 52%, which presents more thanhalf of the installed industrial robots The second place in the representation of use ofindustrial robots in welding processes is held by arc welding with about 39%, followed

by the soldering process with about 4%, whereas the smallest representation of industrialrobots is in laser welding process with about 1% This is reasonable because this is thelatest technology in relation to the processes of arc welding and spot welding, includingmore demanding conditions of the application of industrial robots in this weldingprocess Finally, there are about 4% of industrial robots in other welding processes Thewelding processes are used in many constructive solutions in metal industry, andsoldering process is used in electronics industry, whereas automotive industry has thehighest representation of industrial robots In order to prove this conclusion, we haveconducted an analysis of vehicle production in the world, and in the countries, that arethe largest vehicle producers in the world, as shown in Fig 9

Germany A

is in the first place in the world by application of industrial robots The second place,according to the vehicles production in the world, is held by the USA, with annualincreasing tendency in production that in 2016 reached 18.293.000 produced vehicleunits Japan’s vehicle production positions it in the third place with annual growth, which

in 2016 amounted to 13.237.000 vehicle units produced Based on Fig 3, we have notedthat Japan is the second in the world by the representation of industrial robots, followedthe USA in the third place, whereas in the vehicles production the situation is reverse.The reason is that more industrial robots are installed in the electronic and electricindustry compared to the automotive industry in Japan The fourth place in worldproduction of vehicles is held by Germany with continuous tendency, so that in 2016around 6.062.000 units of industrial robots were produced As we have stated, the largestrepresentation of industrial robots is in two welding processes, namely arc welding andspot welding processes In order to obtain an overview of the presence of industrialrobots in these two welding processes in the world, an analysis was conducted of theirrepresentation on the continents, as shown in Fig 10 [15–21]

The analysis of the representation of industrial robots in the arc welding by continents(Fig 10.a) indicates that the continent of Asia/Australia is the first place in the worldwith increasing tendency of representation In 2016 there were about 16.805 industrialrobot units applied in Asia/Australia, which is about four times more robot used than inEurope or North America in the same year The second place is held by Europe withmuch smaller representation than Asia/Australia and a slight annual increasing tendency,which in 2016 amounted to 4.349 industrial robot units The third place is held by NorthAmerica with similar mild annual growth, which in 2016 reached 4.074 industrial robotunits The illustration of the representation of industrial robots in the process of spotwelding is different in comparison to arc welding, as shown in Fig 10(b) We can see

Automation of the Welding Process by Use of Industrial Robots 11

that the sudden trend of annual increase of application of industrial robots in Asia/Australia in 2016 reached about 20.621 robot units, which is extremely high in relation

to other countries when it comes to industrial robots and vehicle production This is aconsequence of Chinese technological development strategy named “Made in China2025” The second place is held by North America with increasing representation ofindustrial robots in the spot welding process, that in 2016 amounted to about 8.932industrial robot units, which is two times more than in arc welding process Europe is

in the third place with the declining tendency of representation of industrial robots inthe spot welding process, which in 2016 reached 1.564 industrial robot units The reasonfor this reduced representation of industrial robots in spot welding process are manifold,one of which being that the automotive companies are transferring their productionprocesses outside of Europe The representation of industrial robots in arc welding andspot welding processes in the countries of China, USA, Japan and Germany is shown inFig 11 [8 21]

564 932 0.621

Fig 10. The tendency of annual representation of industrial robots in two welding processes: arc welding and spot welding by continents Asia/Australia, North America and Europe in the period 2010–2016

As shown in Fig 11(a), China demonstrates growing tendency of use of industrialrobots in the process of arc welding during the period 2010–2016, with a decline in therepresentation in the last two years compared to 2014 In 2016 the representationamounted to 8.088 industrial robot units With the far less presence of industrial robotscompared to China, USA holds the second place with a slight rising trend that in 2016reached 3.948 units of industrial robots, which is two times less than in China in thesame year The third place is held by Japan with almost the same trend as the USA,which in 2016 reached value of 3.687 industrial robot units The fourth place by therepresentation of industrial robots in the arc welding process is held by Germany, whosetendency is almost constant in the period 2010–2016, and in 2016 amounted to 1.157units Trends of the representation of industrial robots in the process of spot welding aredifferent in relation to the trends of representation of industrial robots in arc weldingprocess, as shown in Fig 11(b) By 2013, the order of application of industrial robotsper country was as follows: USA, China, Japan, and finally Germany Since 2013, Chinaholds the first place in the application of robots in the spot welding process with agrowing tendency in the period 2010–2016, so that in 2016 representation of industrialrobots in China reached 10.772 units of industrial robots, which is almost 2,500 morerobots used than in the arc welding process in the same year USA holds the secondplace with increasing annual trend of representation, that in 2016 amounted to 8.362robot units, which is two times more than in the arc welding process Japan is holdingthe third place with a slight oscillating annual tendency of representation which in 2016reached about 2.854 industrial robot units in the process of spot welding The last place

is held by Germany that in 2010 and 2011 held the first place The representation ofindustrial robots in Germany has begun to decline since 2011, so that in 2016 it amounted

to about 673 industrial robot units In 2010 and 2011, Germany was in the first place inthe tendency of representation of industrial robots in the process of spot welding, but inthe last five years the trend has declined, so that in 2016 it reached its lowest value Thereare many reasons for this tendency [28–35] One reason is that vehicle manufacturersand vehicle suppliers in Germany are increasingly investing in electric and hybrid vehi‐cles, another reason is that automotive companies are organizing production in othercountries around the world, etc

4 Conclusion

Based on the analysis of the automation of the welding production processes by use ofindustrial robots worldwide, and countries with the largest vehicle production, we canmake the following conclusions:

• The tendency of application of industrial robots in the automation of productionprocesses in the world is continually increasing on an annual and total level, so that

in 2016 annual level reached about 259.000 industrial robot units, whereas overalllevel reached about 1.8 million industrial robot units, as shown in the diagrams inFig 1(a), and (b)

• Based on Fig 2, we can see that the tendency of the automation of productionprocesses by continents worldwide, tracked by the representation of industrial robots,

Automation of the Welding Process by Use of Industrial Robots 13

is growing from year to year in the period 2010–2016 The first place is held by Asia/Australia, followed by America and lastly Europe However, when considering thetendency of automation of production processes at the overall level of installedindustrial robots, it can be noted that the order is somewhat different Again, the firstplace is held by Asia/Australia, followed by Europe and finally America Continent

of Asia/Australia has a far greater automation of production processes than Europeand America

• In regard to the representation of industrial robots in the automation of productionprocesses in four top countries, we can conclude that the tendency is constantlyincreasing, with China in the first place, followed by Japan, USA and Germany.Compared to other three countries, China is far more advanced, since it installedaround 82.000 industrial robot units in 2016, like all three countries together

• The tendency of the automation of welding production processes worldwide isincreasing annually, with continent of Asia/Australia being in the first place, as indi‐cated by the diagram in Fig 4 The second place is held by America, followed byEurope We have to state that around 65.000 robot units were used in weldingprocesses in 2016 worldwide, of which 2/3 are related to Asia/Australia

• The highest representation and application of industrial robots in the world is in theautomotive industry, particularly in the welding processes of the automotive industry,

as indicated in the Fig 5

• In regard to the automation of production process in 2016, we can see that the auto‐motive industry is in the first place with 39% of industrial robots, followed by elec‐trical/electronic industry with 34%, metal industry with 11%, rubber and plasticindustry with 7% and finally food industry with 3% of overall representation ofindustrial robots in the world

• The highest number of industrial robots is installed in production processes of arcwelding and spot welding, as shown in Fig 7 The first place is held by spot welding,followed by arc welding, both indicating growing tendency in the representation ofindustrial robots

• Analysis of Fig 8 shows that in 2016 the representation of industrial robots in spotwelding process was 52%, followed by arc welding with 39%, soldering process with4% and finally laser welding with 1%

• Knowing that the automation of welding processes is mostly used in the automotiveindustry, an analysis was conducted on the vehicle production in the world and inthe four top countries where industrial robots were represented the most: China, USA;Japan and Germany, as indicated in Fig 9 The tendency of vehicle production has

a growing nature The first place is held by China with the highest vehicle production

in the past six years China is also in the first place in terms of number of industrialrobots installed in the automation processes in the industry The second place is held

by USA, followed by Japan and Germany

• The analysis of the representation of industrial robots in the automation of arc weldingprocess by continent has shown that Asia/Australia holds the first place, followed byEurope and North America In regard to automation process of spot welding, Asia/Australia also holds the first place, followed by North America, and decreasingtendency in Europe, as shown in Fig 10

• The tendency of annual representation of industrial robots in the automation of twowelding processes: arc welding and spot welding in China, North America, Japanand Germany for the period 2010–2016 is shown in Fig 11 Based on this Figure wesee that China holds the first place and differs from other three countries In addition,

it was shows that the tendency of representation of industrial robots in spot welding

is decreasing the Germany

• Finally, we can conclude that the tendency of automation of welding productionprocesses will have a growing character in the future, in all manufacturing processes.Such a conclusion is driven by the fact that the world at the moment is in the fourthindustrial revolution that the Germans refer to as “Industry 4.0” Its implementation

in production processes and in the robotic technology itself will enable new gener‐ation of industrial robots that can securely work together with man and machine,without setting up the fences between them Robots will gain or adapt new skillsthrough learning processes, and become smarter robots using a great deal of data andcollective learning They will have simplified applications Continuous qualityimprovement requires sophisticated high-tech robotic systems Robots improve thequality of work by taking dangerous, painful, and dirty jobs that are not possible orsafe for people to perform

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Automation of the Welding Process by Use of Industrial Robots 17

Ahmed Kovacevic1(&), Sham Rane2, and Nikola Stosic1

1 Centre for Compressor Technology, City, University of London, London EC1V 0HB, UK

a.kovacevic@city.ac.uk 2

Department of Engineering Science, University of Oxford, Oxford, UK

Abstract Twin screw compressors used in refrigeration, gas and air pression represent approximately 80% of the millions of industrial positive displacement compressors produced globally each year More than 95% of these are oil injected Oil injected twin screw compressor is just one type of multi- phase screw machines Other include twin screw expanders, multiphase pumps and motors Multiphase twin screw machines are traditionally analysed and designed by use of chamber thermodynamic models However for further improvement of efficiency and reliability it is necessary to use more advanced modelling techniques such as 3D Computational Fluid Dynamics (CFD) In order to obtain fast and accurate solution of multiphase screw machines using CFD, it is important that a numerical grid of the highest quality is generated quickly and reliably For that purpose, a deforming grid of a twin screw machine

com-is generated using algebraic transfinite interpolation upon which an elliptic partial differential equations (PDE) of the Poisson ’s form are solved numerically

to produce smooth final computational mesh This paper gives a review of the current state of art in the application of CFD in modelling of multiphase twin screw machines including compressors, expanders and pumps Future chal- lenges and development trends in application of CFD for multiphase twin screw machines are also shown in the paper.

Keywords: Screw compressor
Computational Fluid Dynamics

Grid generation
Conformal grid

Compressors are used to compress air, refrigerants and various gases in many differentindustrial sectors It is estimated that they consume more than 17% energy produced indeveloped countries [19] This pollutes the environment with more than 3000 MtCO2per year, while energy costs exceed €275 billion per year [4] Based on the samesource, it is forecasted that the global CO2emission will increase by 28% from 2015 to

2030 On the other side, the latest EU targets [5] for 2020 are to reduce the CO2emissions by 20% from the levels recorded in 1990 This requires at least 20% ofenergy to be produced by renewable sources and the increase in energy efficiency of

© Springer International Publishing AG, part of Springer Nature 2019

I Karabegovi ć (Ed.): NT 2018, LNNS 42, pp 18–32, 2019.

https://doi.org/10.1007/978-3-319-90893-9_2

industrial applications by 20% from the levels recorded in 2007 Currently these targetsmay not be achieved despite large efforts by both industry and academia to investigatenew and innovative machines.

Industrial initiatives, like waste heat recovery, CO2capture and storage gies, district heat pump heating, the use of clean natural refrigerants, and use ofhydrogen rich gas resources, are recognised to play a major role in achieving thetargets Oil injected screw machines are used for all these applications and their ability

technolo-to efficiently compress or expand gas at high pressures is a pre-requisite Figure1

shows typical screw compressor system used for high pressure applications on the leftand a typical oil injected screw compressor on the right

Twin screw compressors are positive displacement machines which make around80% or all new industrial compressors It is estimated that since early 1950’s to dateabout 11 million screw compressors were put in operation It is also estimated that in

2016, production of screw compressors was about 700,000 of which large industrialcompressors are about 10% in numbers but they make a large proportion of the

$7.99 billion compressor sales in the same year [12] Furthermore, it is predicted thatthe compound annual growth rate of these machines will be 6.62% in the next fewyears and that the screw compressor market will reach the value of over $11 billion in

2021 The highest annual growth of over 8% is expected in the Asia-Pacific regiondriven by China, India, and Southeast Asian countries Although the great majority ofscrew compressors in the market are oil injected, the demand for oil free compressedgas is increasing due to the rise in industries like food, textile, electronics and phar-maceutical Therefore, oil injected compressors and other multiphase fluid handlingmachines have great potential for improvements in efficiency, reduction in oil chargeand greater contribution to reduce CO2emission

Oil is injected into the working chamber of twin screw compressors for three sons, to cool the gas, to seal the clearances and to lubricate rotors and bearings [16].Despite the benefits and necessity of oil injection, it’s presence has negative effects Theshear of oil in clearances contributes to increase of mechanical losses during oil injectionand transport through the chambers Deipenwisch and Kauder [3] used a mathematical

rea-Fig 1 Typical screw compressor package for gas industry (left); model of an oil injected screw compressor (right)

Modelling of Multiphase Twin Screw Machines 19

model for predicting the oil

induced losses in twin screw

compressors Figure2 shows

typical losses in clearances of an

oil injected screw compressor at

an optimal speed Therefore it is

useful to control oil injection in

order to optimise oil quantity and

maximise efficiency 90% of the

oil is injected through the oil

ports that are carefully positioned

in respect to the compression

cycle to allow the desired mass

of oil to enter the compression

chamber

In a similar way other screw machines process multiphasefluids For example anORC expander may process two phase refrigerant which changes the phase during theprocess but can also be mixed with oil which may add complexity to modelling Screwpumps are also often used in multiphase regime to transport both gaseous and liquidphase simultaneously In addition to that, screw machines used in oil and gas industryoften admit solid particles which may be detrimental to the performance

Figure3shows an example of the position of oil injection ports in a screw pressor Commonly, the compressor discharge pressure is utilized to transport and injectthe oil in the working chamber which requires the ports to be adequately positioned inthe system as shown in thefigure However in compressors with variable capacity andvariable built in volume index, oil is often injected under the pressure maintained by anoil pump This improves reliability of the machine at extreme working conditions butcomes at the cost of additional power loss It is essential for the correct operation of amachine to ensure sufficient oil injection at different operating conditions such asvariable rotor speed or discharge pressure Additionally, the oil temperature at the point

com-of injection is important in achieving effective heat transfer Further understanding com-of the

Fig 2 Power losses due to oil in individual leakage gaps (Reproduced from Deipenwisch and Kauder [ 3 ])

Fig 3 Oil injection ports and injection angle on a compression volume curve