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
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
Maketavo: Inga Skiedraitė

Layout done by: Inga Skiedraite
ISSN 1822-8283
Kauno technologijos universitetas, 2007
2
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 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‖.
3
SCIENTIFIC EDITORIAL COMMITTEE
Chairman
R. Bansevicius, Lithuania
Vice Chairman
V. Ostasevicius, Lithuania
Members
G. Amza, Romania M. Min, Estonia
V. Augutis, Lithuania W. Ostachowicz, Poland
S. Backaitis, USA A. Palevicius, Lithuania
V. Bagdonas, Lithuania A. E. Panich, Russia
B. Baksys, Lithuania R. Parkin, UK
V. Barzdaitis, Lithuania A. Preumont, Belgium
I. Blekhman, Russia V. P. Royzman, Ukraine
C. Cempel, Poland A. Rovetta, Italy
A. Fedaravicius, Lithuania A. Sachenko, Ukraine
R. Fourounjiev, Belarus J. Sa da Costa, Portugal
V. Gelezevicius, Lithuania J. Sawicki, USA
J. Holnicki-Szulc, Poland J. Sapragonas, Lithuania
R. Jonusas, Lithuania J. Skliba, Czech Republic
C. Kajdas, Poland H. E. Stephanou, USA
H. Kawasaki, Japan S. Tamulevicius, Lithuania
S. Kausinis, Lithuania T. R. Tolocka, Lithuania
V. V. Kliuev, Russia J. Vantomme, Belgium
J. A. G. Knight, UK V. Vekteris, Lithuania
G. Kulvietis, Lithuania J. Viba, Latvia
J. Laugis, Estonia V. Volkovas, Lithuania
H. Loose, Germany W. Zwierzycki, Poland
M. Meyyappan, USA
ORGANIZING COMMITTEE
Chairman
A. Bubulis, Lithuania
Vice Chairman
E. Dragasius, Lithuania
Members
V. Jurenas, Lithuania I. Skiedraite, Lithuania
K. Juzenas, Lithuania A. Vilkauskas, Lithuania
A. Lipnickas, Lithuania P. Ziliukas, Lithuania
A. Marcinkevicius, Lithuania
4
LIST OF REVIEWERS
Adamiv O. Klytta M.
Adaskevicius R. Kulvietis G.
Ailon A. Lipnickas A.
Augutis V. Mandru D.
Bagdonas V. Marcinkevicius A.
Baksys B. Mariunas M.
Balasevicius L. Mouri T.
Bansevicius R. Mzyk G.
Barauskas S. Niemenmaa A.
Bartkevicius V. Ostasevicius V.
Barzdaitis V. Panovko G. Y.
Blaziunas G. Ragulskis K.
Bogdevicius M. Ragulskis M.
Bubulis A. Ramonas C.
Dallet D. Reuter M.
Dauksevicius R. Rinkeviciene R.
Dervinis G. Rutkauskas R.
Dosinas A. Saukh S.Y.
Dragasius E. Simutis R.
Endo T. Stambolov G.
Fedaravicius A. Tolocka R. T.
Gecys S. Ueki S.
Gelezevicius V. Vaitkus V.
Grinko A. Vekteris V.
Gurbuz R. Vilkauskas A.
Holnicki-Szulc J. Vodovozov V.
Ivanescu M. Volkovas V.
Jokinen T. Zhurauski M.
Kausinis S. Ziliukas A.
Kawasaki H. Zvironas A.
5
MSM 2007 PROGRAMME
2007.09.27 (Thursday)
8:30 - 9:30 Registration
9:30 - 9:35 MSM 2007 Chairman R. Bansevičius
9:35 - 9:40 KTU Vice Rector for Research R. J. Kaţys
Keynote lectures
1st keynote lecture

9:40 - 10:05 H. Kawasaki. Multi-Fingered Haptic Interface Robot 28
and Its Application Systems
2nd keynote lecture
10:10 - 10:30 V. Ostaševičius. Mechatronics for Human Physical 31
Activity
3rd keynote lecture
10:35 - 11:00 M. Meyyappan. Nanomaterials, Sensors and 33
Integration with MEMS
4th keynote lecture
11:05 - 11:30 S. Samper. Mechatronics in Annecy-FRANCE, 34
Projects and Reality
5th keynote lecture
11:35 - 12:00 J. Sawicki. Rotor Crack Detection Using Active 35
Magnetic Bearings
6th keynote lecture
12:05 - 12:25 R. Bansevičius. Latest Trends in the Development of 37
Piezoelectric Multi-Degree-of-Freedom Actuators
12:25 - 12:50 Discussions
Lunch
13:00 - 14:00
Restaurant ŃIMTAS, V.Putvinskio str. 53
6
2007.09.27 (Thursday)
Section I: Mechatronic Systems
Room 1
Automatic Control of Longitudinal Form Accuracy of a

14:15 - 14:30 Shaft at Grinding 39
Andrejus Henrikas Marcinkevičius
A Distributed Control for a Grasping Function of a
14:30 - 14:45 Hyperredundant Arm 40
Mircea Ivanescu, Mihaela Cecilia Florescu
Control of a Symmetrical Dual-drive Gantry System
Using Energetic Macroscopic Representation
14:45 - 15:00 X. Kestelyn, J. Gomand , Alain Bouscayrol, 41
P.J. Barre
Control Algorithm for Tracking in Autonomous VTOL
15:00 - 15:15 Aircraft 42
Amit Ailon
Control of the friction Forces with Stationary Wave
Piezoelectric Actuators
15:15 - 15:30 43
Jean-François Rouchon, C. Cénac-Morthé,
L. Garbuio
15:30 - 15:45 Coffee break

15:45 - 16:15 Poster session 1 (Room 1)
Pendulum-Generator as New Energy Source

16:15 - 16:30 G. Korouji, R. Hanitsch, B. Hübner 44
The Control System of the Stand for Fatigue Tests of

16:30 - 16:45 Materials under Bending With Torsion 45
L. Kasprzyczak, E. Macha
17:00 - 18:30 Free time

Evening Programme
18:30 - 22:00 Kauno Rotuńė (Town Hall), Rotuńės a. 15 (Town Hall
Square 15)
7
2007.09.27 (Thursday)
Section II: Sensors and Actuators in Mechatronics
Room 2
Modelling of the Magnetic Attraction Force of The

Electromagnetic Module In The Relative Base - Air-
14:15 - 14:30 Gap - Absolute Base System 48
Tomasz Huścio, Krzysztof Falkowski
Constitutive Models of Vascular Tissue
14:30 - 14:45 Mirota Kryspin 49
PBG Fiber Low Concentration Gas Sensor

14:45 - 15:00 Joanna Pawłat, Xuefeng Li, Takahiro Matsuo, 51
Tadashi Sugiyama, Toshitsugu Ueda
Fiber-Optical Sensors for Nanometric Displacement and
15:00 - 15:15 Vibration Measurements in Mechatronics 52
Vytautas Kleiza, Jonas Verkelis
Development and Experimental Analysis of
Piezoelectric Optical Scanner with Implemented
15:15 - 15:30 Periodical Microstructure 54
Giedrius Janusas, Arvydas Palevicius, Vytautas
Ostasevicius, Ramutis Bansevicius, Alfredas Busilas
Transient Characterisation and Analysis of Shape

Memory Alloy Wire Bundles for the Actuation of
16:15 - 16:30 Finger Joints in Prosthesis Design 55
K.T. O’Toole, M.M. McGrath, D.W. Hatchett
Design Considerations of a Microelectrostatic Motor
16:30 - 16:45 Vytautas Bagdonas, Vytautas Ostasevičius 57

17:00 - 18:30 Free time
Evening Programme
Square 15)
8
2007.09.27 (Thursday)
Section III: Analysis of Vibration
Room 3
Robustness Analysis of Vibration Control System for a

14:15 - 14:30 Magnetically Supported Shaft 59
Arkadiusz Mystkowski, Zdzisław Gosiewski
Vibration Dampers for Transmission of Mechatronic
Systems
14:30 - 14:45 Arūnas Jakštas, Bronislovas Spruogis, Vytautas 61
Turla
On Passive Position-Dependent Damping for Cab
Suspension
14:45 - 15:00 Petter Kroneld, Toni Liedes, Kalervo Nevala, Pasi 63
Ruotsalainen
Vibration Control of Cantilever Beam
15:00 - 15:15 Jana Kovářová, Schlegel Miloš, Jan Dupal 64
Modeling of the Beam as a Control Plane for the

15:15 - 15:30 Vibration Control System 65
Zdzisław Gosiewski, Andrzej Piotr Koszewnik

Identification of Defects of Rotor Systems with Fluid-

Film Bearings on the Base of Analisys of Shaft Orbits
16:15 - 16:30 and Continuous Wavelet Transform 67
Leonid Savin, Oleg Solomin, Sergey Shirokov
The Rotating System Diagnostics Modeling
16:30 - 16:45 V. K. Augustaitis, V. Barzdaitis, V. Bučinskas, P. 68
Maţeika, M. Vasylius
Vibrodiagnostics and Dynamic Behaviour of
16:45 - 17:00 Aggregates in Small Hydroelectric Power Plants 69
Vitalijus Volkovas
17:00 - 18:30 Free time

Evening Programme
Square 15)
9
2007.09.27 (Thursday)
Section IV: Robotics
Room 4
Design of Dynamic Nonlinear Control Techniques for

14:15 - 14:30 Flexible-Link Manipulators 72
V. Gavriloiu, V. Yurkevich, K. Khorasani
Simulation and Code Generation for a Parallel
14:30 - 14:45 Kinematic Manipulator with Three Degrees of Freedom 73
Robert Amann, Franz Geiger
Fuzzy Control of Robots
14:45 - 15:00 Arkady S. Yuschenko 75
A Path Planning Algorithm for Snake-Like Robots

15:00 - 15:15 Erdinc Sahin Conkur, Riza Gurbuz 77
Autonomous Mobile Robots for Outdoor Tasks

15:15 - 15:30 78
Harald Loose

Enhancing the Accuracy of MRI-compatible Robots

16:15 - 16:30 with an Optical Tracking System 79
Petri Junttila, Kalervo Nevala, Petter Kroneld
Analysis of Insertion Process for Robotic Assembly
16:30 - 16:45 Sigitas Kilikevičius, Bronius Bakšys 81
17:00 - 18:30 Free time

Evening Programme
Square 15)
10
2007.09.28 (Friday)
Section I: Mechatronics Systems

Room 1
The Differential Passive Magnetic Bearing for High-

9:00 - 9:15 Speed Flexible Rotor 84
Zdzisіaw Gosiewski, Krzysztof Falkowski
The Control System of the Fatigue Test Stand under
9:15 - 9:30 Biaxial Tension – Compression 85
L. Kasprzyczak, E. Macha
Model for Simulation of the Dynamic Characteristics of
System Frequency Converter - AC Induction Motor
9:30 - 9:45 Roma Rinkeviciene, Algirdas Baskys, Andrius 86
Petrovas
Integral Controller for the Plants with the Asymmetric
9:45 - 10:00 Dynamics 87
Valerijus Zlosnikas, Algirdas Baskys
Analysis of Hydro Motor Velocity Stabilization
10:00 - 10:15 Antanas Lapinskas, Aleksandras Kirka, Renatas 89
Lapinskas
Calculation Spectral Characteristics of Magnetic Field
10:15 - 10:30 of the Linear Induction Motor at the Braking Modes 90
B. Karaliūnas, E. Matkevičius

Use of Liquid Crystals for Metal Machining

11:00 - 11:15 Vadim Mokshin, Vladas Vekteris 91
Experimental Researches of Rotor Axis Revolution

Orbit of Rotor Systems with Adaptive and Sleeve
11:15 - 11:30 Liquid-Friction Bearings 93
Vladas Vekteris, Audrius Čereška, Mindaugas
Jurevičius
Analysis of Timings in Networks That Use TCP/IP or
UDP/IP Protocols for Communication with Industrial
11:30 - 11:45 95
Controllers in Mechatronics Systems
Krzysztof Pucher, Dariusz Polok
11
Dynamical Quality Improvement of Mechatronic Servo
11:45 - 12:00 System Using Variable Structure Velocity Controller 97
Nerijus Sulcius, V.A. Gelezevicius
Uncertainty Modeling in Robust Control of Active
12:00 - 12:15 Magnetic Suspension 99
Arkadiusz Mystkowski, Zdzisław Gosiewski
Modelling of the Thermoelastic Damping in MEMS
12:15 - 12:30 Structures 101
Rimantas Barauskas, Saulius Kausinis
12:30 - 12.45 Discussions
13:00 - 14:00 Lunch

Excursion in Kaunas (on foot starting from A.
16:00 - 18:00
Mickevicius str. 37)
12
2007.09.28 (Friday)
Section V: Materials (Properties, Modeling, Manufacturing and
Processing)
Room 2
The Analysis of Defects Propagation in Navigating

Electronic Devices
9:00 - 9:15 Nikolaj Višniakov, Aleksandr Bogorosh, 103
Jurij Novickij
Application of Piezoactive Material/Rheological Fluid
9:15 - 9:30 Composite Structures in Engineering 105
Rymantas Tadas Tolocka
Fluoride Release from Composite Materials for Dental
9:30 - 9:45 Fillings 107
Joanna Mystkowska
The Characterization of WC-Co Based Materials
9:45 - 10:00 Boronized within Molten Salt Bath 109
Sakıp Köksal
Structure and Properties Enhancement in High-Speed
10:00 - 10:15 Steels upon Primary Solidification of a Melt 110
Alexander S. Chaus
The Formation and Growth Behavior of Aluminium
10:15 - 10:30 Boride Crystals in an Al–B Alloy 112
Ramazan Kayikci, Osman Kurtulus, Riza Gurbuz

Modeling of the Magnetoelastic Materials for Force and

11:00 - 11:15 Torque Sensors 113
Roman Szewczyk, Jacek Salach, Adam Bieńkowski
―Magnetoactivated‖ Elastomer: An Alternative to
11:15 - 11:30 Electroactive Polymer 115
Yousef Razouk, Eric Duhayon, Bertrand Nogarede
Parametric and Non-Parametric Characterization of a
Shear Mode Magnetorheological Damper
11:30 - 11:45 Mauricio Zapateiro, Ningsu Luo 117
13
Shape Control of a FRP Airfoil Structure Using SMA-
actuators and Optical Fiber Sensors
11:45 - 12:00 Pasi Ruotsalainen, Petter Kroneld, Kalervo Nevala, 118
Timo Brander, Tomi Lindroos, Merja Sippola
Cavitation Erosion Resistance of Austenitic
12:00 - 12:15 Microstructure Created by Means of Laser Beam 119
Marek Szkodo
The Lubricity and Sorptive Experimental Investigations
of Gear Oils
12:15 - 12:30 Krzysztof Czypryński, Tadeusz Kałdoński, Tomasz 129
J. Kałdoński
13:00 - 14:00 Lunch

16:00 - 18:00
14
2007.09.28 (Friday)
Section VI: Failure Analysis
Room 3
Mechatronics Approach in Intelligent Control Systems

9:00 - 9:15 of the Overhead Traveling Cranes Prototyping 123
Jarosław Smoczek, Janusz Szpytko
The Method of Complex Worthiness Assessment of an
9:15 - 9:30 Engineering Object in the Process of Its Use and Service 125
Paweł Lindstedt
Weak Interactions between Objects as New Diagnostic
9:30 - 9:45 Signals in the Diagnostics of Leakages from Pipelines 126
Paweł Ostapkowicz
Diagnostics of Scoring in Gears
9:45 - 10:00 Kryspin Mirota, Jerzy Tomaszewski, Jacek Rysiński 128
Failure Analysis of Destructive Coils

10:00 - 10:15 R.Kačianauskas, A. Kačeniauskas, E. Stupak, S. 129
Balevičius, N. Ţurauskienė, J.Novickij
Determination of Factors Affecting Safety Strees in
Machine Desing by Using Artifical Intelligence
10:15 - 10:30 131
Technologies
Durmuş Karayel,S. Serdar Özkan, Fahri Vatansever

Modeling of Moment of Friction under Increasing Load

Using Artificial Neural Networks
11:00 - 11:15 Krzysztof Gocman, Bolesław Giemza, Tadeusz 133
Kałdoński
Managing Changes in Product Configurations
11:15 - 11:30 Linas Burneika 135
Modelling of Force Drives of the Production Gear

Hobbing Machine with CNC
11:30 - 11:45 Kastytis Slivinskas, Vladimir Gičan, Vytautas 136
Kazimieras Augustaitis
Modeling Similar Real Time Systems with Petri Nets
11:45 - 12:00 Robertas Šunokas, Egidijus Kazanavičius 138
15
Adaptive Intelligent Vehicle Safety Systems of a New
12:00 - 12:15 Generation 139
Reshat Fourounjiev, Yulij Slabko
The Automobile in the Transition from Passive to
Active Safety
12:15 - 12:30 Stanley H. Backaitis 141
13:00 - 14:00 Lunch

16:00 - 18:00
16
2007.09.28 (Friday)
Section VII: Education in the Fields of Mechatronic Systems and
Materials Science
Room 4
Method of Dynamic Parameters Measurement of High-

Speed DAC‗s
9:00 - 9:15 Kvedaras Vygaudas, Kvedaras Rokas, Ustinavičius 143
Tomas
Rigid Rotation by Spectral Analysis in Robotics and
9:15 - 9:30 Astrodynamics 145
Radu D. Rugescu, Sorin Aldea
Application of Modern E-Learning Techniques in the
9:30 - 9:45 Vocational Training in Automation and Robotics 146
Zbigniew Pilat, Marcin Slowikowski, Jacek Zielinski
Survey of Mechatronics Education in the Nordic and
Baltic Countries
9:45 - 10:00 M. Ottestad, G. Hovland, S. Persson, Kjell G. 147
Robbersmyr, J. Pohl
The Subject ―Automatics‖ at a Studying of
10:00 - 10:15 Mechatronics Specialists 148
Aleksandr Grinko
Less Expensive Equipment for Mechatronic Training
10:15 - 10:30 and Education 149
Ion Lungu, Dan Mândru, Simona Noveanu

17
2007.09.28 (Friday)
Section VIII: Measurement Techniques
Room 4
Testing System for Composite Wood Based Strips

11:00 - 11:15 V. Augutis, G. Balčiūnas, D. Gailius 152
Strain Measurements and Monitoring of Constructions

11:15 - 11:30 Rokas Kvedaras, Kvedaras Vygaudas 153
Wavelet Analysis of Barkhausen Noise in

11:30 - 11:45 Reconstructing Distributions of Residual Stress 155
Cezary Kownacki
Analysis of Geometrical Accuracy of Long Grating
Scales Calibration Comparator
11:45 - 12:00 A. Barakauskas, A. Kasparaitis, A. Šukys, 157
P.Kojelavičius
Mechatronic Structure of Modern Test Bench for
Precision Angle Calibration
12:00 - 12:15 Vytautas Giniotis, Domantas Bručas, Petras 158
Petroškevičius, Pranas Kuzas
Adaptive Committees of Neural Classifiers
12:15 - 12:30 Arūnas Lipnickas 159
13:00 - 14:00 Lunch

16:00 - 18:00
18
POSTER SESSION (2007.09.27 – 28)
Poster Session: Mechatronic Systems
Application of Photogrammetric Method for Height Measurement

Instrumentation 161
Vytautas Giniotis, Jonas Skeivalas, Petras Petroskevicius
Transition Test Patterns Generation for BIST Implemented in ASIC
and FPGA 162
Vidas Abraitis, Ţydrūnas Tamoševičius
Steering Wheel and Brake Pedal Feedback for Advanced Driving
Simulators
163
Peter Bouchner, Martin Kozumplik, Stanislav Novotny, Roman
Pieknik, Tomas Radon
Tribological Aspects of Electrosensitive (ES) Lubricant Usage
Кorobko E. V., Zhurauski M. A., Bedzik N. A., Novikova Z. A., 164
Basinuk V. L., Sushko M. I.
Intelligent Mechatronics Systems for Climate Parameters Optimization
Using Fuzzy Logic Control 165
Ivars Beinarts, Anatoly Levchenkov, Nadezhda Kunicina
A Classification of Flash Evoked Potentials Based on Artificial Neural
Network 167
Vidas Raudonis, Gintautas Narvydas, Rimvydas Simutis
State Controller Design in Programmable Logic Controllers
Leonas Balaševičius, Vytis Svajūnas Januševičius, Snieguolė 168
Zakaraitė
Modeling and Investigation of Vector Controlled Induction Drive
169
Roma Rinkevičienė, Vygintas Batkauskas
PID Controller with Enhanced Disturbance Rejection
170
Valerijus Zlosnikas, Algirdas Baskys
The Operation of the Linear Induction Motor by Changing the Position
of the Inductors between Each Other 172
Lionginas Radzevicius, Edvardas Matkevicius
Development of Electropneumatic Servo System with Reference
Model Based Signal Adaptive Force Controller 173
A. Grigaitis, V.A. Gelezevicius
Research on Electric and Magnetic Asymmetry of Linear and Arc
Motors 174
Bronius Karaliūnas
19
Optimum Rapidity Ensuring and Power Resource Saving Two-
Coordinate Positioning System 175
Giedrius Blaţiūnas, Vilius Geleţevičius
Examination of Selective Transfer Phenomenon
177
Andrzej Kotnarowski
Underactuated Manipulator with Control Based on Variable Dynamic
Properties of Joints 178
Rymantas Tadas Tolocka, K.Sarkauskas
Analysis of Holographic Interferogram of Microelectromechanical
System with Non Harmonic Cycles Excitation 180
Raimondas Vasiliauskas, Arvydas Palevicius
Effect of Nanofillers on Wear Resistance of Polymer Coatings
181
Danuta Kotnarowska
Modeling of Trainer‘s Electric Drive Control
183
Liudas Brazdeikis, Diana Rėklaitienė
Development of Smart Membrane Valve Based on Geometric Moire
Interferometry
184
Ramutis Petras Bansevičius, Minvydas Ragulskis, Rūta
Mitrulevičiūtė
Dynamic of a Rewinder With Feedback by Tension Force
185
Vaclovas Kubilius, Česlovas Ramonas, Arūnas Lipnickas
An Analysis of the Adhesive Layer Model Between Two Sheets of
Paper 187
Georgij Petriaszwili, Jurij Pyrjew
Analytic Description of Impulse Response Signals
189
Adam Kotowski
Control of Mobile Crane by means of Fuzzy Logic Controller
191
Tomasz Pędrak, Jacek Kłosiński
Control of Slewing Motion of a Crane Model Taking into Account
Non-Linearities in Drive System 192
Janusz Jarosław, Kłosiński Jacek, Majewski Ludwik
Controlling of Work Motions of a Mobile Crane under a Threat of Loss
of Stability 194
Kłosiński Jacek, Janusz Jarosław
20
Poster Session: Sensors and Actuators in Mechatronics
Modeling and Design Optimization of Butterfly Type Actuator

196
Dalius Maţeika, Piotr Vasiljev
ERF Valves Controlled By Plane Capacitor Electric Field
197
R.Bansevicius, Juozapas Arvydas Virbalis
Holographic Interferometry Method for Analysis and Design of Rotary
Converter
198
Laima Patašienė, Raimondas Vasiliauskas, Algimantas
Fedaravičius
Dynamic Simulation of Nonlinear Electromechanical and Vibro-
Impact Interactions in Electrostatically Driven Microactuator 200
Rolanas Dauksevicius, Vytautas Ostasevicius, Rimvydas Gaidys
Experimental Researches of a Flexible Waveguide With Alternate
Tightness of Ultrasound Vibrations
202
M.Valaika, A.Bubulis ,V.Jūrėnas, A.Vilkauskas, I.Adzericho,V.T.
Minchenia
Piezo-Monitoring of Magneto-Rheological Fluids
204
E. Dragašius
Development of Electro-Rheological and Magneto-Rheological Fluids
Monitoring system 205
Paulius Ibianskas, Egidijus Dragašius
A Flat Compound Piezoelectric Actuator of a Type «a Shaking Beam»
Piotr Vasiljev, Regimantas Bareikis, Liudmila Vasiljeva , Jonas 206
Tiskevicius, Algimantas Rotmanas
Poster Session: Analysis of Vibration
Application of Mathematical Modelling in the Analysis of the

Vibroacoustic Processes 208
Danielius Guţas, Algirdas Čiučelis
CFAR Vibration Signal Change Test and its Applications to Real-Time
Recognition of Developing Cracks in Jet Engine Rotors
210
Nicholas A. Nechval, Konstantin N. Nechval, Gundars Berzins,
Maris Purgailis
An Oscillating Linear Electrical Generator
Saulius Barauskas, Zigmantas Jankauskas, Vygaudas Kvedaras, 212
Valentinas Zaveckas
21
The Transient Behavior of Rails Used in Electromagnetic Railguns:
Numerical Investigations at Constant Loading Velocities
213
L. Tumonis, Rimantas Kačianauskas, A. Kačeniauskas,
M. Schneider
Interaction of Vibrating and Translational Motions
215
Laima Patašienė, Kazimieras Ragulskis
Investigation of Actuators with Smart Links
217
Edmundas Kibirkštis, Kęstutis Vaitasius
Applications of High Frequency Vibrations for Surface Milling
J. Graţevičiūtė, I. Skiedraitė, V. Jūrėnas, A. Bubulis,V. 219
Ostaševičius
Analysis of the Dynamics of the Vibratory Valve-Injector
220
Vytenis Naginevicius, Minvydas Ragulskis, Arvydas Palevicius
Research of Complex Rotary Systems Vibrocondition Based On
Analysis of Dynamical Processes and Spectrum of Vibrations 221
Egidijus Juzėnas, Remigijus Jonušas, Kazimieras Juzėnas
Research of Dynamics of Rotary Vibration Actuators with Magnetic
Coupling
222
Kęstutis Kanapeckas, Remigijus Jonušas, Kazimieras Ragulskis,
Romualdas Ruzgus
Transportation and Orientation of Object on a Vibrating Platform with
Controlled Dry Friction
223
Algimantas Fedaravicius, Kestutis Tarasevicius, Minvydas
Ragulskis
Dynamic Stability of a Flexible Rod under Parametric Excitation
224
Gouskov A.M. , Myalo E.V. , Panovko G. Y., Tretyakova V. G.
The Pulse Wave Velocity and the Velocity of Sound in Blood Flow
226
Rolandas Girčys, Arūnas Ţvironas
Concept and Methods an Adaptive Vibration Protection and
Stabilization 228
Reshat Fourounjiev, Alexander Homich
Heavy Duty Gearing-Roller Bearings System Stability Performance
P. Maţeika, V. Barzdaitis, M. Bogdevičius, R. Didţiokas, V. 230
Ţemaitis
Investigation of Vibrations of a sheet of paper in the Printing Machine
231
L. Ragulskis, E. Kibirkštis, A. Kabelkaitė, A. Dabkevičius
22
Poster Session: Robotics
The Influence of Friction on the Dynamic Model for a 6-DOF Parallel

Robot with Triangular Platform 233
Tiberiu-Pavel Itul, Doina Liana Pisla
Mechatronics Approach for CNC Milling Machine Design
235
Riza GURBUZ
Aspects Concerning Modeling of Self-Reconfigurable Parallel Robots
236
Cornel BRISAN
Study of Robot Actuator Operating as a System on Air Films
237
K. Ragulskis, E. Kibirkštis, D. Pauliukaitis
Development of Mobile Minirobots for in Pipe Inspection Tasks
238
Olimpiu Tătar, Dan Mândru, Ioan Ardelean
Workspace and Stiffness Analysis of a Two Degree of Freedom Micro
Parallel Robot 240
Sergiu-Dan, Vistrian Mătieş, Radu Bălan
Autonomous Mobile Robot Control Using ―IF-THEN‖ Rules and
Genetic Algorithm 241
Gintautas Narvydas, Rimvydas Simutis, Vidas Raudonis
Vibratory Alignment of the Parts during Robotized Assembly
243
Bronius Bakšys, Jolanta Baskutienė
Local Navigation Method for Improvement of Mobile Robot
Movement 245
Oleh Adamiv, Vasyl Koval, Arunas Lipnickas, Viktor Kapura
Hexapod Leg Control Algorithm in Fault Conditions
247
Viorel Stoian, Mircea Nitulescu, Cristina Pana
Workspace Optimization of a Six Degree of Freedom Micro Parallel
Robot 248
Sergiu-Dan, Vistrian Mătieş, Radu Bălan
Poster Session: Materials (properties, modeling, manufacturing and

processing)
3-D Modeling of Nanostructures Evolution in Lateral Etching

Processes
250
Romualdas Navickas
23
The Influence of Selected Powder Fillers on the Tribological Properties
of Composite Materials for Dental Fillings 251
Joanna Mystkowska, Jan Ryszard Dąbrowski
Research on Wood Gluing Factors by a Resonant Oscillations Method
253
J.Vobolis, D.Albrektas
Vibration Based Research into Temperature Influence on Circular Saw
Parameters 255
Kristina Ukvalbergienė, Jonas Vobolis, Juozas Ţvinys
Mechanical Properties of Smart Fluids under Combined Electric and
Magnetic Fields 256
M. Zhurauski, E. Dragašius, E.V. Korobko, Z.A. Novikova
Influence of Cavitation Intensity on the Relative Cavitation Resistance
of Laser Processed C45 Carbon Steel 257
Marek Szkodo
Express Diagnostics of Elastic Properties and Hardness of the
Materials 258
Rimantas Dapkus
Investigation of Alloy Elements Transfer in Arc Facing by High
Carbon and Chromium Content Electrodes
260
Valentinas Varnauskas, Algirdas Vaclovas Valiulis, Vitalijus
Rudzinskas
Vibration Control of Oscillating System based on Governing Visco-
Elestic Characteristics of Absorber by Means of External Electric
Signal 262
Bilyk V. A., Korobko E.V., Reizina G.N., Bashtovaya E.A.,
Kaberdina E.B., Kuzmin V.A.
A Surface Micromachined Comb Drive with Superior Stability for
Application as a Power Source 264
Yanxia Zhang, M.Kahrizi
Infrared Reflective Coatings for Window Glazing
265
Jitka Mohelnikova
Poster Session: Failure Analysis
Probabilistic Fatigue Reliability Assessment

Konstantin N. Nechval, Nicholas A. Nechval, Gundars Berzins,
260
Maris Purgailis
24
A Model for Estimation Mould Thermal Fatigue Life in Permanent
Mould Casting 270
Ramazan Kayikci, Mesut Durat, Ergun Nart, Ibrahim Ozsert
Methods and Computing Environment for Research and Designing of
Mechatronic systems 271
Reshat Fourounjiev, Nikolay Gursky
Algorithm of Combined Simplex Search with State Recognition
273
Algirdas Dambrauskas, Dainius Udris
The New Self-adjusting Method of the Multi-input Difficult
Technological Processes Optimization 274
Gohar Manukyan, Eduard Stepanyan
Coupling of Energy Flows from Internal Combustion Engine and
Electrical Motor in Hybrid Vehicle 276
Martynas Starevičius, Kęstutis Pilkauskas, Jonas Sapragonas
Selection of PDM Information System
277
Jiří Maxa, Vilém Neděla
Stable Parametritic Identification of Vibratory Diagnostics Objects
278
Anatoly V.Panyukov, Alexander N. Tyrsin
Simulation of Mechanical Systems Using Behavioural Hybrid Process
Calculus 280
Tomas Krilavičius
Poster Session: Measurement Techniques
XML Data Schemas of the Sea Level Observations for Scalable Vector
Graphics Format 282
Eimuntas Parseliunas, Leonardas Marozas
The 90nm CMOS Charge Sensitive Preamplifier
284
Vaidotas Barzdėnas, Romualdas Navickas
Information Entropy Determination in Scales Measurement Including
Mechatronic Approach 285
Mindaugas Rybokas, Ramutis Bansevicius, Vytautas Giniotis,
Implementation of Piezoceramic Transducers Testing Method for
Manufacturing of Ultrasonic Metering Devices 386
Paulius Borodičas, Saulius Baskutis, Vytautas Petkus
Tool Edge Geometry‘ and Wear‘ Recognition by Using Contact
Method 287
Inga Skiedraitė
25
The Analysis and Optimization of Piezomotor Driver for Laser Beam
Deflection 288
Vladas Juska, Linas Svilainis, Vytautas Dumbrava
Line Scale Comparator Carriage Vibrations during Dynamic
Calibration 290
A. Kasparaitis, V. Vekteris, A. Kilikevichius
The Test Stand for Analysis of Fatigue Crack Propagation under
Bending with Torsion 291
Grzegorz Gasiak, Grzegorz Robak
Instability of Structure Plates under Two-directional Compression
292
Antanas Ziliukas
Assessment of Dynamical Properties of Die Hammer Mpm 10000 B
Considering Deformations of Working Material 293
Majewski Ludwik, Trąbka Arkadiusz
Poster Session: Education in the Fields of Mechatronic Systems and

Materials Science
Modelling and Control Aspects for a Type of Mobile Robot

296
Mircea Niţulescu, Viorel Stoian
26
KEYNOTE LECTURES
27
Multi-Fingered Haptic Interface Robot and Its Application
Systems
Haruhisa Kawasaki1, a
Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
h_kawasa@gifu-u.ac.jp
Keywords: Haptics, robot, virtual reality, redundant control, FEM, haptic rendering
Abstract
Haptic interfaces that present force and tactile feeling have been utilized in the
areas of tele-manipulation, interaction with micro/nano scale phenomena, medical
training and evaluation, and so on. A multi-fingered haptic interface has greater
potential for the above mentioned applications than does a single point haptic
interface. Several multi-fingered haptic interfaces have so far been developed.
However, the issue of developing a haptic interface opposite to the human hand
has so far not been addressed. The haptic interface must be safe, function in a
wide operation space, and present not only force at the contact points but also the
weight of virtual objects. In addition, it should not have an oppressive feeling
when it is attached to humans, and should not present its own weight. In response
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 multi-
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.
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
is determined to maximize the hand manipulability measure to respond to
28
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.
Fig. 1 Five-fingered haptic interface robot HIRO II

and future science encyclopedia (FSE)
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
29
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
30
Mechatronics for Human Physical Activity
Vytautas Ostaševičius1, a
1
KTU International Studies Centre, A.Mickevičiaus 37, LT-44244 Kaunas,
Lithuania
a
vytautas.ostasevicius@ktu.lt
Keywords: mechatronics, personal analyzers, portable devices
Abstract
Many people worldwide are engaged in fitness training or jogging and there is a
constant increase of tools available for control of human health and physical
training – usually based on monitoring of pulse rate that is recorded by means of
different devices. However, it is important not only to control heart rate frequency
during physical exercise, but also to evaluate functional status of a person,
particularly adaptability of cardiovascular system, as well as estimate amount of
performed work in order to make optimal planning of intensity and duration of
training avoiding excessive variability of pulse rate, and also in order to
determine optimal combinations of individual physiological characteristics and
physical load, as well as proposing modifications of performed movements in
case they are not optimal. Adaptive capabilities of cardiovascular system are
sufficiently determined from autonomous regulation, which in turn may be
estimated during active orthostatic test. Therefore it is intended to evaluate these
parameters before physical exercising thereby defining human functional status
and to specify parameters for exercising. Portable and user-friendly devices are
developed for execution of above-mentioned tasks. The devices have such
functional capabilities as: a) to record heart rate (RR intervals of
electrocardiogram) during functional tests and physical exercising; b) to perform
analysis of heart rate parameters and, by using results of the analysis, assess
human functional status, specify intensity and duration of physical training as
well as pulse rate; c) to evaluate heart rate dynamics during physical exercising
(such as running and other modes of human motion). The device could also be
applied for control of functional status of athletes and their training process.
The devices possess the functionality to transmit monitoring results to data
acquisition and analysis equipment for subsequent development of holistic model
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.
31
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. BPD04-ERPF-
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.
- ―Problems in MicroSensorial Wireless Networks‖ (SWN), call FP-2005-IST-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.
32
Nanomaterials, Sensors and Integration with MEMS
M. Meyyappan1, a
1
NASA Ames Research Center, Moffett Field, CA 94035
a
mmeyyappan@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.
33
Mechatronics in Annecy-FRANCE, Projects and Reality
Serge Samper1, a
1
SYMME-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".
References
[1]http://www.thesame-innovation.com/Publi/Fichier/liste_formations_
mecatronique_2.pdf (in french)
[2] http://www.mechatronics-net.de
[3] G. Roberts, Editorial Twelve years of the Mechatronics journal. Mechatronics,
13 (2003), pp. 1025–1028
[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
34
Rotor Crack Detection Using Active Magnetic Bearings
Jerzy T. Sawicki1, a
1
RMDC, Dept. of Mechanical Engineering, Cleveland State University
a
j.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.
10
1
6
0.8
Amplitude in Z-direction
0.6
4
0.4
0.2
0
2
-0.2
-0.4 0
-0.6
-0.8 -2
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-4
-6
-8
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1
Speed Ratio (/n)
Fig. 1. Concept for application of AMB for rotor crack detection.
  Dq  K 0  K  t   q  Fun  Fex

Mq
k 0 k k12 
K0   0 K  t    11
k0  k22 
,
0  k21
K0 - undamaged stiffness matrix
K  t  - time dependent stiffness change matrix due to crack
Fex – external excitation force
35
-4 -4
10 10
Response amplitude (m)

Response (m)
-6 -6
10 10
-8 -8
10 10
-10 -10
10 10
0 50 100 150 200 0 50 100 150 200

Frequency (Hz) Frequency (Hz)
Fig. 2. Uncracked rotor response: Fig. 3. Cracked rotor response:

speed 46 Hz, no external excitation. speed 46 Hz, no external excitation.
-4
10
Response amplitude (m)
-6
10
-8
10
-10
10
0 50 100 150 200

Frequency (Hz)
Fig. 4. The cracked rotor vertical Fig. 5. Rotor crack detection rig.
response: speed 46 Hz, external
excitation 52 Hz.
n  40 Hz,   46 Hz

m  1 kg, e  1 104 m

crack depth = 40% of radius
exc  52 Hz

exc  n  n , for n  1,  2,  3
36
Latest Trends in the Development of Piezoelectric Multi-
Degree-of-Freedom Actuators
Ramutis Bansevicius1, a
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).
37
PRESENTATIONS

(2007.09.27 14:15 – 17:00, room 1)
38
Automatic Control of Longitudinal Form Accuracy of a
Shaft at Grinding
A. H. Marcinkevičius1, a
1
Machine Engineering Department, Vilnius Gediminas Technical
University, Basanavičiuas St. 28, Vilnius, LT 03224, Lithuania
a
andma@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.
39
A Distributed Control for a Grasping Function of a
Hyperredundant Arm
Mircea Ivanescu1, a, Mihaela Cecilia Florescu2, b
1
Faculty of Automation, Computers and Electronics, University of Craiova,
Romania
2
Faculty of Engineering and Management of Technological Systems,
Calugareni 1, Dr.Tr.Severin, University of Craiova, Romania
a b
ivanescu@robotics.ucv.ro, mihaelaflorescu@yahoo.com
Keywords: distributed parameter systems, force control, grasping, tentacle robots .
Abstract
The paper focuses on the control problem of a tentacle robot that performs the
coil function of grasping. First, the dynamic model of a hyperredundant arm with
continuum elements produced by flexible composite materials in conjunction
with active-controllable electro-rheological fluids is analyzed. Secondly, both
problems, i.e. the position control and the force control are approached. The
difficulties determined by the complexity of the non-linear integral-differential
equations are avoided by using a basic energy relationship of this system. Energy-
based control laws are introduced for the position control problem. A force
control method is proposed, namely the DSMC method in which the evolution of
the system on the switching line by the ER fluid viscosity is controlled.
Numerical simulations are also presented.
References
[1] Chirikjian, G.S., J. W. Burdick, Kinematically optimal hyperredundant
manipulator configurations, IEEE Trans. Robotics and Autom., vol. 11, no. 6
(1995), pp. 794 - 798.
[2] Mochiyama, H., H. Kobayashi, The shape Jacobian of a manipulator with
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.
[4] Robinson, G., J.B.C. Davies, Continuum robots – a state of the art, Proc. 1999
IEEE Int. Conf. on Robotics and Autom., Detroit, Michigan (1999), pp. 2849-
2854.
40
Control of a Symmetrical Dual-drive Gantry System Using
Energetic Macroscopic Representation
X. Kestelyn1, a, J. Gomand 1, Alain Bouscayrol2, P.J. Barre1
1
L2EP-ENSAM, Bd Louis XIV 59040 Lille, FRANCE
2
L2EP-USTL, University of Lille, 59655 Villeneuce d’Ascq, France
a
Xavier.Kestelyn@lille.ensam.fr
Keywords: Dual-drive, Gantry system, Energetic Macroscopic Representation,

Control.
Abstract
Dual-drive gantry systems are commonly used in many industrial applications.
However, as few papers are available in the literature, this kind of system is
difficult to broach. Based on an energetic approach so-called Energetic
Macroscopic Representation (EMR), this paper presents a graphical modelling
based on lumped-parameters. The initial drive is decomposed into a set of
decoupled fictitious systems using a mathematical transformation. Since the
modelling respects the integral causality, inversion-based controls are thus
deduced. More generally,this approach proposes a way to analyze and deduce
models and controls of multi-drive mechatronic systems.
References
[1] Widdowson G.P., Youyong L., Gaunekar A.S., Kuah, T.H., Srikanth N.,
Design of a high speed linear motor driven gantry table, Power Electronic
Drives and Energy Systems for Industrial Growth, 1998. Proceedings. 1998
International Conference on Volume 2, 1-3 Dec. 1998 Page(s):936 - 941 Vol.
2
[2] Heung-Keun Park, Sung-Su Kim, Jin-Moo Park, Tae-Yeon Cho, Daehie Hong,
Dynamics of dual-drive servo mechanism, Industrial Electronics, 2001.
Proceedings. ISIE 2001. IEEE International Symposium on Volume 3, 12-16
June 2001 Page(s):1996 - 2000 vol.3
[3] Ph. Poignet , M. Gautier, W. Khalil, M.T. Pham, Modeling, simulation and
control of high speed machine tools using robotics formalism, Mechatronics,
2002 Elsevier Science Ltd.
[4] Sungsoo Kim, Baeksuk Chu, Daehie Hong, Heung-Keun Park, Jin-Moo Park
and Tae-Yeon Cho, ―Synchronizing Dual-Drive Gantry of Chip Mounter with
LQR Approach‖, Proceeding of the 2003 IEEE/ASME, International
Conference on Advanced Intelligent Mechatronics (AIM 2003)
41
Control Algorithm for Tracking in Autonomous VTOL
Aircraft
Amit Ailon1, a
1
Department of Electrical and Computer Engineering, Ben Gurion
University of the Negev, Beer Sheva 84105, Israel
a
amit@ee.bgu.ac.il
Keywords: Vertical take-off and landing aircraft, motion-planning, control,

trajectory following.
Abstract
Control problems of a Vertical Take-off and Landing (VTOL) aircraft have received a lot
of attention by the control community. This study presents a simple algorithm for motion-
planning and design tools for tracking control of a VTOL aircraft. The considered
simplified model is given by (see [1]):
𝑥 = −𝑢1 sin𝜃1 + 𝜀𝑢2 cos𝜃
𝑦 = 𝑢1 cos𝜃1 + 𝜀𝑢2 sin𝜃 − 𝑔
𝜃 = 𝑢2
where x and y are respectively the lateral and vertical coordinates of the aircraft center of
mass, θ is the roll angle, u1 and u2 are the vertical control force and the rotational moment,
respectively, g>0 is the gravitational acceleration, and  is the constant coupling between
the roll moment and the lateral force.
The resulting control schemes are useful for flight control of an autonomous VTOL
aircraft in case the control objective is to drive the system from a given state to a
prescribed target and when a reference path should be followed.
Our analysis is based on the state-space model of the VTOL aircraft. In the current
analysis we adopt tools from the earlier works [2], and [3], which show that in linear time-
invariant systems controllability is equivalent to polynomial controllability, namely, it is
always possible to transfer a controllable linear system from a given state to a desired one
along a polynomial trajectory, by means of a polynomial input. The polynomial
coefficients are computed simply by solving a linear algebraic equation. In this study we
further extend these results and present a closed-form solution to the motion-planning
problem of the VTOL aircraft. Having established tools for motion-planning, a closed-loop
control scheme is presented for solving the trajectory tracking problems. Simulation results,
which demonstrate the controller performances, are given.
References
[1] J. Hauser, S. Sastry, and G. Meyer, "Nonlinear control design for slightly non-
minimum phse systems: Application to V/STOL aircraft," Automatica, vol. 28, pp.
665-679, 1992.
[2] A. Ailon, L. Baratchart, G. Grimm, and G. Langholz, "On polynomial controllability
with polynomial state for linear constant systems," IEEE Trans. Automat. Contr., vol.
31, pp. 155-156, 1986.
[3] A. Ailon and G. Langholz, "More on controllability of linear time invariant systems,"
Int. J. Contr., vol. 46, pp. 1161-1176. 1986.
42
Control of the Friction Forces with Stationary Wave
Piezoelectric Actuators
J-F. Rouchon1, a, C. Cénac-Morthé1, b, L. Garbuio2, c
1
LAPLACE-ENSEEIHT-GREM3, 2 rue Camichel - B.P. 7122 -
31071 Toulouse Cedex 07, France
2
LMN-ENSIEG-INPG, rue de la Houille Blanche-Domaine Universitaire,
BP46
38402 St Martin d'Hères Cedex, France
a b
rouchon@laplace.univ-tlse.fr, cenac-morthe@laplace.univ-tlse.fr,
c
lauric.garbuio@g2elab.inpg.fr
Keywords: piezoelectric actuators, stationary wave, mechanical vibrations,

electroactive lubrication, friction force control, friction coefficient reduction
Abstract
This article deals with the advantages of flexural stationary wave piezoelectric
actuators in the control of the friction forces thanks to their high pressures
generated at high frequencies (>10 Khz). Indeed, the apparent friction coefficient
between two solids in dry contact can be modified by the imposition of vibrations.
[1], [2] In order to optimize this new concept (higher relative speeds), two
improvement ways are possible: the increase of contact frequency by the choice
of dedicated piezoelectric structure, and the vibratory amplitude minimization by
the decoupling of contact stiffness.
A first study about specific contact geometry is presented to optimize the
lubrication effect. Specific contact geometry is defined by the Hertz theory
associated with partial slip contact conditions. In the case of this discretized
contact, an analytical model determines the parameters of mechanical vibration
(amplitude and frequency). The required frequency can just be obtained by the
choice of appropriate structure, like flexural stationary wave piezoelectric
actuators. For a piezoelectric torque limiter application, the design and the
numerical simulation of dedicated piezoelectric actuator are presented. In
agreement with the modeling of contact, the characterization of the complete
actuator on mechanical test bench validates the "torque limiter" required function.
References
[1] L. Garbuio and J-F. Rouchon, in: Piezoelectric thrust bearing for severe
environments, Actuator 2006, Volume A5.3 (2006), p. 326-346.
[2] L. Garbuio and J-F. Rouchon, in: Etude du débrayage des moteurs
piézoélectriques à rotation de mode, edited by RIGE, Volume 10 (2003), p.1-
19.
43
Pendulum-Generator as New Energy Source
G. Korouji1, a, R. Hanitsch2, b, B. Hübner3, c
1
University of Technology Berlin, Einsteinufer 11, 10587 Berlin, Germany
2
University of Technology Berlin, Einsteinufer 11, 10587 Berlin, Germany
3
IBH Consulting, Am Studio 20a, 12487 Berlin, Germany
a b
Gholmareza.Korouji@iee.tu-berlin.de, Rolf.Hanitsch@iee.tu-berlin.de,
c
huebner@t-link.de,
Keywords: Pendulum generator, Permanent magnets, energy storage, Super-

capacitors, wireless sensor networks
Abstract
For a variety of applications in the logistic sector an energy supply is needed. The
classical approach is to use recharging and/or change of the battery which is
adding complexity to the system. The idea is to implement a novel generator in
order to bypass external recharging.
The construction details of the prototype will be described and measured
parameters of interest will be given in the full paper.
The construction principle is characterised by the following features. The
stator consists of an upper and lower part and both parts are equipped with high
energy permanent magnets. The remanence of the NdFeB magnets is 1.2 T.
Based on the material parameters and the chosen airgap length we obtain a flux
density of 0.75 T in the airgap. The ironless rotor is a wok-type structure with
integrated coils. If we place such a system on a truck within a container the
acceleration and braking action will trigger the movement of the pendulum rotor
and we can measure an induced voltage at the coil terminals.
The energy coming from this device is then used to charge a Li-battery or
supercapacitors which act as energy supply for security devices inside the
container or wireless sensor networks.
Depending on the type of transportation such as rail, road or sea the special
rotor will move with a frequency between 0.1 Hz and 10 Hz. For the existing
prototype we measured voltages up to 4.5 V as peak values. The power level of
the generator is well above 20 mW.
The electronic interface between pendulum generator and Li-battery has to be
designed in such a fashion that losses are on minimum level. Mobile wireless
networks can also be supplied from such a generator. A lot of the commercial
focus in this new market is on piezoelectric systems for harvesting energy from
regular vibrations. The pendulum generator, based on the electromagnetic
principle, is tailored for stochastic vibrations.
44
The Control System of the Stand for Fatigue Tests of
Materials under Bending with Torsion
Leszek Kasprzyczak1, a, Ewald Macha1,b
1
Opole University of Technology, Department of Mechanics and Machine
Design, Mikolajczyka St. 5, 45-271 Opole, Poland
a b
l.kasprzyczak@po.opole.pl, e.macha@po.opole.pl
Keywords: mechatronic systems of fatigue test stands, biaxial fatigue,

pseudorandom loading.
Abstract
The paper presents structure and a principle of operation of the test stand MZGS
100 PL for fatigue tests of round specimens made of constructional materials (Fig.
1). The test stand can be used for estimation of fatigue life of the tested specimens
under plane bending or torsion or combined bending with torsion. The tests can
be performed under constant or variable amplitude cyclic loading. It is also
possible to conduct the fatigue tests under random loading. It is realized by
summing of 4 sinusoids from inertial vibrator combined with 4 rotating disks with
unbalanced masses. Every disk is motioned through toothed belt and different
gear by inductive motor.
11 8 9
7 1
10 9
4 6 2
3
Fig. 1. The fatigue test stand MZGS 100 PL1 – inductive motor, 2 – shaft, 3 –
toothed belts, 4 – disks of the vibrator, 5 – weights, 6 – elastic beams, 7 – lever, 8
– specimen holder, 9 – specimen, 10 – rotating column, 11 – strain gauges
45
The paper contains a description of the control system of the machine, using
an inverter drive. The frequency converter converts 1 – phase voltage 230 V to 3
– phase voltage 230 V which supplies the motor. The converter enables to change
the frequency of the motor rotations. The frequency converter can be configured
manually or remotely with the protocol MODBUS RTU. The moment of a force
loading the specimen is measured with a strain gauges bridge.
With the support of the European Social Fund and the national budget.
46
Section II: Sensors and Actuators in Mechatronics
(2007.09.27 14:15 – 17:00, room 2)
47
Modelling of the Magnetic Attraction Force of the
Electromagnetic Module In The Relative Base - Air-Gap -
Absolute Base System
Tomasz Huścio1, a, Krzysztof Falkowski1, b
1
Mechanical Department, Technical University of Bialystok, ul.
Wiejska 45C, 15-351 Białystok
a b
tomekh@pb.edu.pl, falkowski@ pb.edu.pl
Keywords: relative base - air-gap - absolute base system, magnetic attraction

forces.
Abstract
The relative base - air-gap - absolute base system (planar stepping motor) is the
main element of precise coordinate positioning systems of the specialized devices
(Fig. 1). Possible fields of application of the precise coordinate systems with the
planar stepping motor: manipulators, machine tools, measuring machines,
assembly operations in microelectronics and instrument engineering, surface
mounting elements and units assembly, laser technological complexes.
Fig. 1. Basic elements of the relative base - air-gap - absolute base system: 1- planar
aerostatic two-coordinate relative base - the forcer with gas-film lubrication (aerostatic
lubrication); 2- absolute base - the immovable stator (platen); 3- motion control card; 4- air
filter and regulator
In the paper the estimate of the magnetic attraction force in the relative base -
air-gap - absolute base system is presented. The attraction force of the relative
base (forcer) to the ferromagnetic absolute base (stator) is a result of the attraction
permanent magnets, which are parts of the electromagnetic modules. The physical
model and mathematical description of the particular electromagnetic module are
presented. Obtained solutions will allow us to work out a module of the computer
program. This module will be used for calculations connected with the flow of
magnetic flux through the electromagnetic path. The computer program SPAP
will be used for computer aided design (design and optimisation of a structure) of
the planar aerostatic two-coordinate relative base with electromagnetic drive.
Computer program SPAP consist of two modules: SPAP AERO – used for
calculations connected with airflow in the relative base - air-gap - absolute base
system, SPAPMAG – used for calculations connected with flow of magnetic flux in
the electromagnetic drive.
48
Constitutive Models of Vascular Tissue
Kryspin Mirota1, a
1
Akademia Techniczno-Humanistyczna w Bielsku-Bialej, Poland
a
kmirota@ath.bielsko.pl
Keywords: biomechanics, finite elasticity, strain energy, elastin, collagen, smooth

muscle
Abstract
Arterial energy systolic storing and diastolic releasing processes allow the heart
to work at an optimal level stroke volume and rate. Even small changes of arterial
tree elasticity and compliance affect this dynamical equilibrium state and heart
function. Finally, adaptive responses of heart are resulting in a combination of
pathological events.
With exception of small vessel, circulatory conduits for blood flow have wall
made of three concentric layers of tissue, [1,3,6,9]:
 tunica intima – innermost layer – consists single layer of endothelial cells on
basement membrane of collagen IV, laminin, fibronection, and proteoglycans;
 tunica media – middle layer, responsible for most of its mechanical properties
– comprised of elastin, collagen type I, III, and V, and proteoglycans;
 tunica adventitia – outermost layer, providing additional structural support –
composed of type I collagen fibers with some elastin and fibroblasts.
Veins possess slightly different configuration. Vein walls are thinner and contain
less elastic material then arteries but more flexible. Even, it may collapse in
normal function. Number of layers is proportional to wall thickness which
diminish with diameter. Accordingly to Hürthle results for aorta, proportions are:
collagen 30…10 %, elastin 30…40 %, smooth muscle 30…50%.
Vessel soft tissue exhibits strictly nonlinear behavior over finite deformations.
There is not proportionality between applied forces and arises deformations.
Therefore, the commonly used approaches in description of biomechanical
properties are based on strain energy function, which relate Lagrange-Green
strain and 2nd Piola-Kirchhoff stress tensors.
The essential method was formulated by Fung at the end of sixties. He proposed
exponential approximation of strain energy function fitted to experimental data of
whole vascular wall. It is probably most commonly used in biomechanics of
living tissue till now. Fung‘s model has been generalized for three-dimensional
states of deformations by setting pseudostrain function Q and extended recently
to
W 
2

1 Q
1
c e  Q 1  q .
2
(1)
49
Afterwards, concept of homogenous macroscopic response was undertaken by
many authors such as Delfino, Takamizawa and Hayashi, Vaishnav. Other
approach has tried to derive SEF function directly from vessel‘s histology. This
group uses heterogeneous stored energy function decomposed into isotropic and
anisotropic part governed by collagen spatial matrix. Last work of Holzapfel and
Gasse represents this methodology
 
 2E11  E22    1 , W aniso  C e Q  1 .
1
W iso  (2)
2  2E11  12E22  1 
In the hindmost, introduces layer specific SEF functions. It is self-evident, the
structural and heterogeneous layer specific method looks promising. Of course,
search for sufficient constitutive model to satisfy the full requirements is not yet
accomplished but still in preliminary stage.
50
PBG Fiber Low Concentration Gas Sensor
Joanna Pawłat1, a, Xuefeng Li1, a, Takahiro Matsuo1, 3, a,
Tadashi Sugiyama2, b, Toshitsugu Ueda1, c
1
Graduated School of IPS, Waseda University, 808-0135 Fukuoka ken,
Kitakyushu-shi, Wakamatsu-ku, 2-7 Hibikino, Japan
2
Yokogawa Electric Corporation, 180-8750, Tokyo, Musashino-shi, 2-9-32
Naka-cho, Japan
3
Sakamoto Electric MFG. Co., Ltd.,
811-0202 Fukuoka-shi, Higashi-ku, Wajiro 3-27-55, Japan
a b
askmik@hotmail.com, Tadashi.Sugiyama@jp.yokogawa.com,
c
t-ueda@waseda.jp
Keywords: Photonic Bandgap Fiber, Low Gas Concentration Sensor,

Microcapillary Gas Flow.
Abstract
The photonic bandgap fiber for a high-sensitivity, compact set-up, which enables
the precise measurement of low concentration of gas was designed. Fiber was
used instead the traditional glass gas cell during the spectroscopic measurements.
Ar ion beam was proposed among the other methods to process the inlet and
outlet surface of fiber and adjust it to the required parameters. The gas flow inside
PBF fiber and its optical properties were investigated.
References
[1] T. Ueda, Y. Okamoto, Proc. 1st Symp. Adv. Photon Proces. Meas. Technol.
(1998), p. 25-28.
[2] T. Sugiyama, M. Wada, S. Nakajima, T. Ueda, Proc. 4th Workshop on Adv.
Photon Proces. and Meas.t Technol. (2001), p. 63-66.
[3]T. Sugiyama, T. Ueda, Proc. of Tech. Meeting on Sensors and Micromachines,
CHS-03-56, (2003) p. 1-4.
[4] J. Pawłat, T. Matsuo, T. Sugiyama, T. Ueda, J. Adv. Oxid. Technol. Vol. 9(2),
(2006), p.150-155.
[5] Z. Huang, Journal of Microscopy, Vol. 215(3), (2004), p. 219–223.
51
Fiber-Optic Sensors for Nanometric Displacement and
Vibration Measurement in Mechatronics
Vytautas Kleiza1, a, Jonas Verkelis2, b
1
Kaunas University of Technology, Klaipėdos 1, LT-35209 Panevėţys,
Lithuania
2
Semiconductor Physics Institute, Goštauto 11, LT-01108 Vilnius,
Lithuania
a b
vytautas.kleiza@ktl.mii.lt, jverk@pfi.lt
Keywords: Fiber-optic sensor, displacement, modeling, design, experiment
Abstract
Fiber-optic sensors are widely used for displacement and vibration measurements
in mechatronic systems. Sensors can be of very small size and operate in blast
danger conditions and strong electromagnetic interference environment. In this
work modeling and experimental investigation of the characteristics U-h of fiber-
optic sensor of displacement have been accomplished with a view to obtain the
maximal sensitivity in the displacement and vibration measurements. The
modeling and experimental results were perfectly coincidental, therefore the limit
sensitivity of sensors can be predicted by modeling. Configurations of non-
contact fiber optic sensors of the maximal possible sensitivity have been found,
the metrological parameters of which do not depend either on the degradation of
the light source, intensity or on the elements used in the mechatronics system
measurements as well as on the value of the mirror reflection coefficient and
changes with the aging process. All that increases the reliability of mechatronic
system monitoring, which is of utmost importance for their exploitation.
To produce very stable sensors, another light receiving fiber was added [1]
and an angle 2 was formed between a light emitting (to a reflecting mirror) fiber
axis and two reflected light receiving fiber axes located on the same plane. It has
been shown in theory that, by using an output signal (A-B)/(A+B) (here A and B
are signals emerging in the light receiving fibers), it is possible to eliminate the
influence on measurement results related with the light source intensity variations
due to its aging and radiation fluctuations. Fiber-optic sensors of this kind were
further investigated and improved in the works [4, 5, 6]. It has been proved in a
theoretical and experimentally way that their sensitivity is exponentially
increasing with a decrease in the distance between active fiber tips [5], that is of
finite quantity due to fiber cross-section, and it is increasing if the angle 
increases [3].
Fiber-optic sensors and transducers of new kind have been created that consist
of two fiber pairs [6]. The sensitivity of these sensors is higher by an order [3]
than that of one-pair sensors [1]. It has been shown in this work that experimental
52
signal U dependences of one fiber optopair reflection sensors on the distance h
(U-h characteristics) can be exactly described by mathematical expressions [7].
The target of this paper is to simulate a two-fiber optopair sensor by employing
experimental one optopair U-h characteristics, that are quite congruent with the
modeling results, and to establish limit sensitivity values of these sensors.
A prototype of one-fiber optopair sensor has been created where the angle
between the axes of active fiber tips is 35º. The diameter of the sensor head is 4
mm, and the length is 10 mm. Fiber with SMA 905 connectors are 3 m long (may
be up to 300 m). The U-h characteristic of this kind of sensor has been measured.
The distance between tips was made minimal on purpose by assembling
technology with a view to attain the maximal values of signal U.
The experimental U-h characteristic is described by modeling formula
accurately enough. The maximal sensitivity dA/dh=174mV/m and 134 mV/m,
as I0 is fixed. It has been shown that by employing a second optopair (identical
with the first one) and choosing the operation point in the rising part and the
descending one of U-h for the first and second pair, respectively (artificial U-h
intersection), it is possible to create sensors whose signal Udiv and sensitivity
Sdiv=dUdiv/dh thereby are independent of light source fluctuations and degradation
as well as of the mirror reflection coefficient variation in time.
The maximal sensitivity of the sensor Ssub=dUsub/dh=9000mV/m, and if the
signals A(h) and A‘(h) are amplified by 30 times then Sdiv=dUdiv/dh
=22.380a.u./m. The linearity of sensor U-h characteristics depends on the
measurement interval, however it can be increased by electronic devices.
Acknowledgements
The authors are much obliged to the Lithuanian Semiconductor Physics Institute
in which the experiments have been carried out, as well as to the companies
AndaOpteck for fiber-optic sensors supplied free of charge and Skaidra which
presented measurement equipment and produced fiber pigtails.
References
[1] Y W.H. Ko, K.-M. Chang, G.-J. Hwang: Sensors and Actuators A Vol.49 (1995),
p. 51
[2] Y. Libo, P. Jian, Y. Tao, M. Guochen: Sensors and Actuators A Vol.36 (1993),
p.177
[3] J. Verkelis: Lithuanian Journal of Physics Vol. 42 (2002), p. 99
[4] V. Kleiza, J. Kleiza: Lithuanian Mathematical Journal Vol.45 (2005), p.494–498
[5] V. Kleiza, J. Verkelis: Electronics and Electrical Engineering Vol.62 (2005), p.77
[6] V. Kleiza, J. Verkelis: Proc. SPIE Vol.6596 (2007), p.142
[7] V. Kleiza, J. Verkelis: Proc. SPIE Vol.6596 (2007), p.253
53
Development and Experimental Analysis of Piezoelectric
Optical Scanner with Implemented Periodical
Microstructure
Giedrius Janusas1, a, Arvydas Palevicius1, b, Vytautas
Ostasevicius1, c, Ramutis Bansevicius2, d, Alfredas Busilas3, e
1
International Studies Centre of Kaunas University of Technology,
A.Mickeviciaus 37, LT-44244 Kaunas, Lithuania
2
Kaunas University of Technology, K.Donelaicio 73, LT-44029 Kaunas,
Lithuania
3
Kaunas University of Technology, A.Mickeviciaus 37, LT-44244, Kaunas,
Lithuania
a b
giedrius.janusas@ktu.lt, arvydas.palevicius@ktu.lt,
c d
vytautas.ostasevicius@ktu.lt, ramutis.bansevicius@ktu.lt,
e
alfredas.busilas@ktu.lt
Keywords: Piezoelectric optical scanner, holography, periodical microstructure.
Abstract
Piezoelectric optical scanner is developed for multi-coordinate control of optical
laser beam by excitation of microstructures. The manufactured microstructure is
the periodical structure which was implemented in piezoelectric optical scanner
design. Such type of opto-micro-mechanical systems can be used for accurate
angular or linear deflection of optical elements in various optomechanical and
optoelectronic systems. The operating principle of these devices is based on
piezoelectric effect and on conversion of high-frequency multi-dimensional
mechanical oscillations of piezoelectric vibration transducers into directional
multi-coordinate motion of the optical elements in the measurement chain. The
main distinctive feature of such optical piezoelectric scanners is the combination
of high micrometer range resolution with a wide range of angular deflections of
the scanning elements. The manufacturing process and visualization of the
microstructure were presented. The device consists of piezoelectric cylinder and a
scanning element with three degrees of freedom. The control model of this device
was derived using simulation results of optical scanner by comsol multiphysics
software. Espi digital holographic prisma system was used to validate the result
of simulation of piezoelectric optical scanner and to test the functionality of
piezoelectric optical scanner with implemented microstructures.
54
Transient Characterisation and Analysis of Shape
Memory Alloy Wire Bundles for the Actuation of Finger
Joints in Prosthesis Design
K.T. O’Toole1, a, M.M. McGrath1, b and D.W. Hatchett1, c
1
School of Manufacturing & Design Engineering, Dublin Institute of
Technology, Rep. of Ireland
a b c
kevin.otoole@dit.ie, mark.mcgrath@dit.ie, david.hatchett@gmail.com
Keywords: Shape Memory Alloys, Wire Bundle Actuators, Prosthetic Fingers,

Transient Response
Abstract
Most current lower arm/hand prosthesis designs incorporate relatively bulky,
heavy dc motors that produce substantial noise when performing actuation.
Although new designs using these motors facilitate good system integration, the
heavy weight and significant operational noise render them uncomfortable for the
user. The engineering challenge is to produce more effective powered upper limb
prosthetic solutions. Identification, characterisation and testing of actuation
methods with better force to weight ratios are essential pre-requisites for this. The
main aim of this work is to carry out a comprehensive study to establish
conclusively the feasibility of employing Shape Memory Alloys (SMA‘s) in the
actuation of prosthetic finger designs. This full characterisation of the actuators,
as well as identification of the dynamics of a human hand/wrist, coupled with
modern manufacturing methods will lead to the development of improved
prosthetic designs.
A comprehensive review of existing literature has been undertaken in order to
establish the maximum grip forces at each phalanx of the human hand under
different loading conditions. The maximum forces at each phalanx and the
percentage contribution of each phalanx to the total grip force exerted have been
established. An experiment was developed in conjunction with this to estimate the
time response of the hand during a gripping/releasing action. The extent, velocity,
and acceleration of the angular displacement, as well as the forces required for
typical everyday tasks, will be used as the indicators of ultimate performance
requirements of a prosthetic finger design. Dimensional characteristics of a
typical working limb were also determined in order to set appropriate working
limits for the design.
The use of SMA‘s as actuators involves the passage of a controllable current
through a suitably-sized SMA wire bundle. Due to the electrical resistance of the
wire, the temperature is raised, which changes its dimensions and produces an
associated force. A test rig has been developed which can facilitate complete
characterisation of a range of SMA wire diameters and bundle configurations. A
55
number of different configurations were tested, each configuration having a
different combination of 150µm and 300µm diameter Nitinol wires. Full transient
analysis of the SMA wire arrangements was carried out. The following
relationships were characterised for each configuration: Current vs. Strain, Force
vs. Time, and Strain vs. Time. Dynamic loading/unloading of SMA bundles was
also undertaken to facilitate fatigue testing of the materials. A LabView-based
(from National Instruments) data acquisition system was used to capture and
retain data pertaining to the full characterisation of the bundles and in particular
the strain and force capabilities of the various arrangements. The rig also provides
a platform for the development of an adaptive control strategy for SMA actuation
with a view to minimising the associated non-linearity and hysteresis.
A mechanical hand framework is at the early stages of development. The
framework will allow for the testing of SMA bundles within the dimensional
restrictions of a typical working limb. Testing of the SMA under conditions
similar to the application is viewed as essential to finding an effective
controllable device.
Future work will involve the use of forced cooling during the characterisation
experimentation. This will be carried out with a view to reducing the hysteresis in
the SMA response. This is intended to be the starting point in the development of
an effective heat transfer solution in the design of the prosthetic hand structure.
This work will contribute to the development of an improved powered prosthetic
solution.
56
Design Considerations of a Microelectrostatic Motor
V.Bagdonas1, a, V. Ostaševičius1, b
1
KTU International Studies Centre, A.Mickevičiaus 37, LT-44244 Kaunas,
Lithuania
a b
vbagdonas@takas.lt, vytautas.ostasevicius@ktu.lt
Keywords: MEMS, micromotor, microelectrostatic, electrostatic, modeling, FEM,

simulation.
Abstract
One of the more common MEMS devices is micromotor which is analyzed here.
Though this type of actuator is not very popular, because it has complicated
dynamics and there are very few publications about its research. This work
analyses influences of geometry of the micromotor on its performance. Using
finite element modeling (FEM) a detailed study of electrostatic force fields
between two interacting poles and developed moment of rotation is done. The
results received are expanded to the whole motor design where its control and
torque characteristics are evaluated. Finally, motor construction guidelines are
drawn.
First, a simplified electrostatic – mechanic scheme is considered where
interaction between two oppositely charged bodies (micromotor poles) is
analyzed in a 2D Cartesian space. In order to analyze physics between stator and
rotor poles, a complete 2D ANSYS model of the system was created, where
potential difference, distances and geometry of rotor and stator can be easily
varied. Developed electrostatic field is simulated at any specified angular step
between the rotor and an active stator pole and outputted in quantitative value of
produced torque. Conclusions were derived based on various geometrical
relationships necessary in order to create highest moment of rotation produced by
a single pole.
Performance of motors having different geometries is evaluated. The program
displays sequence of how stator poles are energized, required number of phases,
periods, duty cycles, minimal angular difference graph and finally, momentum
and average motor torques. Any motor construction can be quantitatively
analyzed.
Conclusions were made that by increasing the number of rotor poles, the
torque decreases. A change in stator poles gives a proportional change in torque.
Thus, irrelevantly of number of phases, the biggest torque is created when the
number of stator poles is largest and the number of rotor poles is smallest.
57
Section III: Analysis of Vibration
(2007.09.27 14:15 – 17:00, room 3)
58
Robustness Analysis of Vibration Control System for a
Magnetically Supported Shaft
Arkadiusz Mystkowski1, a, Zdzisław Gosiewski1, b
1
Technical University of Bialystok, Mechanical Department, ul. Wiejska
45C, 15-351 Bialystok, POLAND
a b
mystek@pb.edu.pl, gosiewski@pb.edu.pl
Keywords:  controller, multiplicative and parametric uncertainty, robust control,

magnetic bearing system.
Abstract
The robustness analysis of the active magnetic bearing system is carried out in the
paper. In our considerations we assumed that the rigid rotor which was supported
in two radial magnetic bearings and one axial bearing is a control plant. The mass
of the rotor was reduced to bearing planes. The -synthesis was applied to design
the optimal robust controller. The robust performance of  closed-loop system
was considered. But, the main goal of the paper is the estimation of influence the
size of plant uncertainty for the robustness margin of closed-loop system. The
influence of the insert‘s types of uncertainty model for robust stability of closed-
loop system is also considered. So more, the sensitivity with respect to uncertain
elements was calculated. As the main uncertainty parameters of AMB we
considered current stiffness and displacement stiffness coefficients. The changes
of these coefficients lead to decreasing of robust margin and causing instability.
The calculation of destabilizing combination of the modeled uncertainty is
important, and was also considered.
Fig. 1. Step response of  closed-loop system with multiplicative uncertainty

model
59
The computation of the smallest perturbation that causes instability at a given
frequency is the cornerstone of most robustness analysis algorithms. To estimate
the robust stability margin over the entire frequency range, the Matlab function
robuststab was used. The robuststab command performs this basic computation
for a finite set of frequencies and looks at the worst case over this set. Under most
conditions, the robust stability margin is continuous with respect to frequency, so
this approach gives good estimates. The parameter uncertainty, which means
migration of poles from stable to unstable area, can lead to instability. In the
paper the influence of isolated frequencies for stability of plant was carried out.
As a result, any frequency that excludes these particular frequencies fails to detect
worst-case perturbations and give over-optimistic stability margins.
For simulations investigation the  controller was designed for augmented
plant. The augmented plant includes: nominal model of plant, uncertainty model
of plant and weighting functions putting on the input/output signals. Fig. 1 shows
the step response of  closed-loop system with multiplicative uncertainty model.
We can see that, the robust controller ensures stability of closed-loop system
despite of the uncertainty of the plant.
Finally, the experimental results confirm the analytical investigations of the
robust control.
60
Vibration Dampers for Transmission of Mechatronic
Systems
Arūnas Jakštas1, a, Bronislovas Spruogis2, b, Vytautas Turla1, c
1
Mechanical Faculty, Vilnius Gediminas Technical University, Lithuania
2
Faculty of Transport Engineering, Vilnius Gediminas Technical University,
Lithuania
a b c
arunasj@me.vgtu.lt; bs@tti.vtu.lt; Vytautas.Turla@me.vgtu.lt
Key words: transmission of mechatronic system, torsional vibration damper,

rotary flexible ring, vibration, stability, equivalent inertia moment.
Abstract
New devices for mechatronic systems should be ones of high efficiency. High
efficiency may be ensured by power- and speed-related properties.
Increase of transmittable powers and speeds of motion is accompanied by
intensification of vibrations in the systems and such vibrations frequently exceed
their dynamic loads. Level of vibrations becomes one of the key criteria of quality
and reliability of machines.
Dynamic dampers of torsional vibrations, in spite of their small sizes, are
capable to reduce efficiently vibrations of single fixed frequency, however, they
become almost unfit, if on variable revolutions and „floating― frequencies of
disturbance
The Authors set the task to develop such dynamic damper of torsional
vibrations that would be tunable for wide range of disturbing harmonics
(frequencies), remaining a natural element of the rotating system. The key
element of such vibration damper is the ring connected to the principal system
with two opposite frames . The ring may be equipped with supplemental masses.
In case of absence of rotation or ideally uniform rotation, the axial line of the
ring is an ideal circle in the limits of stability. Torsional vibrations of the
principal system cause bending of the elastic frames and periodical compression
of the ring in the transversal direction. The ring, because of its elasticity and
„centrifugal mass―, may efficiently damp torsional vibrations.
On experimental investigation on various schemes of dynamic vibration
dampers on base of elastic ring, some other forms of loss of stability were
obtained: 1) because of an excessive increase of the ring‗s radius for its extension,
2) because of symmetrical „deflection― of the ring from the axis of rotation, 3)
because of non-symmetrical „deflections― sideward and so on. On the base of the
experimental data, an analytic investigation on stability of dynamic balances of
the elastic ring had been carried out at the preset static deformation and some
peculiarities had been cleared up.
The stability of system was discussed upon various cases:
1. Stability of ideally symmetric concentric ring in case of its uniform rotation.
61
2. Symmetrical longitudinal extension of the ring.
3. Symmetrical ―deflection‖ of the ring sideward.
Some other possible disturbances of the ring were discussed upon and the
conditions of balance were explored as well.
The efficiency of the vibration damper depends on the natural frequencies of
damping system. Mentioned frequencies were established by solving the
equations of small free vibrations around the position of stationary motion.
Therefore dependence of the natural frequencies of vibration damper (p c) on its
structural parameters and the number of revolutions was established.
The analytical investigation on efficiency of vibration damper, applying
special sets of programmes, enables to state that a vibration damper may be
sufficiently precisely presented as a vibrating system with two degrees of
freedom for most practically important ranges.
62
On Passive Position-Dependent Damping for Cab
Suspension
Petter Kroneld1, a, Toni Liedes1, b, Pasi Ruotsalainen1, c,
Kalervo Nevala1/2, d
1
University of Oulu, Mechatronics and Machine Diagnostic Laboratory
P.O.Box 4200, FIN-90014 University of Oulu, Finland
2
VTT, P.O.Box 1100, FIN-90570 Oulu, Finland
a b c
pkroneld@paju.oulu.fi, toni.liedes@me.oulu.fi, paruotsa@paju.oulu.fi,
d
kalervo.nevala@oulu.fi
Keywords: Cab suspension; passive damping; displacement-dependent damping
Abstract
The aim of this research was to study the behaviour of a passive 4-point
agricultural tractor cab suspension through computer simulation analysis
(MSC.ADAMS). Simulations were carried out using linear damping and stiffness
on ISO-smooth and ISO-rough standard tracks. Accelerations from the vehicle
body, the cab floor and the driver sip-point were measured and the need for the
cab suspension rattlespace was considered. This paper concentrates on the
accelerations transferred from the vehicle body to the cab floor. The RMS–
accelerations were calculated from each measuring point. The seat suspension
parameters were held constant.
It was noticed that lower damping gives lower RMS–acceleration experienced by
the vehicle driver on both tracks at different driving speeds. By decreasing the
degree of damping an increased incidence of damper piston bottoming was found.
This tendency was prevented by means of position-dependent damping. The
position dependency was chosen so that the damping remains low in the mid-
range and increases considerably when approaching the end-stops.
As a result, the RMS–accelerations transferred from the vehicle body to the cab
floor and from the vehicle body to the driver sip-point are represented. With
position-dependent damping, the number of end-stop impacts reduced with a
small increase of transferred RMS–acceleration. With position-dependent passive
damping, good overall damping characteristics can be attained. Damping as a
function of piston position can be stated with four parameters. A selection
procedure for these parameters is proposed.
References
[1] M. Bovenzi, I. Pinto, N. Stacchini: Low Back Pain in Port Machinery
Operators, Journal of Sound and Vibration Vol. 253(1), p. 3-20.
[2] N. J. Mansfield: Human Response to Vibration (CRC, 2004).
63
Vibration Control of Cantilever Beam
J. Kovářová1, a, M. Schlegel2, b and J. Dupal1, c
1
Department of Mechanics, Faculty of Applied Sciences, WBU in Pilsen,
Univerzitní 8, 306 14 Pilsen, Czech Republic
2
Department of Cybernetics, Faculty of Applied Sciences, WBU in Pilsen,
Univerzitní 8, 306 14 Pilsen, Czech Republic
a b c
jkovarov@kme.zcu.cz, schlegel@kky.zcu.cz, dupal@kme.zcu.cz
Keywords: cantilever beam, incomplete pole assignment, robustness, self tuning

controller, vibration control.
Abstract
The paper describes two approaches to problem of active damping of vibrations of
cantilever beam. First one uses standard LTI (linear time invariant) mathematical model of
the system and state feedback with the state observer designed by pole placement method.
The second one is based on experimental identification of the first mode shape and design
dynamic compensator. Experimental results of both methods are compared.
Introduction
Vibration control of flexible structures is an important issue in many engineering
applications. Balancing the stringent performance objectives of modern structures such as
superior strength and minimal weight introduces a dynamic component that needs to be
considered. Depending on the applications, low structural damping can lead to problems
such as measurement inaccuracy of attached equipment, transmission of acoustic noise or
structural failure.
This paper addresses the vibration control of cantilever beam by the methods of linear
feedback control. It is concerned with state feedback designed by pole placement method
(modification of this method – incomplete pole assignment) and by self tuning controller.
An optimal position is chosen for sensor and actuator by the method based on mode shapes
– amplitudes and nodal points.
The nominal mathematical model is used for design of the controller based on
incomplete pole assignment. Due to this, the problem of robustness needs to be solved to
avoid the instability of the closed loop because of the design inaccuracies and truncation
errors.
Conclusion
The purpose of this work is to compare the controller designed by the incomplete pole
assignment and more practical self tuning controller experimentally. Both methods give
good results, however the controller designed by incomplete pole assignment provides
more freedom in the tuning phase in contrast of the self tuning controller, where tuning is
simplified.
Acknowledgement
This paper was supported by the research project EU (INTERREG IIIC south) and the
Ministry of regional development of the Czech Republic, project MATEO, subproject
MAT-12-C4.
This paper was supported by the research project MSM 4977751303 of the Ministry
of Education of the Czech Republic.
64
Modeling of the Beam as a Control Plane for the Vibration
Control System
Zdzisław Gosiewski1, a, Andrzej Piotr Koszewnik1, b
1
Mechanical Department, Faculty of Automatics and Robotics,
Technical University of Bialystok, ul. Wiejska 45C, 15-351 Białystok
a b
gosiewski@pb.bialystok.pl, akoszewnik@ pb.edu.pl
Keywords: vibration control, piezoelectric stripes, identifications, active beam
Abstract
The stabilization and the level of the vibration damping of mechanical structure
can be increased by the control system. The paper presents the control system of a
beam vibration that uses the piezo-elements as sensors and actuators in the form
presented in Fig.1. The energy which is used by the active vibration control
system strongly depends on the placement of the elements on the structure. We
are looking for simple method to find such optimal location of the piezo-stripes.
Fig. 1. The experimental smart beam
First we have investigated the influence of piezoelectric elements on the

natural frequencies of the beam. The beam with piezoelements is called an active
beam. Model of the beam was designed by using finite element method (FEM).
The calculations were carried out for different placement of the piezo-stripes.
In the next steps in proper find the optimal location we have calculated cost
functions control forces and measurement signal for different placement piezo-
elements on the structure. Obtained results was completed and compared to find
correlations between those variables. We have built correlation matrix and have
obtained correlation coefficients. We have found very strong dependences
between modal mass and natural frequency changes. The same strong correlations
we showed between control forces and measurements signal.
65
Fig. 2. An impulse response of active beam.
In the last step we have consider different type of controller for the open-loop
system. Through simulation investigated was choose the best controller ( PI)
which maximal damping of vibration. Obtained results was check in experimental
investigated and results are presented in Fig. 2.
66
Identification of Defects of Rotor Systems with Fluid-Film
Bearings on the Base of Analysis of Shaft Orbits and
Continuous Wavelet Transform
Leonid Savin1, a, Oleg Solomin1, b, Sergey Shirokov1, c
1
Orel State Technical University, Russia, Orel, 302020,
Naugorskoe shosse, 29
a b c
savin@ostu.ru, ovsolomin@hotmail.com, pmpl@ostu.ru
Keywords: rotordynamics, shaft orbits, fault diagnostics, fluid-film bearings,

wavelet transform.
Abstract
In this paper, a perspective approach for the identification of the defects of a
system ―rotor – fluid film bearings‖ is considered. This approach is based on
invariant 2D object recognition using a continuous wavelet transform. In this
article, examples of using of this approach to the identification such defects of
rotor systems as rotor unbalance, half-frequency whirl and impulse loading are
presented. Results of application of this approach to the analysis of theoretical
and experimental orbits of rotor on fluid-film bearings are given.
References
[1] Adams M.L. Rotating machinery vibration.  NY: Marcel Dekker, Inc., 2001.
[2] Bentley D.E. et al. Fundamentals of rotating machinery diagnostics.  Bentley
Pressurizied Bearing Press, 2002.
[3] Duda R., Hart P. Pattern recognition and scene analysis. NY: John Willey &
Sons. − 1973.
[4] Theodoridis S., Koutroumbas K. Pattern recognition. − San Diego: Academic
Press, − 2003.
[5] Khalil M., Bayoumi M. Invariant 2D object recognition using the modulus
maxima of a continuous wavelet transform // Pattern Recognition Letters. −
2000. − Vol. 21.
[6] Peng Z. et al. Identification of the shaft orbit for rotating machines using
wavelet modulus maxima // Mechanical Systems and Signal Processing. −
2002. − Vol. 16(4).
[7] Savin L., Solomin O., Ustinov D. Rotor dynamics on friction bearings with
cryogenic lubrication // X World Congress on the TMM: Proceedings. Vol. 4.
– Oulu, 1999.
67
The Rotating System Diagnostics Modeling
V. K. Augustaitis1, a, V. Barzdaitis2, b, V. Bučinskas1, c,
P.Maţeika3, d , M. Vasylius3, e
1
Vilnius Gediminas Technical University, Department of Machine Building,
J. Basanavičiaus str. 28, LT-32214,Vilnius, Lithuania
2
Kaunas University of Technology, Engineering Mechanics Department,
A. Mickevičiaus str. 37, LT-44244, Kaunas, Lithuania
3
Klaipeda University, Mechatronics Science Institute, Bijūnų str. 17,
LT 91225 Klaipėda, Lithuania
a b c
pgkatedra@me.vtu.lt, vytautas.barzdaitis@ktu.lt, vytas@fm.vtu.lt,
d e
pranasmazeika@centras.lt, mvasylius@yahoo.com
Keywords: Air blower rotor, pivoted-pad journal bearings, diagnostics, modeling

and simulation, vibration.
Abstract
The condition monitoring, protection and fault diagnostics system is inherent
module in the failure prevention technology design in the modern machines
operation. Paper is dedicated to research of dynamics, condition monitoring,
experimental testing, fault diagnosis and theoretical modeling of high speed
blower rotor that runs in continuous long-term operation mode in chemical
industry. The specificity of the dynamic model comprises dynamics of the
pivoted-pad journal bearings. The blower rotor vibration displacements were
monitored with contact less sensors during nominal load, run up and shout down
modes. These hypotheses about physical nature of bearings failure effect are
verified by theoretical research, where dynamical model was designed and
simulated. Finally, results of research were presented and conclusions are made.
References
[1] Bently Donald E. Fundamentals of Rotating Machinery Diagnostics. Library
of Congress Control Number 2002094136, ISBN 0-9714081-0-6. Bently
Pressurized Bearing Company, printed in Canada, first printing. - 2002. – 726
pp.
[2] Barzdaitis V., Bogdevičius, Gečys St. Vibration Problems of High Power Air
Blower Machine / 2nd International Symposium on Stability Control of
Rotating Machinery, ISCORMA-2. Proceedings. - Gdansk, Poland; Minden,
Nevada, USA, 2003. P. 606-616. ISBN83-913028-4-9.
[3] Barzdaitis, V., Činikas G. Monitoring and Diagnostics of Rotor Machines (in
Lithuanian), ISBN 9986-13-645-8, UDK 621.– Kaunas: Technologija,
Lithuania, 1998. – 364 pp.
68
Vibrodiagnostics and Dynamic Behaviour of Aggregates
in Small Hydroelectric Power Plants
Vitalijus Volkovas1, a
1
Kaunas University of Technology, Institute of Technological Systems
Diagnostics, Kestucio str. 27b, 44239 Kaunas, Lithuania
a
tsdi@ktu.lt
Keywords: hydroelectric power plant, aggregate, vibrations, dynamic behaviour,

monitoring and diagnostic systems
Abstract
The vibrations of machine have been used as primary information about the
technical condition of the machine for a long time. Therefore vibration
monitoring, which originated as a subjective evaluation of vibratory condition of
the machine, has become a necessary procedure based on the objective analysis.
The vibratory measurements, analysis and researches made in the last decades
allowed to gain a lot of experience, which is generalized by various standards and
revues. The standards for evaluation of machinery vibrations and the peculiarities
of their application in vibroacoustic diagnostics depend on the type of machine
and its application in different plants. The objective evaluation of vibroacoustic
processes of machines is the material constituent of security, while the standard
procedures allow operating objective information, which is received, treated, and
comprehended by all the specialists alike, and it is especially important in the
globalisation process of economics. The monitoring of machinery condition,
using vibration measurement and diagnostic procedures is a field that is
increasingly regulated by the standards, where a number of practically tested
methods are turned into standard procedures and the right choice of them
determines the reliability and effectiveness of diagnostics and monitoring.
Laboratory of Vibratory Monitoring and Diagnostics of Kaunas University of
Technology in 1994-2002 created the first in Lithuania certified series of
automated monitoring and diagnostic system VIMOS: VIMOS-T for
turboaggregates, VIMOS-H – for hydroaggregates, VIMOS-P for periodical
vibromonitoring of rotary systems. All the VIMOS systems are based on the
above-mentioned standards, original software and technical decisions.
The long-term experience in this field, as well as databases of Kaunas HE,
was used in the complex researches on small (1,4 MW) hydroaggregates and HE
building. It allowed estimating the dynamic problems of one of Lithuanian small
hydroelectric power stations, which could be characteristic to other similar
objects.
This work presents the methodology for testing the vibroactivity of small HE
buildings and hydroaggregates, and its application results, considering the
problem of safe exploitation. The created methodology was applied at Balskai
69
hydroelectric power station, that performed the analysis of vibrations and the
condition of the aggregates was evaluated. It was determined that the radial
vibrations of upper bearing of both generators of hydroaggregates at Balskai
hydroelectric power station exceed the allowable level of vibrations, and the
causes for high vibrations were determined. The performed investigation allows
analysing the dynamic behaviour of the aggregate as the simplified mechanic
system, which consists of the vertical cantilever beam with tightly fixed bottom,
and the mass fastened to the top of the beam (generator‘s mass). In such a way
the beam is loaded in the axis‘ direction with load force N. In such a way it
becomes evident that the proportion of the generator‘s gravity and Euler critical
force Pkr will determine the dynamic behaviour of the aggregate, i. e. incorrectly
chosen generator‘s mass and total rigidity of bearing constructive elements may
produce such frequency that would be close to the rotating frequency of the
generator. The investigation showed that the cause of the increased vibrations was
the coincidence of the generator‘s rotating frequency with the first mode of the
aggregate construction.
70
Section IV: Robotics
(2007.09.27 14:15 – 17:00, room 4)
71
Design of Dynamic Nonlinear Control Techniques for
Flexible-Link Manipulators
V. Gavriloiu1, V. Yurkevich1, K. Khorasani1, a
1
Department of Electrical and Computer Engineering, Concordia
University, Montreal, Quebec H3G 1M8 CANADA
a
kash@ece.concordia.ca
Keywords: Nonlinear control, Flexible-link manipulators, singular perturbation

theory, two-time scale modeling and control, dynamic control
Abstract
In this paper, we develop robust dynamical controllers for addressing the
problems of tracking and regulation of flexible-link manipulators. The design of
dynamical controllers is based on construction of a two-time scale dynamical
motion of the closed-loop system. The main control objective is to achieve
stability of the closed-loop system while ensuring boundedness of all the control
signals as well as sufficiently small tip-position tracking requirement. In order to
achieve a minimum phase behaviour for utilizing output feedback control strategy,
a new redefined output is proposed. Instead of using the joint angles as outputs in
the rigid-link case, a new output is chosen for the flexible-link case which will
provide and guarantee stability of the closed-loop flexible system. Simulations
results are provided for flexible-link manipulators using the proposed control
strategies. A comparative analysis is also included to demonstrate and illustrate
the advantages and disadvantages of the considered control methodologies.
References
[1] L. Sciavico and B. Siciliano, Modelling and Control of Robot Manipulators:
The McGraw-Hill Companies Inc., 1996.
[2] D. Wang and M. Vidyasagar, "Modelling a Class of Multilink Manipulators
with the Last Link Flexible," IEEE Trans. Robotics and Automatic, vol. 8, pp.
33-41, 1992.
[4] D. S. Kwon and W. J. Book, "An Inverse Dynamics Method Yielding Flexible
Manipulator State Trajectories," Proceedings of American Control
Conference, pp. 186-193, 1990.
[5] D. Wang and M. Vidyasagar, "Transfer Functions for a Single Flexible Link,"
Proceedings of the 28th IEEE Conference on Decision and Control, 1989.
72
Simulation and Code Generation for a Parallel Kinematic
Manipulator with three Degrees of Freedom
Dipl. Ing. Robert Amann1, a, Dr. Franz Geiger2, b
1, 2
Vorarlberg University of Applied Sciences, Hochschulstraße 1, 6850
Dornbirn, Austria
a b
robert.amann@fhv.at, franz.geiger@fhv.at
Keywords: robotics, parallel kinematics, simulation
Introduction
This extended abstract is a short version of a paper submitted to Mechatronic
Systems and Materials (MSM 2007) 27-29 September, 2007, Kaunas, Lithuania.
A mechatronic design for a table is presented, which is maintained in a horizontal
position by actively controlling the length of three prismatic joints. The 3DOF
parallel manipulator with RPS joint structure (rotational – spherical – prismatic)
proposed in [1] is chosen as kinematics of the table.
Inverse Kinematics
Coordinate frames {G} and {H} are fixed on the center of the base platform and
the center of the upper platform respectively. The coordinate frame {H} with
respect to the base coordinate frame {G} can be described using a homogeneous
transformation matrix HG T [3]. The matrix HG T describes the pose of the platform
G
and the parameters of T are determined by means of orthogonal mounted
H
accelerator sensors. The actuating length l i are calculated using the mounting
G
position of the prismatic link and the transformation matrix H T.
Simulation and Prototype

The mechanical construction is performed with the CAD program SolidWorks
and the data is exported to SimMechanics, a simulation tool for mechanical
systems. Using SimMechanics the dynamic behavior of the platform can be tested
with a real or simulated control before it is set up. The model of the manipulator
respects geometrical constraints, joints and mass distribution. Friction is
neglected in this model. The prototype consists of a mechanical construction and
a control hardware which captures the data of the accelerator sensors and outputs
the pulses for the drive amplifiers for the linear stepper motors. The control
hardware runs Simulink models in real time and calculates the length of the
prismatic axis from the signals of the accelerator sensors with a sample time of
39.68 ms. The program is tested using the SimMechanics model of the platform
and is used without modification for the real world task.
73
Conclusion
The goal of this project was to use a simple parallel kinematic structure to show
the potential in mechatronics of modeling and simulation with modern software
tools. A prototype had to be built, not to serve as a kind of rapid-development
platform, but rather to test the concept. However, even in this case
MATLAB/Simulink is of great help, because code-generating software is
available, thus removing the tedious task of writing real-time software. In this
way the students could concentrate on their task and eventually build a real-world
model from scratch: They selected the sensors, designed the drives, and built the
model completely in the short time available. The project group thus
demonstrated the value of modeling and simulation in the teaching of
mechatronics, and we will use these didactic methods even more in future.
References
[1] K-M. Lee, D. K. Shah: Kinematic analysis of a three-degrees-of-freedom in-
parallel actuated manipulator. IEEE J. of Robotics and Automation,
4(3):354-360 (1988)
[2] J. P. Merlet: Parallel Robots, Second Edition, Springer (2006)
[3] J. J. Craig: Introduction to Robotics, Prentice Hall (2005)
74
Fuzzy Control of Robots
Arkady S. Yuschenko1, a
1
Bauman Moscow State Technical University, 105005, Moscow, 2-nd
Baumanskaya str., 5, Russia
a
robot@bmstu.ru
Keywords: mobile robot, fuzzy logic, human operator, remote control, artificial
intelligence, operation planning, robot learning
Abstract
Mobile robots got widely applications for complicated operations in
undetermined environment. The control of mobile robots is often realized now as
a remote control by human-operator using a kind of joystick and often inefficient.
The problem is to control the mobile robots using a problem-oriented language
including the control by speech. The operator‘s interface in this case may be
created using the linguistic variables both for commands formalization and for
information presentation.
The model of the robot environment includes the fuzzy description of the
objects of the external world and fuzzy relations between them. The fuzzy
properties of the objects allow identifying them before the following robot
operations. The spatial relations allow representing the mutual positions of the
objects of the world. All the meanings are described by the membership functions.
The latter are to be presented beforehand taking into consideration the peculiarity
of human perception. The fuzzy model of the external world may be formed using
the data of robot sensors and information from robot vision system.
The fuzzy model of the world allows determining of the typical robot
operations in it. The classification of typical operations for remote control robots
has been proposed on the base of operations aims and control variables
description. The fuzzy description of the external world and of the typical robot
operations forms the vocabulary of the problem-oriented language habitual for
human. Applying the language and the well known fuzzy logic techniques,
Mamdany algorithm for example, it is possible to control a mobile robot or a
manipulator to solve the typical tasks. For complicated modes of behavior the
procedure of fuzzy AI planning is proposed, which used the fuzzy presentation of
the world and the operations of robot. The algorithm includes the possibility
propositions of the operations analysis and use the back propagation reasoning for
decision making
There are many situations when human-operator can not formalize the fuzzy
rules of robot behavior beforehand. For such cases the procedure of robot
learning on the base of fuzzy neural networks has been developed. As a matter of
fact the hybrid network can by itself formalize the fuzzy rules which human
operator could not determine. The fuzzy mode of control allows the robot to get
75
over the obstacles of the prescribed type for wide range of their parameters. As
the control mean the hybrid artificial neural network with three hidden layers was
applied. The neural network under consideration realized the Sugeno fuzzy logic
procedure. The input variables were the current angles of the robot platform
orientation and the torques of drivers. As the output variables the controlled
angles of four robot caterpillars were considered. After the training procedure the
fuzzy network showed results of control close to the same of human control.
References
[1] Кандрашина Е.Ю., Литвинцева Л.В., Поспелов Д.А. Представление
знаний о времени и пространстве в интеллектуальных системах. – М.,
Наука, ФМ,1989.
[2] Ющенко А.С. Маршрутизация движения мобильного робота в условиях
неопределенности.– Мехатроника, Автоматизация, Управление, 2004,
№1
[3] Ющенко А.С. Эргатические мехатронные системы.- Мехатроника,
Автоматизация, Управление, 2006, № 3, с.12-25 .
[4] Ющенко А.С., Киселев Д.В. Нечеткое управление поведением
мобильных роботов. – Вестник МГТУ им. Н.Э. Баумана,
Приборостроение, 2001, №1, с.86-89.
[5] Weld D.S. Recent Advances in AI Planning.– AI Magazine, Summer, 1999,
p.p. 93 - 123.
[6] Ющенко А.С. Интеллектуальное планирование в деятельности роботов.
– Мехатроника, 2005, №3, с.5-18.
[7] Вечканов В.В., Киселев Д.В., Ющенко А.С.Адаптивная система
нечеткого управления мобильным роботом. – Мехатроника, 2002, № 1, с.
20-26.
76
A Path Planning Algorithm for Snake-Like Robots
Erdinc Sahin Conkur 1, a, Riza GURBUZ 2, b
1
Mechanical Engineering Department, Pamukkale University, Denizli,
20017, Turkey
2
Ankara University Cankiri College Cankiri Meslek Yuksekokulu, Cankiri,
18200, Turkey
a b
sconkur@pamukkale.edu.tr, gurbuz@cmyo.ankara.edu.tr
Keywords: Snake-like robot, path planning
Abstract
Snake-like robots have the ability of automatically performing various tasks that
require man-equivalent capabilities by reaching areas difficult or impossible to
reach for human beings. However, problems in path planning and design of such
robots prevent them from being fully functional. In this paper, a path planning
algorithm for snake-like robots is presented. Snake-like robots are modeled with
discreet serial links employing many degrees of freedom. They are able to follow
smoothly curved paths consisting of many points by determining their
configurations to reach the goal while avoiding obstacles in the workspace.
Simulations have been accomplished to show the effectiveness of the algorithm.
References
[1] K. J. Kyriakopoulos, G. Migadis and K. Sarrigeorgidis. The NTUA Snake:
Design, Planar Kinematics, and Motion Planning. Journal of Robotic Systems,
16(1): 37-72, 1999.
[2] K. J. Dowling. Limbless Locomotion: Learning to Crawl with a Snake Robot.
PhD Thesis. Carnegie Mellon University. Pittsburgh, USA, 1997.
[3] A. Crespi, A. Badertscher, A. Guignard and A.J. Ijspeert. AmphiBot I: an
amphibious snake-like robot. Robotics and Autonomous Systems, 50(4), 163-
175, 2005.
[4] F. Matsuno and K. Suenaga. Experimental Study on Control of Redundant 3D
Snake Robot based on Kinematic Model. Proceedings of the 2nd International
Symposium on Adaptive Motion of Animals and Machines. Kyoto, March.4-8,
Japan, 2003.
[5] M. Yamakita, M. Hashimoto and T. Yamada. Control of Locomotion and
Head Configuration of 3D Snake Robot (SMA). Proceedings of the 2003
IEEE International Conference on Robotics & Automation. Taipei, Taiwan,
September 14-19, 2003.
77
Autonomous Mobile Robots for Outdoor Tasks
Harald Loose1, a
1
Brandenburg University of Applied Sciences, Magdeburger Straße 50,
14770 Brandenburg, Germany
a
loose@fh-brandenburg.de
Keywords: Navigation, Localization, Embedded Robotics, Image Processing,

GPS, Mobile Systems, Communication Network.
Abstract
This paper presents a low-cost hardware platform for outdoor robots, being
suitable for education, industrial prototyping and private use. The choice of
components is discussed, including platform, sensors and controller as well as
GPS- and image processing hardware. Furthermore, a software approach is
proposed, allowing students and researchers to easily implement own algorithms
for localization, navigation and the tasks to fulfill. Several robots can be
integrated in a framework which connects various different hardware platforms,
called the BOSPORUS network. Together with other components, they form an
intelligent network for gathering sensor and image data, sensor data fusion,
navigation and control of mobile platforms. The architecture of a reference
platform on the campus of the Brandenburg University of Applied Sciences is
presented and evaluated.
References
[1] S. Persa and P. Jonker, ―Multisensor Robot Navigation Systems‖. In: Douglas
W. Gage, Howie M. Choset (eds.), Mobile Robots XVI (Proc. Conf. Boston,
USA, Oct.28-Nov.2, 2001), Proc. SPIE, vol. 4573, 2002, 187-194
[2] C. Lemke, H. Loose, I. Boersch, ―Distributed Intelligent RCUBE Devices in
Intelligent Space‖, Proceedings of the 6 th International Workshop on
Research and Education in Mechatronics, (2005), pp. 420-425
[3] C. Lemke, H. Loose, I. Boersch: ―Design of Mobile Platforms for a
Distributed Intelligent Enviroment‖, Proceedings of the 9th International
Conference on Mechatronics Technology in Kuala Lumpur, Malysia,
December 2005, pp. 54
[4] H. Loose, C. Lemke, C. Papazov: ―Image processing for navigation on a
mobile embedded platform - Design of an autonomous mobile robot‖, In:
CREUTZBURG, R. – TAKALA, J.: Proceedings of Multimedia on Mobile
Devices II. SPIE Press, Conference Volume.
78
Enhancing the Accuracy of MRI-compatible Robots with
an Optical Tracking System
Petri Junttila1, a, Kalervo Nevala1, 2 and Petter Kroneld1
1
Department of Mechanical Engineering, P.O. Box 4200 (Linnanmaa),
90014 University of Oulu, Finland
2
VTT, P.O. Box 110, 90570 Oulu, Finland
a
pjunttil@paju.oulu.fi
Keywords: Optical tracking; Quaternion; MRI-compatible robot
Introduction
As magnetic resonance imaging (MRI) becomes more common, there is
increasing interest in performing operations during the imaging inside the scanner.
When operations are performed inside the scanner, work ergonomics create a
major challenge. MRI compatible robotics may solve problems related to
ergonomics as well as facilitate the navigation of the tracker to be operated. The
strong magnetic field prevents the use of all materials reacting to it in the robot
structures, and thus typical structural steels cannot be used. This will increase
elasticity in the robot‘s structures and decrease its positioning accuracy. Also,
imaging technology susceptible to disturbances prevents the use of electric
equipment in the immediate vicinity of the scanner and significantly hampers the
sensoring and moving of the robot‘s extreme joints.
The suitability of an optical tracking system for the control system of a robot
was studied by carrying out measuring series to evaluate operational suitability.
The measurements were used to examine the behaviour of translation vector and
orientation data between two trackers with different distances from the
measurement system. The suitability of the device to be used as a part of a robot
control system was evaluated on the basis of the results. In addition, practical user
experience on the optical measurement system was sought.
Test measurements
In the case of surgery, the measurement device is used to measure the positions of
the instrument attached to the robot and tracker attached to the patient, and use
this measurement data to define the position and orientation in the patient‘s
coordinate system. For this measurement practice, a test was performed on the
measuring device. The test studied the behaviour of the tracker position and
orientation data in the coordinate system of another tracker. Trackers were placed
on a platform in such a way that they were immobilised during the measurement.
The measuring device was moved to different distances from the trackers during
the measurement series. A total of five measurement series were performed. The
79
distance between the trackers was different in each series, and their position in
respect to each other was also slightly altered.
Conclusions
The objective of the work was to examine whether an optical tracking system can
be used in the control of a surgical robot designed for the MRI environment. The
tracking system can be used to determine the translation vector and orientation
between a tracker attached to the point of a robot and a tracker attached to a
patient. The device can be used to improve the safety of a robot by comparing the
data given by the measuring device to the position and orientation data calculated
from the robot‘s joint sensors.
80
Analysis of Insertion Process for Robotic Assembly
Sigitas Kilikevičius1, a, Bronius Bakšys1, b
1
Department of Mechatronics, Kaunas University of Technology,
Kęstučio 27, LT-44312 Kaunas, Lithuania
a b
sigitas.kilikevicius@stud.ktu.lt, bronius.baksys@ktu.lt
Keywords: peg-in-hole, vibrations, robotic assembly, simulation
Abstract
Successful and competitive manufacture requires to increase productivity, reduce
equipment cost and ensure maximal quality. The variety of productivity requires
more flexibility in assembly systems, so implementation of industrial robots into
automated assembly systems is unavoidable. The effective solution for increasing
the productivity of assembly operations is to increase the insertion speed. It is
possible to achieve high insertion speed using modern robotic technology for
assembly operations. However, the problems such as wedging and jamming
occur, under high insertion speed, which should be avoided. In order the process
of robotic vibratory assembly to be reliable and effective, it is necessary to ensure
that the parameters, which make an influence on insertion process, were
rationally selected.
Insertion of mobile based peg, which is moved in constant velocity v by robot,
into immobile bush is investigated (Fig. 1). Robot arm is equipped with remote
center compliance (RCC) device and gripper. The peg is hold by the gripper and
only can turn around the centre of compliance C and slip in radial direction. The
gripper is excited by vibration of amplitude Ae and frequency ω, in z axis
direction. These vibrations are transferred to the peg through elastic elements.
This kind of excitation is called kinematical.
Insertion process can be divided into three stages: chamfer crossing stage, one
point contact and two point contact stages. Mathematical model of vibratory parts
insertion process, which determines peg contact with the chamfer of the bush, peg
one point and two point contact with the bush hole, was formed. Programs for the
simulation of insertion process were written using MatLab software. The
simulation of cylindrical parts insertion process was performed.
The research showed that excitation of inserting peg vibrations has a positive
effect on robotic assembly process. It is possible to shorten insertion process
duration by changing the parameters of assembly system and excitation. Insertion
process duration t3 decreases when excitation frequency ω is increasing,
excitation amplitude Ae and friction between the parts are decreasing, and distance
to the center of compliance LC is close to 0. It is noticed that by using kinematical
excitation in assembly process with properly selected excitation parameters, it is
possible to decrease the probability of jamming and to increase the reliability of
assembly. The simulation showed that jammed components are not connected
81
when the values of excitation amplitude Ae and frequency ω are too low. It was
determined that the probability of wedging, jamming and peg jump out from the
hole decreases, when distance LC is decreasing and excitation amplitude is not
very high.
1
2 Ae sin t
K
Kz
v C
Kx
3 LC
G
LG
z 2r
x
2R
Fig. 1 Scheme of vibratory insertion: 1 – robot
arm; 2 – RCC devise; 3 – gripper
82
(2007.09.28 9:00 – 12:45, room 1)
83
The Differential Passive Magnetic Bearing for High-
Speed Flexible Rotor
Zdzisław Gosiewski1, a, Krzyszof Falkowski1, b
1
Mechanical Department, Technical University of Bialystok, ul. Wiejska
45c, 15-351 Bialystok, Poland
a b
gosiewski@pb.edu.pl, falkowski@pb.edu.pl
Keywords: permanent magnet, passive magnetic bearing, magnetic forces
Abstract
Lab stand of a differential passive magnetic bearing is presented in the paper. The
passive bearing will be used in high-speed flexible rotor. The one neodymium
magnet MP 41x15x10 – N38 and two neodymium magnets MP 40x22x10 – N38
were used to design the passive magnetic bearing. The mathematical model of
differential bearing, laboratory model and distribution of magnetic flux density
are presented and analyzed.
References
[1] D. Griffiths: Introduction to Electrodynamics, Prince Hall, Upper Saddle
River, New Jersey 07458, USA, (1999).
[2] Z. Gosiewski, K. Falkowski: Analytical Method of the Magnetic Forces
Estimation in passive Magnetic Bearings, The 8th International Conference on
Motion and Vibration Control MOVIC 2006, Korea, September (2006).
[3] K. Falkowski: The Passive Magnetic Bearing, Proc. Conference ―Automation
2006‖, Warsaw, Poland (in Polish) (2007)
84
The Control System of the Fatigue Test Stand under
Biaxial Tension Compression
Leszek Kasprzyczak1, a, Ewald Macha1, b
1
Opole University of Technology, Department of Mechanics and Machine
Design, Mikolajczyka St. 5, 45-271 Opole, Poland
a b
l.kasprzyczak@po.opole.pl, e.macha@po.opole.pl
Keywords: mechatronic systems of strength machines, cyclic loading, algorithms

of control under multiaxial loading, biaxial fatigue, electrohydraulic stand.
Abstract
The paper presents a control system of the biaxial fatigue stand for tests of
cruciform specimens (Fig. 1). The control system of one axis is equipped with 3
feedback loops with typical PID controllers and the amplitude compensator. The
control loops are responsible for: 1) control of the specimen center position, 2)
positioning of the piston rods of the actuators during fixing the specimen in the
machine grips, and 3) loading control during the fatigue tests.
Displacement Force Displacement

sensor S1 sensor sensor S3
Actuator 1 Actuator 3
P P
Servovalve 1 Servovalve 3
T T
- PID1C PID 3C +
1 3
+ eC +
Set point of the wC +
SW1 2 SW3
specimen center -
yC
PID 1F PID 1S PID3S PID3F
1/2
Displacement
reference sig. eS
w S+ - wC
S 6
-
yS - +
4
wFc Amplitude
eF compensator
yF wF yF
-
5 + SW2
Force reference
signal
wF
Fig. 1. The control system of the push-pull actuators in one axis
With the support of the European Social Fund and the national budget.
85
Model for Simulation of Dynamic Characteristics of the
System Frequency Converter - AC Induction Motor
Roma Rinkeviciene1, a, Algirdas Baskys1, b,
Andrius Petrovas1, c
1
Vilnius Gediminas Technical University, Electronics faculty, Naugarduko
str. LT-03227 Vilnius, Lithuania
a b c
roma.rinkeviciene@el.vgtu.lt, mel@pfi.lt, andrius@andr-petr.w3.lt
Keywords: induction motor, model, frequency converter, transients
Abstract
An advanced electric drive is a mechatronic system, which contains both mechanical and
electronic units. The frequency converter acts as an electronic unit in drives based on the
AC induction motors. Typically, the software Matlab is used for the simulation of electric
drives. However, in case when for control the drive includes such a complex electronic
unit as a frequency converter, the electronic circuit simulation programs offer an advantage
over the program Matlab. In this work a dynamic model of the mechatronic system
frequency converter – AC induction motor developed for the electronic circuit simulation
program PSpice. This model represents the mechatronic system, which includes the
electrical and mechanical parts, as a unified model. An induction motor is considered as a
complex electromechanical system with both electromagnetic and mechanical processes.
The equivalent circuit of the induction motor model in PSpice is elaborated using complex
variable model of induction motor. Decomposition of complex variables in plane along
two orthogonal axes was used and allowed us to represent set of motor equations as closed
loops with appropriate electric elements. Each equation corresponds to one loop. One loop
corresponds to the stator, the other – to rotor circuits. As the PSpice is a program
specialized for the simulation of electronic circuits, therefore, all mechanical variables,
such as speed and torque were replaced by electrical variables. The current in the
developed model replaces the torque, the capacity – inertia and the voltage – speed of the
motor. The carried out equivalent circuit of the induction motor model is presented. The
six-step algorithm for creating the frequency converter output voltage is selected. Table of
output voltages of the frequency converter is made and the pulse voltage generator of the
PSpice component library is used to create the calculated instantaneous values of voltage.
By employing the developed models on the basis of the program PSpice, the simulation of
the mechatronic system frequency converter – AC induction motor was carried out. The
phase current, torque and rotation speed of the concrete motor 4A100L2 were simulated.
Simulation results indicate, that the instantaneous values of the phase current at steady-
state of the motor supplied with the frequency converter approximately three times exceeds
the rated ones during the switching of the motor windings. This fact should be taken into
account at the development of the frequency converter power stage.
The torque developed by the motor supplied with the frequency converter oscillates
and this fact should be taken into account during the design of the mechanical part of the
mechatronic system.
86
Integral Controller for the Plants with the Asymmetric
Dynamics
V. Zlosnikas1, a, A. Baskys
1
Semiconductor Physics Institute, Microelectronics laboratory,
A. Gostauto 11, LT-01108 Vilnius, Lithuania
a
mel@pfi.lt
Keywords: Control, integral controller, asymmetric dynamics, electromagnetic

disturbance compatibility.
Abstract
The plants with the asymmetric dynamics are often met in mechatronic systems.
The characteristic feature of these plants is that the dynamics of the rise and
decay of the plant output parameter Ya(t) is different. Typically the theory of
automatic control deals with the plants that are characterized by the symmetric
dynamics and there are very few contributions devoted to this specific topic. In
this work we present the modification of the Integral (I) controller developed for
plants with the asymmetric dynamics. The algorithm used in the proposed
controller switches the value of integral constant Ki of the controller when the
sign of the error e(t) changes. It can be presented as follows: U(t)=∫Ki(t)e(t)dt,
where Ki(t)=Kip if e(t)≥0, Ki(t)=Kin if e(t)<0, U(t) is controller output and t is
time.
1,25
1,00
Ya(t)
0,75
0,50
Ki=0.138
0,25 Kip=0.06,
Kin=0.138
0,00
0 20 40 60 80 100 120 140
t [sec]
Fig. 1.
The controller based on the sugested algorithm, which can be named as

asymmetric I (aI) controller enables achieving reasonable transient performance
of the control system with the plants that are characterized by the asymmetric
87
dynamics and it is characterized by good EMD compatibility and has only two
parameters for adjusting the controller to the dynamics of the plant.
1,25
1,00
Yd(t)
Ya(t), Yd(t)
0,75
Kpp=2.5, Kip=0.32,
0,50
Kdp=1.2;
0,25 Kpn=1.5, Kin=0.38,
Kdn=1.9
0,00
0 10 20 30 40 50
t [sec]
Fig. 2.
The set point unit step response followed by the negative unit load disturbance
of the closed loop control system with the plant presented by the transfer function
G(s)=e-2s/(bs+1), where b=7 if Ya(t)/dt≥0 and b=2 if Ya(t)/dt<0, based on I
(dashed line) and aI (solid line) controllers is presented in Fig.1. It is necessary to
stress that the Ki of I controller is adjusted to dynamics of the plant related to
decay of Ya(t), i.e. for case when b=2. The set point (Yd(t)) pulse response of the
control system when the sinus noise with the amplitude of 0.05 and frequency of
50 Hz produced by the EMD sums up with the feedback signal of the control
system based on the aI and asymmetric PID (aPID) controllers was investigated.
The noise practically does not affected the transient of the control system based
on the aI controller. However, the control system based on the aPID controller
operates not stably in such a case Fig. 2.
The results presented in Fig.1 and 2 are obtained using electronic circuit
simulation program Spice. They show that application of the proposed aI
controller in respect of the I controller enables improving the transient
performance of the control system with the analyzed plant that is characterized by
the asymmetric dynamics. The aI controller should be employed for control of the
plants with the asymmetric dynamics in case when the duration of the response
transient is nonessential but the easily adjustable and EMD compatible controller
is needed.
88
Analysis of Hydro Motor Velocity Stabilization
Antanas Lapinskas1, a, Aleksandras Kirka1, b,
Renatas Lapinskas2, c
1
Lietuvos ţemės ūkio universitetas, Studentų 15, Akademija, LT-53362
Kauno raj., Lithuania
2
UAB Baltec-CNC technologies, Raudondvario pl. 148, LT-47175 Kaunas,
Lithuania
a b
Antanas.Lapinskas@lzuu.lt, Aleksandras.Kirka@.lzuu.lt,
c
Renatas@baltec-cnc.com
Keywords: Hydrostatic transfer, hydraulic motor, stream divider, pressure,

rotation frequency, working liquid.
Abstract
In this study, two systems of the rotation speed stabilization of a hydraulic engine
by using flow dividers on the inlet of the latter have been suggested.
This study deals with two types of hydraulic drives with hydraulic fluid flow
dividers, which also carry out the functions of pressure converters. For such
purpose the sections of flow dividers can be connected in series or in parallel.
Each connection type provides a flow converter with different functional features.
Besides that the variable displacement hydraulic machines are used in the flow
divider sections.
The signals for the control of displacements of the hydraulic machines are
formed by the controller according to the corresponding algorithm by using:
 the signal of the torque sensor;
 the pressure signal at the hydraulic motor inlet;
 the signal from the sensor of rotation speed of a hydraulic motor shaft.
The signal from the sensor of rotation speed of a hydraulic motor shaft is
used only when putting the system into the stabilization mode where the control
signal is formed by using the external signals of torque and pressure.
After assessment of the possibilities of analysis methods, the simulation
modeling system Simulink has been chosen.
Using the developed S-models, we have carried out the tests of the hydraulic
drives under consideration. For the tests of the systems under consideration the
external actions and structural parameters common for all schemes have been
selected: p = 2·106(1+0.1sin0.1t) Pa, M0=3·103 N·m, Mt=M0(1+0.6cosft) N·m,
f = (0.01; 0.1; 1.0) Hz, Ta = (0.1; 1.0; 10.0; 100.0) s, nst = 10 Hz, Δn2 = 0.5 Hz.
Using tests results was performed dynamic characteristics estimation of
investigated systems. Dynamic characteristics in estimation:
 minimum required speed of the displacement control of the machine SVmin;
 hydro volume machine acceleration to regulation velocity time Tonst.
89
Calculation Spectral Characteristics of Magnetic Field of
the Linear Induction Motor at the Braking Modes
B. Karaliunas1, a, E. Matkevicius1, b
1
Department of Automation, Vilnius Gediminas Technical University,
Naugarduko str. 41, Vilnius-03227, Lithuania
a b
Bronius.karaliunas@el.vtu.lt, Edvardas.matkevicius@el.vtu.lt
Keywords: Linear induction motor, magnetic field, braking, calculation, integral

transformations, spectral characteristic, continuous spectrum.
Abstract
The paper considers some problems of calculating spectral characteristics of
magnetic field of the linear induction motor (LIM), operating at the electrical
braking modes. In automatic drives with LIM the electric braking modes are
usually applied: dynamic, recuperation, single – phase, capacitor type, braking by
means of opposite connection, by pulsating current and inverter type (frequency)
braking. During the process of braking in the moving part of the LIM and in some
cases in an inductor there are initiated complicated interrelated electromagnetic
and electromechanical non – stationary processes.
The braking processes have been analysed in the motionless right – sided
Descartes system of coordinates x, y, z. There have been presented the
expressions of volumetric density of braking current which have been regarded
the non – periodic functions of coordinate x. Besides that in cases of single –
phase and capacitor braking these expressions are also regarded as the non –
periodic functions of time. Therefore when compiling the mathematical model
there have been applied Laplace and Fourier integral transformations. After
having applied Fourier transformation there have been received the expressions
of the spectra amplitudes of primary magnetic field at the dynamic braking under
the condition that the number of excited zones in the inductor is even, uneven and
fractional. The continuous spectra of amplitudes have been calculated by the
software Mathcad 2001 Profesional.
References
[1] O. Daruliene, B. Karaliunas: Mathematical Model of Non – Stationary
Braking Processes of Electromechanical Power Converters (Proc. of 11th Int.
Conf. on Power Electronics and Motion Control, EPE – PEMC 2004, Riga,
Latvia, 2004, vol. 3), p. 3-415 – 3-419
[2] S. Nonaka. Analysis of Single – Sided Linear Induction Motor by Simplified
Fourier Transform Method (Proc. of Int. Conf. on Electrical Machines,
Helsinki, Finland, 2000, vol.1), p. 247 – 251
90
Use of Liquid Crystals for Metal Machining
Vadim Mokshin1, a, Vladas Vekteris1, b
1
Department of Machine Engineering, Vilnius Gediminas Technical
University, J. Basanavichiaus str. 28, LT-03224, Vilnius, Lithuania
a b
vadim@me.vtu.lt, vekteris@me.vtu.lt
Keywords: liquid crystals, coolant, mineral industrial oil, reaming.
Abstract
Technique and Results of Research
The mineral industrial oil И-40A with and without twisted nematic liquid crystals
(cholesterol esters) additives used as a coolant for reaming was approved as an
object of research. The research covered homologous series of twisted nematic
liquid crystals, i.e.: valerian acid cholesterol ester (Val), capron acid cholesterol
ester (Cap), stearine acid cholesterol ester (St). Oleine acid cholesterol ester (Ol)
also was used as additive of industrial oil.
Experiments were performed on vertical drilling machine. Steel 45 and cast
iron СЧ-15 specimens were machined. First, the hole was drilled by twist drill,
then enlarged by core drill and finally, reamed by machine reamer. Thus the 16
holes were machined in every workpiece: 1 hole, when any coolant was not used
for reaming, 3 holes, when pure industrial oil was used as coolant for reaming and
12 holes, when industrial oil with liquid crystals additives was used as coolant for
reaming (3 holes  4 types of the tested liquid crystals).
4 4
3 3
4,27
Ra
3,18
3,01
2,73
Ra
3,70
2 2
2,48
2,37
2,61
2,22
2,05
2,06
1,94
1 1
0
0
1 2 3 4 5 6 1 2 3 4 5 6
a) b)
Fig. 1. Average roughness Ra of reamed cast iron (a) and steel (b) surfaces as
function of coolant composition: 1 – no coolant; 2 – pure oil И-40A; 3 – oil И-
40A + 0.5  Val; 4 – oil И-40A + 0.5  Cap; 5 – oil И-40A + 0.5  St; 6 – oil
И-40A + 0.5  Ol
Industrial oil and liquid crystals mixtures were prepared following: industrial
oil and liquid crystals were heated above melting temperature of the liquid
crystals, then melted liquid crystals were added to oil (0.5 % by oil volume) and
91
mixture was mixed and cooled down to room temperature. Later it was tested as
coolant for reaming in the low pressure flood application system of the drilling
machine.
The average roughness of the reamed surface Ra was chosen as an output
parameter in the research. The Ra values of reamed holes were established by
roughness indicator Talysurf 4 (Taylor – Hobson), then average Ra value was
calculated for every coolant.
Results of experiments are presented in Fig. 1.
Conclusion
All tested twisted nematic liquid crystals positively influence the properties of
coolant. Liquid crystals with the biggest molecular mass (stearine acid cholesterol
ester and oleine acid cholesterol ester) are especially effective. When they were
used as industrial oil additives, the reduction of the Ra of reamed steel surface
reached 1.3 times as compared with additive-free oil. In case of cast iron
workpiece reduction of the average roughness was similar.
92
Experimental Researches of Rotor Axis Revolution Orbit
of Rotor Systems with Adaptive and Sleeve Liquid-
Friction Bearings
Vladas Vekteris1, a, Audrius Čereška1, b,
Mindaugas Jurevičius1, c, Vytautas Striška1, d
1
Vilnius Gediminas Technical University, Faculty of Mechanics,
Department of Machine Building, Vilnius LT-03224, Lithuania
a b c
vekteris@me.vtu.lt, audrius@me.vtu.lt, mindaju@me.vtu.lt,
d
vytauta@me.vtu.lt
Keywords: rotor systems, adaptive, sleeve, liquid-friction bearing
Abstract
Revolving orbits accuracy of rotor axes of rotor systems with adaptive and sleeve
bearings is analyzed in the paper at measuring of vibration displacements by
contact less displacement transducers (straight measurement method) and
vibration accelerometers (non straight measurement method). Experimental and
theoretical researches of rotor systems were performed. Primary signals of
vibrochange and vibroacceleration are given.
Fig. 1 Testing system of rotor system with adaptive liquid-friction bearings

1-rotor; 2-spindle head, 3-non-contact induction displacement converters, 4-
accelerometers, 5-photoelectric phase converters, 6-mark, 7- amplifier, 8- primary
amplifiers, 9-computer, 10-measurement signal input/output board, 11-printer
93
On the ground of received measurement results rotational orbits of rotor axes
and other data formats necessary for analysis were formed. Orbit of rotor rotation
axes is very informative formate of data. Table of orbits of rotor rotation axes is
made, in that orbits are grouped by type of bearing and by frequency of rotor
rotation. By such batching it can see, how is changed form of orbit subject to type
of bearing and to frequency of rotor rotation. Reasons influencing formation of
irregular form of rotor axes revolving orbits and dependencies between the
research results of adaptive and sleeve bearings and results received by
measurement of the searched system by the straight and non straight methods
were defined. Rotor axis revolving orbits are composed from received results.
Research or rotor axis vortex motion orbits in compare with the orbits received by
contact transducers are similar. Researching system (Fig. 1) is described and is
presented diagrammatically, in that are installed adaptive bearings of friction and
inserting bearings of friction.
At the end of the work analysis of received results is made and conclusions
are presented about diagnostic research results of revolving accuracy of rotor
systems rotor axes.
94
Analysis of Timings in Networks That Use TCP/IP or
UDP/IP Protocols for Communication with Industrial
Controllers in Mechatronics Systems
Krzysztof Pucher1, a, Dariusz Polok1, b
1
Faculty of Automatic Control, Electronics and Computer Science
Silesian University of Technology in Gliwice
16, Akademicka St., 41-100 Gliwice, POLAND
a b
krzysztof.pucher@polsl.pl, dariusz.polok@polsl.pl
Keywords: Socket, TCP/IP, UDP/IP, industrial controller, field control
Abstract
In pace with the technical progress in controllability of mechatronics systems
including machines and industrial equipment, the systems of industrial controllers
(both PLC and microprocessor ones) more and more frequently use Ethernet-
based networks for communication with supervising centres and surveillance
systems. The Internal offers unsurpassed opportunities of remote programming as
well as remote development, debugging and tuning the existing control software.
Nowadays, supporting the remote tools and facilities is the essential requirement
that is mandatory when decisions on purchase and implementation of industrial
controllers are made. It is the underlying reason to launch more extensive
research in that field.
The presented paper describes dedicated software that has been developed to
enable communication over the Internet within dispersed control systems. The
system makes it possible to transmit and to receive short messages to and from
the controlled actuators as well as to perform basic tasks related to management
of data flow in networks that use TCD and UDP protocols. The special attention
was paid to dynamic phenomena of the data exchange process. It is an issue of
crucial importance within dispersed systems of industrial controllers and it
assures efficient operation of the entire system owing to timely and quick respond
to fast-changing control signals. Data exchange was carried out with use of so
called primitives for Berkeley sockets that serve as primary structures within the
network and are capable to perform basic operation, such as creation and
destruction, assigning network addresses to the sockets, establishing connections,
transmission (broadcasting), receiving, etc. To measure time intervals of
communication sessions the authors took advantage of functional features of
contemporary motherboards of PC computers. In particular, the function of the
API counter was used as it allows to readout the fast internal 64-bit counter which,
in consequence, enabled measurement of time gaps with accuracy up to single
microseconds.
95
The described software performs tests of communication facilities in terms of
their applicability to fast data exchange between field control modules of the
control system and the CPU, whereas the entire communication is performed via
Internet. Therefore the reaction time of a hypothetical field controller in respond
to switchovers of the input signals or interrupt events can be measured. The
communication and measurements were performed over local and national
internet networks as well as for GPRS networks. Measurement results are
presented in a compact form of tables that is suitable for further analysis.
The presented system is able to transmit diagnostic information therefore it
can be also used for integrated diagnostics of mechatronics systems as well as for
location and analysis of possible failures within the in-field systems.
References
[1] S. Tanenbaum, Sieci komputerowe, (Helion, Poland 2004).
[2] A.Rodriguez, J.Gatrell, J. Karas and R. Peschke, TCP_IP Tutorial and
Technical Overview, ibm.com/redbooks 2001.
[3] E. B. Carne, A Professional's Guide to Data Communication in a TCP-IP
Word‖, ARTECH HOUSE INC. 2004.
[4]E. Insam, TCP/IP Embedded Internet Applications, Newgen Imaging Systems,
2003
[5] F. Mallett, TCP/IP for Dummies Tutorial, InterWorks 1996.
[6] G. R. Wright and W. R. Stevens TCP-IP Illustrated Vol 2: The
Implementation‖, Addison Wesley, 1995.
[7]J. Bentham, TCP-IP LEAN - Web servers for Embedded Systems, CMP Books,
2000.
[8] L.A. Chappell, TCP-IP Analysis and Troubleshooting, podbooks.com 2000.
[9] MODBUS.ORG, Modbus Messaging on TCP-IP Implementation Guide,
MODBUS.ORG 2002.
[10] R. Scrimger, P. LaSalle, C. Leitzke, M. Parihar and M. Gupta, TCP-IP Biblia,
(Helion, Poland 2002).
[11] Reg Quinton, Introduction to TCP-IP Socket Programming, ENG 1999.
[12] W.R. Stevens, TCP-IP Illustrated Vol 1, (Addison Wesley, 2001).
[13] Information on: www.intel.com, www.motorola.com, www.hitachi.com,
www.nec.com, www.atmel.com
[14] Information on: www.siemens.com, www.gefanuc.com, www.omron.com,
www.ab.com, www.modicon.com, www.festo.com,
www.mitsubishielectric.com, www.saia.com, www.moeller.pl,
www.hitachi.com, www.schneider-electric.pl, www.unitronics.com.
96
Dynamical Quality Improvement of Mechatronic Servo
System Using Variable Structure Velocity Controller
Nerijus Sulcius1, a, Vilius Antanas Gelezevicius1, b
1
Kaunas University of Technology, Department of Control Technology,
Studentu str. 48, LT-51367 Kaunas, Lithuania
a b
n.sulcius@tf.su.lt, Vilius.Gelezevicius@ktu.lt
Keywords: velocity control, dynamical quality, servo system, observer, fuzzy

logic.
Abstract
The cascade control of the mechatronic servo drive ensuring the quantitative or
the symmetrical optimum condition is still widely used. The velocity control
system of the mechatronic servo drive consists of the internal torque (current)
control loop adjusted in accordance with the quantitative optimum condition and
external velocity control loop adjusted according to the quantitative or to the
symmetrical optimum conditions. The quantitative optimum condition requires
the proportional (P) velocity controller and ensures optimum rapidity response to
the step mode reference signal. However such control mode distinguishes by a
steady-state velocity error caused by the external load of the motor. In order to
avoid a steady-state velocity error caused by this disturbance, the proportional-
integrating (PI) velocity controller can be used. Usually such controller is
adjusted according to the symmetrical optimum condition. However the use of the
PI controller declines the dynamical quality of the mechatronic servo system.
In order to coordinate the advantages and eliminate disadvantages of both the
quantitative and the symmetrical optimum control methods, the variable structure
velocity controller (VSC) is applied. The main peculiarity of such controller is the
possibility of its control law automatic change from the proportional-integrating
(PI) mode to the proportional (P) mode and vice versa during the transient regime
of the servo drive. In conformity with the previously obtained results the
following algorithm of the velocity controller control law change is proposed. In
the initial phase of the transient regime of the servo drive the velocity controller is
adjusted according to the PI control law corresponding to the symmetrical
optimum condition. At the time moment when the armature current reaches its
maximum value the control law is switched to the P control law corresponding to
the quantitative optimum condition. Finally, after some delay time the control law
is switched again from the P to the PI mode and remains unchanged up to the end
of the cycle. This delay time depends on the load level of the servo drive and has
to be defined on line during the transient regime. Two methods of this control
algorithm implementation are proposed and investigated. The first method is
based on the fuzzy logic methodology application for the P control law delay time
definition. Two types of the fuzzy logic device have been designed: Mamdani-
97
type and Sugeno-type. The second method is based on the preprogrammed
"Lookup Table" application for the P control law delay time definition. The
problem arises with the static load level definition as the input signal of the delay
time definition device during the transient regime. Therefore the Luenberger
observer is designed for the static load current estimation.
The simulation results demonstrate that the rapidity of the mechatronic servo
system with VSC has been increased comparing to the drives with conventional
structure velocity controllers. Hence the dynamical quality of the mechatronic
servo system has been improved using VSC. Furthermore the velocity transient
regime curves obtained using VSC with fuzzy logic based delay time definition
device are identical to the velocity transient regime curves obtained using VSC
with programmable delay time definition device. Consequently both P control
law delay time definition devices are suitable for the implementation of the
proposed dynamical quality improvement technique.
98
Uncertainty Modeling in Robust Control of Active
Magnetic Suspension
Arkadiusz Mystkowski1, a, Zdzisław Gosiewski1, b
1
Technical University of Bialystok, Mechanical Department, ul. Wiejska
45C, 15-351 Bialystok, POLAND
a b
mystek@pb.edu.pl, gosiewski@pb.edu.pl
Keywords: H controller, robust control, uncertainty model, vibration control,

magnetic bearing system.
Abstract
The stabilization of a plant in case of uncertainty parameters and unmodeled
dynamics are the main problems considered in the paper. A robust control of the
motion of the rigid shaft supported by magnetic bearings was used as an example.
The dynamics of the active magnetic suspension system is characterized by
instability and uncertainty. The uncertainty is modeled as an additive and
multiplicative. In the paper we focused on optimal H robust control method to
stabilize 5DoF active magnetic bearing system. The robust control allows us to
achieve a good control performances in spite of disturbances and uncertainty of
the plant. Particularly, the robust control method can be used to control nonlinear
and unstable systems. The aim of optimal robust control is to improve the
magnetic suspension taking into account the energy limitation (i.e., to avoid the
saturation of actuators) and disturbance compensations. The stability of robust
control system with disturbance interaction is discussed.
Fig. 1. Lab stand configuration of five-axis active magnetic bearing system
99
Next, the computer simulations and experimental research were carried out.
The experimental stand of suspension system is shown in Fig. 1.
The rotor is supported by two radial active heteropolar magnetic bearings. The
heteropolar bearing includes 8 electromagnetic coils each. Also, there is one axial
passive (Nd-Fe-B) bearing. The passive bearing is built from 3 permanent ring
magnets, which are worked in opposite direction. The radial bearings limit radial
motion of the rotor in two directions. The four closed-loops are used to control
displacement of rotor in the air gap. The maximal force, which is generated by
active bearing depend on control current, bias current, air gap and number of turn
in coils. The position of rotor is measured in two directions by the eddy-current
sensors. The control algorithm is realized in real time by digital signal processor
DSP. The analogies power amplifiers are used to generate a current control
signals.
The success of the robust control is demonstrated through results of computer
simulations and experimental results. The simulation results of well-posed and
internally stable magnetic system are presented. The experimental results show
the effectiveness of the control system as well as good initial responses/transient
responses, vibrations reducing and robustness of the designed controller.
100
Modelling of the Thermoelastic Damping in MEMS
Structures
Rimantas Barauskas1, a, Saulius Kausinis, 2,b
1
Kaunas University of Technology, Studentu 50-407, LT-51368, Kaunas,
Lithuania
2
Kaunas University of Technology, K. Donelaicio 73, LT-44029, Kaunas,
Lithuania
a b
rimantas.barauskas@ktu.lt , saulius.kausinis@ktu.lt,
Keywords: thermal-elastic damping, finite element modeling, MEMS, resonator
Abstract
With the parallel development of new technologies, new device configurations, and
new applications for micro-sensors, micro-actuators, and micro-systems there has
arisen a growing need for research for maximum micro-electrical-mechanical
systems (MEMS) performance achievement. The system design requires a
comprehensive model to study the dynamic behaviour of the system as well as
ensuring that the conceptual model is transformed into a computer model with
sufficient accuracy. In the context of MEMS structures modelling there is a
strong demand for accurate, reliable and efficient analysis methods in order to
both evaluate and possibly optimize the performances of the micro-devices and to
prevent the destructive phenomena.
The paper deals with finite element analysis of the Q-factor values of damped
modal vibrations determined by thermal-elastic damping (TED) in MEMS. The
TED, one of the main energy lost sources in MEMS structures, is analyzed for the
longitudinal and flexural vibration modes. Mathematically the problem is
formulated as a complex eigenvalue problem. Verification problems have been
solved by using several computational environments and different presentations
of model equations in order to comprehend and reduce the influence of rounding
errors. The analysis of damped modal properties of selected MEMS resonator
revealed the main features of thermal-elastic damping by taking into account 3D
geometry of the resonator and anchoring (clamping) structure.
A FEM computational model of longitudinal and bending vibrations of a
beam resonator has been developed in order to analyze the eigenfrequencies and
Q factors of test vehicle as well as typical MEMS structures. Model verification
has been performed by calculating modal properties of unsupported beam
structures and comparing against published results.
101
Section V: Materials (Properties, Modeling,
Manufacturing and Processing)
(2007.09.28 9:00 – 12:45, room 2)
102
The Analysis of Defects Propagation in Navigating
Electronic Devices
A. Bogorosh1, S. Voronov1, S. Larkin1, N. Višniakov2,
J. Novickij2
1
National Technical University of Ukraine, “Кyiv Politechnic Institute”,
Prospect Peremohy 37, 03056, Kyiv-56, Ukraine
2
Vilnius Gediminas Technical University, Sauletekio 11, Vilnius, LT-
10223, Lithuania
Keywords: defect propagation, cluster, microcrack, grain boundary, navigating
electronic devices
Abstract
Modern mechanical engineering, aircraft and rocket production are impossible
without the application of elements of micro- and nano-electronics, multipurpose
sensors and navigating devices. Passive electronic components like resistors,
capacitors compose more than 80 % of components in these devices. Such
components are produced using traditional rules, practically without the
estimation of loadings and vibrations taking place in real operation conditions.
Mechanical and thermal influences on separate elements of the navigating devices
working in extreme conditions, which impossible to simulate by terrestrial
conditions, are not considered also. Actually sign-variable values of temperatures
and pressure can be created in terrestrial conditions, combining with vibration,
impacts and other influences. At the same time such objects are affected by
gravitational force, Coriolis force, complex bending, torsion, etc. In such
electronic components enough complex task of local defects prevention is
composed additionally considering the available material‘s changes at an atom-
molecular level. The purpose of present work is the study of destruction processes
(occurrence and propagation of microcracks and other defects) in passive
electronic components Ті8С12 contacts due to external influences (different
temperatures and pressure), which can be checked using devices with ferro-
modulation sensing elements. Research results have shown the opportunity of
beforehand prevention of available accidents. Microscopic researches are
systematized depending on various physical and chemical influences on devices.
The mathematical model for defects definition in local points of contacts with an
error about 5 – 7.5 % has been applied. According to research results it is possible
to affirm that for the control of damage level of such electronic devices
magnetostatic methods are applicable using matrixes with ferro-modulation
sensing elements. Particularly such diagnostic technique is in development for
space engineering applications. Diagnostics of micro objects destruction can be
done using a mathematical model with the subsequent solution of corresponding
problems and the transition from the known differential equations of an
103
electromagnetic field to the integral kind, based on Green's identities can be done.
Such model allows not only to predict the occurrence of a microcrack, but also to
estimate a direction of their propagation during exploitation of devices. The
calculation of physical fields in the general statement of a problem is more
applicable to objects with the metal weight not less than 1 g and thickness of
substrates more than 500 nm. Therefore for detection of defects on micro objects
with area about 1-2 mm2 and layer thickness 0.2-10 nm another concept of
modelling for forecasting processes of micro objects destruction should be done.
References
[1] V. Rоyzman, V. Strelbickij: Experimental research of the stress in
micromodules at change of atmospheric pressure. Information of Chmelnicki
state university, №1, 2006, p. 206-207.
[2] V. Lipatnikov, A. Gusev, P. Ettmayer: Phase transformations in non-
stochiometric vanadium carbide. Journal of Physics: Condensed Matter. Vol.
11, № 1, 1999, p.163-185.
[3] S. Zaicev: Modelling of dislocation move. Crystal defects and their computer
modelling. Science, 1980, p. 178-191.
[4] A. Formen, M. Meikin: Movement of dislocations through chaotic grid
obstacles. Actual questions of dislocation theory. Мoscow, 1998, p. 200-215.
104
Application of Piezoactive Material/Rheological Fluid
Composite Structures in Engineering
Rymantas Tadas Tolocka1, a
1
Kaunas University of Technology, Department of Engineering Mechanics,
Mickeviciaus 37 - 118, LT- 44244, Kaunas, Lithuania
a
tadas.tolocka@ktu.lt
Keywords: adaptive damping, composite structure, active material.
Abstract
Over the past centuries the materials meeting specific needs for strength, weight,
flexibility, etc. were developed. With the advent of active materials, the
components able to modify themselves in these dimensions came into reality.
Smart systems based on active material are currently used for a growing range of
commercial applications. A lot of various active materials are more or less widely
used. Piezoactive materials (PAM) and electrorheological fluids (ERF) are among
them.
Due to the possibilities to develop devices featuring rapid response,
practically unlimited resolution, large force generation, broad operating frequency
range, high stability and low power consumption, PAM is widely used for sensing
as well as for actuating. Examples of PAM applications for actuation are
ultrasonic motors, micromanipulators, laser tuning devices and other
instrumentation. Sensing properties of PAM are exploited in accelerometers and
oscillation suppression systems based on the same effect.
ERF PAM
Disturbance Control Response by

PAMM ERF
signal changing viscosity
Composite structure
Fig. 1. PAM-ERF composite structure functioning schematics
ERF viscosity is the function of the voltage applied to it The low zero-field
viscosity, high ER effect, wide range of control and high shear stability of ERF
are of great importance and lead to its successful applications for vibration
suppression, designing simple, quiet, rapid-response interfaces between electronic
controls and mechanical systems. Well known applications are for shock
absorbers in vehicles, dampers for seats, machinery, centrifuges, prostheses, etc.
105
The composite structures consisting of ERF and PAM promise possibilities to
develop systems with inherent intelligence of higher level because they allow us
to combine sensing, control and variable parameter elements into structures
which exhibit self-adjustment and adaptability properties (Fig.). Such a structure
may be organized responding to the disturbances in accordance with various
kinematic parameters – displacement, velocity or acceleration. It may be used for
applications, such as adaptive shock absorber as well as for self - adjusting force
actuating in the exercising machines. It is also suitable for adaptive damping
systems development. Such system consists of PAM coating on the structural
element and the layer of ERF contacting with it. When oscillations in the
structural element are excited, the electric charge proportional to their magnitude
occurs in the electrodes due to the direct piezoeffect in the PAM. The ERF
viscosity changes in the area of ERF contact with electrodes in accordance with
the voltage on them, and thus damping becomes adaptive. The sectioned
electrodes allow us to organize the adaptive response in relation to the magnitude
of strain in the structure.
106
Fluoride Release from Composite Materials for Dental
Fillings
Joanna Mystkowska1, a
1
Technical University of Bialystok, Mechanical Department, Wiejska 45C,
15-351 Bialystok, POLAND
a
joasia@pb.edu.pl
Keywords: fluoride release, powder filler, dynamical loading, dental composites
Abstract
Among many desirable requirements of materials for dental fillings, fluoride
release is of significant quality. Fluoride ions play key role in dental and enamel
remineralisation. In this work four ceramic-polymer composites containing
different fillers were tested. Fluoride release from composite materials for dental
fillings depending on the type of powder filler and dynamical loading is the main
problem considered in the paper. The fillers were fluoridated glass (J-20: based
on Ba-Sr-Al-P-Na-silicate glass) and ytterbium fluoride (YbF3) as a fluoride
source and nanosilica. The materials consist of 40vol.% organic polymer and
different fillers, as listed: A (60vol.% J-20), B(50vol.%J-20+10vol.%YbF3),
C(40vol.%J-20+10vol.% YbF3+10vol.% n-SiO2), D (10vol.%YbF3).
1,5
Fluoride amount
[gF/mm2]
0,5
0
1 4 7 14 30 60
Time [days]
A B C D
(a)(b)
Fig. 1. Amount of fluorine released (a) and surface roughness (b) of analyzed
composites
The influence of selected fillers and the usage of various loads on the fluoride
ions release from analyzed materials was estimated. Taking all experimental
investigations, the following inferences should be formulated:
1. Significant emission of fluoride ions from investigated composites begins after
1 day of examinations and for the composite containing 60 vol.% fluoride
sources it increases to a level of 1,25 g F- from 1mm2 sample.
107
2. Nanosilica addition reduces the composite surface roughness during fluoride
release as compared to materials without it.
3. The fluoride release increases strongly after cyclic loading process of the
analyzed materials.
4. There is no evident relationship between the value of usage loads on sample
and the level of fluoride release.
5. During cyclic loading and fluoride ions emission in the structure numerous
microcracks were observed.. .
Acknowledgements
This work was supported by the Polish Ministry of Sciences as a research project,
Poland. Nr: N507 163 32/0501. The authors are grateful to the Glass and Ceramic
Institute (Warsaw, POLAND) for preparation of the J-20 glass for presented
research.
108
The Characterization of WC-Co Based Materials
Boronized within Molten Salt Bath
Sakıp Köksal1, a
1
Department of Mechanical Education, Technical Education Faculty,
Sakarya University, 54187 Sakarya, Turkey
a
skoksal@sakarya.edu.tr
Keywords: Thermochemical boronizing, borides, WC-Co based materials,

microstructures
Abstract
Coated WC-Co based cutting tool materials are widely used in machining
applications. However some of the coating techniques, such as physical vapor
deposition (PVD), involve only the physical deposition of coating layers which
are prone to bulk delamination in some applications. Therefore functionally
graded microstructure through diffusion is an efficient and widely used methods
to improve the performance of coated WC-Co tools. In this work ISO P25, WC-
Co based inserts were subjected to a thermochemical diffusion treatment by
boronizing in a molten salt bath. The process was performed at 900, 1000, and
1100 C for 1, 2 and 4 h. SEM, X-ray, EDS and microhardness analysis were
performed on the samples. It was found that boron containing hard phases of
W2B5, CoB, W2CoB2 and WCoB were formed within the boronized region,
occupying the grain boundary areas. An average microhardness value of 3600
HK0.01 was measured in the near surface region which is substantially higher than
the value of 1418 HK0.01 representing the inner sections of the material.
References
[1] D. C. Jr. Pennington, European Patent 332463B1, (1994)
[2] S Koksal, A. Jawaid, S. Sharif, Processing and Fabrication of Advanced
Materials IX, ASM International, (2000), p. 281
[3] Dearnley P A, Schellewald M and Dahm K L, Wear, Vol. 259 (2005), p. 861
[4] T E Hale, R C Lueth, US Patent 4268582, (1981)
[5] A. Jawaid, S. Koksal, S. Sharif, J. Mater. Process. Technol., Vol. 116 (2001),
p. 2
[6] A.W. Weimar (Ed.), Carbide Nitride and Boride Materials Synthesis and
Processing, Chapman & Hall, (1997)
[7] G. Bliznakov, P. Peshev, Z. Zakhariev, J. Less Common Met. Vol. 67 (1979),
p. 511
109
Structure and Properties Enhancement in High-Speed
Steels upon Primary Solidification of a Melt
A.S. Chaus1, a
1
Slovak University of Technology in Bratislava, Faculty of Materials
Science and Technology in Trnava, Paulínska 16, 917 24 Trnava,
Slovakia
a
alexander.chaus@stuba.sk
Keywords: High-speed steel, Modification, Structure, Properties
Abstract
Despite the high quality of cutting tools produced by machining of workpieces
from powder or wrought high-speed steel (HSS) bars, cast tools can compete with
these ones. The reason is that foundry technology offers advantages over the
traditional way of tool production. The primary focus is on the potential for waste
minimization and waste utilization of HSS. It is known that investment casting
provides so called near-net-shape tool semiproducts, which benefit in the waste
minimization and as a consequence in HSS savings. Beside this, machining of the
tool shaped castings can be restricted to polishing only and, as a result, energy
and labour savings are the other advantages of foundry technology. After all,
foundry technology allows utilizing HSS wastes more effectively through the use
of tool scrapes, wrought bars wastes, HSS chip briquettes, and grinding powder
wastes from hard metals. Finally all these advantages result in considerably lower
production cost of the cast tools. On the other hand, low ductility of as-cast HSS
caused by the presence of eutectic network over matrix grain boundaries, inhibits
wider application of chipper cast tools in industry. Therefore, in order to exhibit
good all-round performance the impact toughness enhancement of as-cast HSS is
obligatorily needed. In this connection the main aim is to highlight the effect of
modifiers added into the melt on the structure formation upon primary
solidification of the melt followed by the properties enhancement in HSS after
complete heat treatment. For this reason the theoretical evaluation and
experimental confirmation of the modifying and refining effects of 23 chemical
elements in HSS have been carried out. The relationships between the structural
parameters and mechanical properties in the M2 and T30 HSS have been also
established.
The steels were melted in alundum crucibles in an electrical furnace with a
graphite heater. The ferromanganese, ferrosilicon, and metallic aluminium were
used as deoxidisers. In the first stage of investigation the modifying additions
were introduced into the melt of the parent steels of M2 and T30 types in
calculated amount of 0.2 mass%, and in the second one as follows, mass%: for Zr
and Bi 0.05 – 0.1 – 0.3 – 0.6; Nb, Ti, Ge, Ni, Y, Cd 0.1 – 0.3 – 0.6; В 0.05 – 0.1
110
– 0.3 – 0.6 – 1.0; FeCe 0.1 – 0.3 – 0.6 – 1.2; Si 0.4 – 0.8 – 1.2. Heat treatment
included time quenching followed by triple tempering.
Theoretical evaluation of the modifying effect of the elements has been done
using such criteria as melting temperature, surface energy, specific heat of
sublimation, entropy in the standard condition, statistic generalized moment, total
electron potential barrier for iron and modifier, respectively. According to the
received activity series built up from the derived values on surface activities,
bismuth leads the list of the most surface-active elements (by ranking the
individual averages – for bismuth 18), followed by calcium (27), strontium and
tin (35 for both), antimony (36), cadmium (37), magnesium (47), and so on.
Additions of inoculants particles and surface-active elements into the melt
produce in HSS of M2 and T30 types structural changes concerning both the
matrix and the eutectic constituent, simultaneously affecting the shape of the
matrix grains and the morphology, number and distribution pattern of the eutectic
carbides. The microstructural changes, induced by the modifiers along with the
purifying effect can be effectively used for the properties enhancement in HSS
after complete heat treatment that finally results in higher cutting performance of
the cast HSS.
The financial support of a grant from the Ministry of Education of the Slovak
Republic (VEGA 1/4109/07) is gratefully acknowledged.
111
The Formation and Growth Behavior of Aluminium
Boride Crystals in an Al–B Alloy
Ramazan Kayikci 1, a, Osman Kurtulus1, b, Riza Gurbuz2, c
1
Sakarya University, Technical Education Faculty, Sakarya, Turkey
2
Ankara University, Cankiri Vocational High School, Cankiri, Turkey
a b
rkayikci@sakarya.edu.tr, d045026504@sakarya.edu.tr,
c
riza.gurbuz@cmyo.ankara.edu.tr
Keywords: Aluminium borides, Al-B alloys, metal matrix composites.
Abstract
Aluminium–Boron (Al-B) alloys are produced commercially from chemical
reactions of potassium tetrafluororate (KBF4) with liquid aluminium. Boron is
reduced from the fluoride salt by aluminium and disperses into the aluminium
melt in the forms of aluminium borides. The aluminium borides phases are
reported to be in the form of AlB12 and AlB2.
Although, the solubility of boron in aluminium is low, the advantage offered
by the Al-B alloy system results from the ability of AlB2 to precipitate during
solidification as large, high aspect ratio crystalline flakes. AlB 2 flakes are
reported to have high aspect ratio, high stiffness and strength and can be used as
metal matrix composite reinforcements. If acceptable microstructure containing
AlB2 flakes can be prepared by solidification, an Al-B alloy composite could be
manufactured directly via a simple casting technique. Interest in MMCs for use in
the aerospace and automotive industries, and other structural applications, has
increased over the past 20 years as a result of the availability of relatively
inexpensive reinforcements and the development of various processing routes
which result in reproducible microstructure and properties.
In this study, the formation of borides in an Al–3 wt.% B alloy produced from
reaction between aluminium and boron oxide (B 2O3) has been investigated.
Melting and cooling experiments were carried out to explore the growth
characteristics of aluminium boride crystals. During heating up to1300 oC boron
dissolved into molten aluminium and subsequently cooled to form solid
aluminium borides in the aluminium matrix. At room temperature boride particles
was identified as AlB2. Although, AlB12 phase is the first phase to form directly
from the Al-B liquid above 1000 oC which transforms to stable AlB2 crystals by a
peritectic reaction during cooling. Scanning electron microscope (SEM) and X-
ray diffraction (XRD) techniques were employed. Results showed that the shape
and distribution of the borides are dependent on the cooling conditions of the
liquid Al-B alloy.
112
Modelling of the Magnetoelastic Materials for Force and
Torque Sensors
Roman Szewczyk1, a, Jacek Salach2, b, Adam Bieńkowski2, c
1
Industrial Reasearch Institute for Automation and Measurements, Al.
Jerozolimskie 202, 02-486 Warsaw, Poland
2
Institute of Metrology and Measuring Systems, Warsaw University of
Technology, sw. A. Boboli 8, 02-525 Warsaw, Poland
a b
szewczyk@mchtr.pw.edu.pl, j.salach@mchtr.pw.edu.pl,
c
bienko@mchtr.pw.edu.pl
Keywords: magnetoelastic effect, magnetic hysteresis modelling.
Abstract
Soft amorphous alloys exhibit extraordinary magnetic and mechanic properties.
As a result, these materials have many practical applications as a cores of the
inductive components of mechatronic devices. Amorphous alloys are used as
cores of inductive components of switching mode power supplies, cores of
magnetic field sensors as well as cores of magnetoelastic force and torque sensors.
In all these applications magnetic characteristics of inductive components may
change, due to application of mechanical stresses to the core. These changes may
be very significant, due to the fact that amorphous alloys do not have crystalline
structure.
In spite of the fact that modelling of the magnetoelastic characteristics of
amorphous alloys is very important from both theoretical and practical point of
view, complete model of this phenomenon is still not presented. It should be
indicated that such model both enables physical description of magnetization
process of amorphous magnetic material subjected to mechanical stresses, and is
necessary for successful application of amorphous magnetic materials as a parts
of mechatronic devices.
Among different models of magnetization process only the energy based Jiles-
Atherton-Sablik (J-A-S) model allows calculation of major and minor magnetic
hysteresis loops under the influence of stresses, and that it is based on physical
description of the magnetic material. Unfortunately, in the case of the family of
hysteresis loops obtained for different values of maximal magnetizing field, the
quality of original J-A-S model decreases significantly. Following paper presents
a new idea of extension of the J-A-S model for modelling the influence of
mechanical stresses on magnetic hysteresis loops of amorphous alloys. In the
extended model, changes of parameter k during the magnetization are considered,
and the influence of stresses on eight parameters of the Jiles-Atherton-Sablik
model is taken into account.
113
Verification of the extended model was carried out on the base of
experimental results, obtained for Fe40Ni38Mo4B18 amorphous alloy subjected to
both stress from external compressive force, as well as shearing stresses from
torque. In experiment, uniform stress distribution was achieved in both cases, due
to special, mechanical system of backings. Evolutionary strategies, together with
gradient optimization, were used for calculation of the model parameters.
Extension of the original J-A-S model creates the possibility of modelling of both
compressive and shearing stress dependences of magnetic characteristics of the
amorphous alloy samples. Due to the fact that experimental and modelling results
are in very good agreement (Pearson r2 coefficient exceeds 99 %), the extended J-
A-S model may be used for the modelling of both compressive and shearing
stress dependences of the inductive components of mechatronics devices.
114
"Magnetoactivated" Elastomer: an Alternative to
Electroactive Polymer
Yousef Razouk1, a, Eric Duhayon1, b, Bertrand Nogarede1, c
1
Group of Electrodynamics research, LAPLACE - UMR INP-UPS-CNRS
N°5213, ENSEEIHT - 2 rue C. Camichel, 31071 Toulouse cedex 07. La
France, Tel +33 (0)5.61.58.84.62 - Fax +33 (0)5.61.63.88.75
a b
Yousef.Razouk@laplace.univ-tlse.fr, Eric.Duhayon@laplace.univ-tlse.fr,
c
Bertrand.Nogarede@laplace.univ-tlse.fr
Keywords: "Magnetoactivated", elastomer, magnetic field, deflection.
Abstract
This paper deals with the development of a new generation of soft composites
called "magnetoactivated" polymers and the exploration of some of their potential
applications. "Magnetoactivated" polymers consist of small (micron-sized)
magnetic particles dispersed in a high elastic silicon matrix to render it
magnetically active and at the same time mechanically strong. The choice of the
matrix material is based on its elastic properties and, for example, silicon and
other elastomers are found to be suitable material that shows high susceptibility to
elastic deformation.
The experimental characterizations obtained (magnetic permeability and
Young modulus) were systematically compared with the values resulting from the
modeling of this material. We found that the elastic modulus of this material
increases and decreases with the density of iron particles in the polymeric matrix
and that the agreement between the theoretically predicted and experimentally
measured values is nearly good. The values of the magnetic permeability were
obtained by a hysteresigraph requiring the use of toric samples. Several toric
"magnetoactivated" samples have been prepared in which the iron particles
concentration was varied from 0 to 13 %.
We introduce an equivalent model of a magnetic interaction of dipoles
immersed within the polymeric structure under the influence of homogenous
magnetic field. The magnetic force causes the attraction of the dipoles towards
the regions of stronger field intensities. As a result changes in molecular
conformation due to magnetic forces can accumulate and lead to macroscopic
shape changes (deflection).
The elastic properties of our "magnetoactivated" silicon motive us to use them
as pump membranes, In the presence of an external magnetic field (provided by
the electromagnet), a magnetic force is generated that causes the membrane to
deflect, the evolution of the displacement of the pump membrane with the applied
magnetic field were verified in ANSYS and experimentally for various contents
of iron particles in the silicon matrix.
115
In ANSYS, we found that the deflection increases with the volume fraction of
iron particle until C%= 13.2% (optimal value), then it starts to decrease. This
phenomenon can be explained by the increase in mechanic properties of our
material over the magnetic properties.
For correlating the experimental data with the theoretical predictions a
magnetic circuit with various "magnetoactivated" samples having a diameter of
60 mm and a thickness of 1 mm were fabricated locally with various contents in
iron particles.
Membranes maximal deflections were measured by using "laser displacement
measurement".
116
Parametric and Non-Parametric Characterization of a
Shear Mode Magnetorheological Damper
Mauricio Zapateiro1, a, Ningsu Luo1, b
1
Institute of Informatics and Applications, University of Girona, Campus de
Montilivi, Edifici P4 E17071, Girona, Spain
a b
mauricio.zapateiro@udg.edu, ningsu.luo@udg.edu
Keywords: magnetorheological fluid, magnetorheological damper, Bouc-Wen

model, neural networks.
Abstract
MR (magnetorheological) dampers are versatile devices designed to take the best
of magnetorheological fluids: high yield strength, low power requirements,
insensitivity to contaminants and hence low cost. MR dampers have proven to be
a good option for the mitigation of uncomfortable and hazardous vibrations in
systems such as vehicles, buildings and bridges. However, MR dampers are
highly nonlinear devices that exhibit a hysteretic force-velocity loop. Their
extensive applications in vibration control systems demand an accurate
mathematical model. In this paper, two models for an MR damper operated in
shear mode are presented: a parametric approach (Bouc-Wen model) and a non-
parametric one (neural network model).
References
[1] S. Cutillas and J. Liu. ―Particle dynamics of structure formation and
disintegration in a model magnetorheological fluid‖. 8th International
Conference on Electrorheological Fluids and Magnetorheological
Suspensions, Nice, France, July 9-13, 2003.
[2] M. Zapateiro and N. Luo. ―MR dampers for seismic protection: design,
modeling and identification‖. 3er Congreso Nacional de Ingeniería Sísmica,
Girona, Spain, May 8-11, 2007.
[3] J.D. Carlson. ―Magnetorheological fluid dampers‖. In Adaptronics and smart
structures: basics, materials, design, and applications. pp. 180-195. Springer,
1999.
[4] G. Yang, J. Ramallo, B. Spencer, J. Carlson and M. Sain. ―Large-scale MR
fluid dampers: modeling and dynamic performance considerations‖.
Engineering Structures, Vol. 24, pp. 309-323, 2001.
[5] J.D. Carlson. ―Low-cost MR fluid sponge devices‖. J. Intelligent Material
Systems and Structures, Vol. 10, pp. 589-594, 1999.
117
Shape Control of a FRP Airfoil Structure Using SMA-
Actuators and Optical Fiber Sensors
Pasi Ruotsalainen1, a, Petter Kroneld1, b, Kalervo Nevala1/2, c,
Timo Brander3, d, Tomi Lindroos4, e, Merja Sippola5, f
1
University of Oulu, Mechatronics and Machine Diagnostic Laboratory,
P.O.Box 4200, FIN-90014 University of Oulu, Finland
2
VTT, P.O.Box 1100, FIN-90570 Oulu, Finland
3
TKK Laboratory of Lightweight Structures, P.O.Box 4300, FIN-02015
TKK, Finland
4
VTT Materials and Building, Smart Materials and Structures, P.O.Box
1300, FIN-33101 Tampere, Finland
5
VTT Materials and Building, Structural Safety, P.O.Box 1000, FIN-02044
VTT, Finland
a b c
paruotsa@cc.oulu.fi, pkroneld@paju.oulu.fi, kalervo.nevala@vtt.fi,
d e f
timo.brander@tkk.fi, tomi.lindroos@vtt.fi, merja.sippola@vtt.fi
Keywords: Shape memory alloy; optical fiber sensors; shape control; FRP
composite
Abstract
The aim of this work was to design a control system for the shape memory alloy
(SMA) actuator operated airfoil (a cross section of wind turbine blade). Design of
SMA control is focused on the reliable operation of the SMA actuators. The
actuator should follow the targeted shape accurately and without too much delay.
Another objective is to avoid overheating which is the most critical damage to the
structure. SMA actuator shape control is in principle possible to do with any
position control method, but the specific properties of the SMA actuators, like the
hysteresis, the first cycle effect and the long term changes, need to be taken into
account.
In this work, a wing profile prototype was measured using optical fiber
sensors and traditional strain gauges. Also, external laser sensors were used to
measure displacements of upper/lower surface and trailing edge. Shape change
was obtained by embedding SMA wire actuators into fiber reinforced polymer
(FRP) composite structure. SMA actuators were laminated in such way that
bending of trailing edge is always downwards. Actuators are activated with Joule
heating and the temperature is measured with integrated thermocouples and
optical fiber temperature sensors.
As a result, this work gave information about the usability of optical fibers
sensors in active FRP composite structures. Measurements also give information
about the efficiency of SMA actuators in shape control of relatively stiff FRP
structures.
118
Cavitation Erosion Resistance of Austenitic
Microstructure Created by Means of Laser Beam
M. Szkodo1, a
1
Gdansk University of Technology, Faculty of Mechanical Engineering, 80-
952 Gdansk, ul. Narutowicza 11/12, Poland
a
mszkodo@pg.gda.pl
Keywords: Cavitation erosion, austenitic microstructure, laser beam machining
Abstract
This work presents investigations of cavitation property of different austenitic
microstructures created by laser beam machining of X5CrNi18-10 and C45 steels.
X5CrNi18-10 steel was alloyed with TiC and Mn powders and surface layer of
C45 steel was enriched with Ni, Mn, Cr and Nb. For alloying was used the cw
CO2 laser beam as a power source. Cavitation behaviour of produced layers was
investigated in a rotating disc facility. The results indicate, different susceptibility
to plastic deformation and strain hardening degree of surface in the early stage of
cavitation erosion.
References
[1] X. Chen, R.Q. Xu, Z.H. Shen, J.Lu, X.W. Ni: Optics & Laser Technol. 36(3)
(2004), p.197
[2] T. Momma, A. Lichtarowicz: Wear186-187 (1995), p. 425-436
[3] T. Okada, Y. Iwai, K. Azazu: Wear 133 (1989), p. 219-242
[4] T. Okada, Y. Iwai, H. Ishimaru, M. Mackawa.: JSME Int. J. Ser. A 37(1)
(1994), p. 37-42
[5] Y-M Chen, J. Mongis: Mecanique & Industries 6 (2005), p. 195-201
[6] G. Bregliozzi, A. Di Schino, S.I.-U. Ahmed, J.M. Kenny, H. Haefke: Wear
258(1-4) (2005), p. 503-510
[7] W.J. Tomlinson, A.S. Bransden: Wear 185 (1995), p. 59
[8] D. Dube, M. Fiset, R. Laliberte, R. Simoneau: Materials Letters 28 (1996), p.
93-99
[9] C.J. Heathcock, B.E. Protheroe, A. Ball: Wear 81 (1982), p. 311-327
[10]W.T. Fu, Y.B. Yang, T.F. Jing, Y.Z. Zheng, M.Yao: J. Mater. Sci. Perform. 7
(1998), p. 801
[11]W.T. Fu, Y.Z. Zheng, X.K. He: Wear 249 (2001), p. 788-791
[12]M. Szkodo: Solid State Phenomena 113 (2006), p. 513-516
[13]W. Liu, Y.G. Zheng, C.S. Liu, Z.M. Yao, W. Ke: Wear 254(7-8) (2003), p.
713-722
119
The Lubricity and Sorptive Experimental Investigations of
Gear Oils
Tomasz J. Kałdoński1, a, Tadeusz Kałdoński1, b,
Krzysztof Czupryński2, c
1
Military University of Technology, Faculty of Mechanical Engineering,
Warsaw, Poland
2
Military University of Technology, Faculty of Chemistry and New
Technology, Warsaw, Poland
a b
tomasz.kaldonski@wme.wat.edu.pl, dziekan@wme.wat.edu.pl,
c
k.czuprynski@wme.wat.edu.pl
Keywords: Tribology, Lubricity, Physical Chemistry, Chemical Engineering.
Abstract
In paper are presented the results of experimenatal investigations of lubricity and
sorptive properties of selected gear oils. Four base gear oils with the same
kinematic viscosity were investigated comparativeley. These oils contained
different quantity of lubricity additive (Additin RC2515). The lubricity properties
of oils were tested according to standard method ASTM D2596–69, ASTM
D2270–77 and PN–76/C–04147 (Polish Standard) on the Four–Ball Test
Machines, [3,4]. Sorptive properties of oils were evaluated indirect method i.e. by
means of differential scanning calorimeter DSC141, [5]. Two research aims has
been realized in this paper. The first aim depended on check the usability of
differential scanning calorimetry for indirect assessment of sorptive properties
(adsorption) of oils on true metariel of tribology joint of Four–Ball Test Machine,
which was used the next for assessment of lubricity properties of the oils. The
second aim dependend on confirmation of interdependendence: have better
sorptive properties of oil–have better its lubricating ability.
In effect it is showed the thermal measurements for oil–metal system, with the
aid of differential scanning calorimeter DSC141, on Four–Ball Test Machines.
The worse were lubricity properties of oil (smaller quantity of lubricity additive)
the weaker was interaction in metal–oil system and this stand for worse sorptive
effects.
Mechanism of formation of lubricating boundary layer, which is particularly
seizing – resistant, was already repeatedly discussed in tribological literature,
including also polish literature. A lot of different models of formation of so called
lubricating boundary film considering always conventional friction surface of
element of frictional couple which was made of monolithic material (usually
metal alloy). Form and sense of boundary film (decrease of friction factor,
counteraction to wear and seizure) is the best to present on model so called
―molecular brush‖ [1,2].
120
References
[1] T. Kałdonski, ―Tribology and Working Fluid Selected Tribological Problems‖,
Military University of Technology, Warsaw 1995, (in Polish);
[2] T. Kałdonski, T.J. Kałdonski, ―Physicochemical mechanism self – lubricating
sliding bearings‖, Solid State Phenomena, vol. 113/2006, Zurich, 2006.
[3] ASTM D2596–69,― Standard Test Method for Measurement of Extreme –
Pressure Properties of Lubricating Grease‖,(Four – Ball Method) (PN–76/C–
04147).
[4] ASTM D2783–71, ―Standard Test Method for Measurement of Extreme –
Pressure Properties of Lubricating Fluids‖, (Four – Ball Method) (PN–76/C–
04147).
[5] SETARAM DSC141, ―Instruction for use‖. Caluire – France, 1999.
121
Section VI: Failure Analysis
(2007.09.28 9:00 – 12:45, room 3)
122
Mechatronics Approach in Intelligent Control Systems of
the Overhead Traveling Cranes Prototyping
Jarosław Smoczek1, a, Janusz Szpytko1, b
1
AGH University of Science and Technology, Faculty of Mechanical
Engineering and Robotics, al. Mickiewicza 30, PL 30059 Krakow, Poland
a b
smoczek@agh.edu.pl, szpytko@agh.edu.pl
Keywords: overhead crane, fuzzy control, prototyping, human machine-interface
Abstract
In manufacturing industrial systems the greater and greater requirements are put
before operation quality and precision of automated transportation systems. One
of the important element of works transport is the overhead traveling crane. The
issues of minimizing transport time, precision of positioning with swing of the
load reducing are more and more significant in practice as well as exploitation
quality of a device. Complexity of phenomenon occurred during loads
transportation process using cranes as a result of wide change exploitation
parameters causes that in crane‘s control systems are required tools taking into
consideration complexity of such systems characterized by uncertainty,
imprecision and subjectivity of parameters. One of that mathematical tool is fuzzy
logic which is a nonlinear system that convert a crisp input vector into a crisp
output vector.
In industrial processes greater and greater significance have HMI (Human
Machine-Interface) systems that are direct communication systems between
human (operator) and managed because of him process, supplied tools for
visualization industrial process using synoptic images, controlling, monitoring
and managing the whale process or choosing devices and means of manufacturing
process, acquisition and presentation dates. HMI is the higher level of control
systems which enables raising quality and shorten the time manufacturing tasks
realization, monitoring and controlling the whale or chosen productions‘ aspects
and fast reaction on appearing problems. Development of software and hardware
architecture of HMI systems enables to realize lots of tasks, not only main
functions connected with visualization and managing but also useful in date
acquisition and analyzing, diagnostic and monitoring processes‘ states.
In the paper, results of researches conducted towards elaborating fuzzy control
system of overhead traveling crane movement were presented. Proposed control
algorithm based on Takagi-Sugeno-Kang (TSK) fuzzy inference system was
elaborated in rapid prototyping process divided into two steps. In the first step the
control algorithm was elaborated using computer PC with data acquisition cards
and Matlab The MathWorks Inc. program. The prototyping process was
performed in the result of testing virtual controller during computer simulations
123
conducted on the mathematical models of the control object and than control
system was verified and validated during experiments on the real device. Using
rapid prototyping process shorten the time of control system designing: control
algorithm optimization, sampling time selection, testing proper working
measurement circuit. In the next step the control algorithm was implemented on
the target controller: programmable logic controller PLC Using InTouch
Wonderware Corporation program the HMI application was created for
visualization, monitoring and managing the transportation process realized by the
crane. One of the important element of this application was possibility of fuzzy
control algorithm modification in PLC controller without necessity of time-
consuming PLC‘s program changing.
124
The Method of Complex Worthiness Assessment of an
Engineering Object in the Process of its Use and Service
Lindstedt Paweł1, a
1
Bialystok Technical University, Department of Mechanical Engineering,
Wiejska 45C Street, 15-351 Bialystok, Poland
a
ostad@pb.edu.pl
Keywords: diagnostics, adjustment, safety, reliability, signals.
Abstract
A focus of the paper has become the issue that optimal actions on the technical
objects‘ regulation, diagnose and reliability tests are required from the
maintentance staff involved in their use and servicing, and on the other hand, that
they are performed independently and autonomously in the current maintentance
practice instead of being accomplished in a strictly coordinated and complex way.
Than, an axiom has been noticed that only one and common information on the
object is existing and it provides the firm basis for coordination of the regulation,
diagnose and reliability tests. This information can be applied many times for
solving various problems no matter if they concern regulation, diagnose or
reliability. Next, it has been described an original way of conversion of the
considered information into explicitly time – and – space determined ―number of
threshold value overshoots‖ of signals related to the object and its environment as
well as theoretical foundations (based on various configurations of ―the state
equation‖) for conversion of the said piece of information expressed by the above
– mentioned ―numbers‖ into the parameters of the object ability condition (i.e., its
technical condition, adjustment and reliability). The theses of the presented
complex method for an assessment of technical objects‘ ability were subject to
many years‘ verification with positive result in the study of the Allison 250
engine bearing system.
References
[1] Ashby R. V.: Wstęp do cybernetyki, PWN, Warszawa, 1963.
[2] Lindstedt P.: Reliability and its relation to registration and diagnostics in the
machinery exploatation systems, Journal of KONBIN Vol. 1 No 2/2006,
ITWL, Warszawa.
[3] Lindstedt P.: Kompleksowa diagnostyka w procesie oceny jakości
użytkowania silnika śmigłowcowego w inżynieryjno – lotniczym otoczeniu,
„Diagnostyka― 3 (39) 2006.
125
Weak Interactions between Objects as New Diagnostic
Signals in the Diagnostics of Leakages from Pipelines
Paweł Ostapkowicz1, a
1
Bialystok Technical University, Department of Mechanical Engineering,
Wiejska 45C Street, 15-351 Białystok, Poland
a
ostad@pb.edu.pl
Keywords: pipelines, diagnosing leakages, signals, measurement techniques.
Abstract
The article concerns diagnosing leakages from pipelines. The new method of
improving diagnostic susceptibility of pipelines has been proposed. The method
has been verified experimentally. On the basis of the results of the experimental
research it has been shown that thanks to these new diagnostic signals (diagnostic
information) it is possible to improve the diagnostic susceptibility of pipelines,
and, thus increase the efficiency of diagnosing leakages conducted by means of
the methods used hitherto.
Introduction
Pipelines are the objects showing limitations or even the absence of the diagnostic
susceptibility which is closely connected with the possibility of measurement of
quantitatively- and qualitatively-available diagnostic information. This has an
essential influence on the efficiency of leakages
diagnosing, where for the existing solutions (methods) based on the use of
standard measuring signals of internal parameters of the flow (i.e. pressure, flow
rate), the efficiency of leakages diagnosing is a hardly satisfactory.
The method of weak interactions between objects
Therefore the new method of improving diagnostic susceptibility of the pipelines
has been proposed. Method has been conventionally named the method of weak
interactions between objects.
The essence of this method is the employment of the corrective systems
described and used in automatics to acquiring new diagnostic signals (i.e.
diagnostic information). In contrast to the standard signals (measurement of
pressure, flow rate, temperature) used up to day, this information is the
measurable signals of weak interactions between objects, resulting from the work
of testing objects (correctors) joined to tested object (pipeline).
The theoretical assumptions of method has been put to the experimental
verification, which has been conducted in laboratory conditions, on an author's
testing stand with a 380-metre-long physical model of the pipeline of a diameter
34 mm with water as a pressed medium.
As a results of the research the following characteristic of the method and the
signals of weak interactions it has been obtained:
126
• the receiving of the signals is easy to realize;
• the joining of correctors to the pipeline has no influence on the correct
working of the pipeline;
• the signals are credible information about the process of medium flow in the
pipeline;
• by the use of the signals it is possible to carry out effective diagnostic activity
in leakage detection and localization;
• in contrast to the signals of pressure and flow rate used so far, the new signals
are more resistant to disturbances and resulting from this is the necessity of
change of the values of alarm thresholds;
• by the use the new method it is possible to improve the efficiency of
diagnosing leakages.
127
Diagnostics of Scoring in Gears
Kryspin Mirota1, a, Jerzy Tomaszewski2, b , Jacek Rysiński1, c
1
Akademia Techniczno-Humanistyczna w Bielsku-Białej, Poland
2
Centrum Mechanizacji Górnictwa Komag, Poland
a b c
kmirota@ath.bielsko.pl, zentjt@neostrada.pl, jrysinski@ath.bielsko.pl
Keywords: scoring, scoring symptoms, diagnostic scoring model, heat, gear
Abstract
In the paper, the scoring phenomenon appearing on the surfaces of meshing teeth
and the conditions of its initiation are presented. The methodology of detection of
this phenomenon is proposed. Based on the formulated methodology, it is
possible to determine a state of a gear by means of the reliability function.
References
[1] Nosal S. Tribologiczne aspekty zacierania się węzłów ślizgowych.
Politechnika Poznańska, seria rozprawy Nr 328, Poznań 1996.
[2] Nadolny K. Tribologia kół zębatych. Zagadnienia trwałości i niezawodności.
Biblioteka Problemów Eksploatacji. Poznań 1999.
[3] Solski P. Zużycie ścierne metali. WNT , Warszawa 1968.
[4] ISO 6336 Calculation of load capacity of spur and helical gears, 1996.
[5] Kragielski J.V., Dobycin M.N, Kombalov V.S., Osnovy rascetov na trenie i
iznos. Masinostroenie, Moskva 1977.
[6] Blok H. Surface temperature measurements on gear teeth under extreme
pressure lubricating conditions. General Discussion on Lubrication and
Lubricants, London 1937.
[7] Lienhard H.J., Lienhard H.J.: A Heat Transfer Textbook. Phlogiston Press,
Cambridge 2003.
128
Failure Analysis of Destructive Coils
Rimantas Kačianauskas 1, a, Arnas Kačeniauskas2 ,b,
Eugeniuš Stupak1, c, Saulius Balevičius3, d,
Nerija Ţurauskienė3, e, Jurij Novickij4, f
1
Department of Strength of Materials, Vilnius Gediminas Technical
University, Saulėtekio 11, Vilnius, Lithuania
2
Laboratory of Parallel Computing, Vilnius Gediminas Technical
University, Saulėtekio 11, Vilnius, Lithuania
3
High Power Pulse Laboratory, Semiconductor Physics Institute,
A. Goštauto 11, Vilnius, Lithuania
3
Department of Physics, Vilnius Gediminas Technical University,
Saulėtekio al. 11, Vilnius,Lithuania
4
Magnetic Field Laboratory, Vilnius Gediminas Technical University,
Saulėtekio 11, Vilnius, Lithuania
a b
rimantas.kacianauskas@fm.vtu.lt, arnka@fm.vtu.lt,
c d e
Eugenius.Stupak@fm.vtu.lt, sbal@pfi.lt, zurausk@pfi.lt,
f
jurij.novickij@el.vtu.lt
Keywords: failure analysis, destructive coils, pulsed high magnetic fields, coupled
magneto-mechanical model, finite element method.
Abstract
The failure of the destructive pulsed power coils has been investigated. The
destructive coil is the key element of the laboratory system which generates half-
period abrupt magnetic field pulses with the amplitudes up to 45 T. Control and
measurement of the parameters of magnetic field pulses is a complicated process,
since their irregular waveforms can contain abrupt rise and decay stages [1, 2].
The transient coupled non-linear magneto-mechanical model has been applied in
FEM simulation. The temporal and spatial evolution of the transient magnetic
fields has been described by Maxwell equations [3, 4]. Mechanical behavior of
the coil is governed by a time-dependent non-linear equilibrium equation [4]. The
numerical model for performing the coupled magneto-mechanical analysis is
based on the finite element software ANSYS [5]. The structural problem is
weakly coupled to the magnetic problem by the electro-magnetic force vector.
The performance of the magnetic part, as well as the discretization model [6],
have been verified by experimental measurements of the magnetic flux density.
The operation threshold of the coil has been examined. It has been found that
operation threshold of the coil with relatively thin cylindrical reinforcement could
be characterised by the opening of the plastic hinge and estimated numerically.
Good agreement with experimental results has been observed.
129
References
[1] F. Herlach: Physica B Vol. 319 (2002), p. 321-329.
[2] J. Novickij, V. Stankevič, S. Balevičius, N. Ņurauskienė, P. Cimmperman,
R. Kačianauskas, E. Stupak, A. Kačeniauskas, M.J. Löffler: Solid State
Phenomena Vol. 113 (2006), p. 459-464.
[3] O. Bíró, K. Preis: IEEE Transactions on Magnetics Vol. 25(4) (1989), p.
3145-3159.
[4] O.C. Zienkiewicz, R.L. Taylor: The Finite Element Method (Vol. 1-3, the fifth
edition, Butterworth Heinemann, London 2000).
[5] ANSYS Theory Reference, 8th edition (SAS IP INC. 2003).
[6] S. Balevičius, N. Ņurauskienė, J. Novickij, A. Kačeniauskas, R. Kačianauskas,
E. Stupak. Journal of Information Technology and Control, Vol. 3(8) (2003),
p. 54-82.
130
Determination of Factors Affecting Safety Stress in
Machine Design by Using Artificial Intelligence
Technologies
Durmus Karayel1, a, Sinan Serdar Ozkan2, b,
Fahri Vatansever3, c
1
Sakarya University, Sakarya MYO, Mechatronics Program, 54187
Sakarya Turkey
2
Sakarya University, Sakarya MYO, Machine Program, 54187 Sakarya
Turkey
3
Sakarya University, Faculty of Technical Education, Department of
Electronics – Computer Education, Esentepe Kampusu, Sakarya Turkey
a b
dkarayel@sakarya.edu.tr, sozkan@sakarya.edu.trl,
c
fahriv@sakarya.edu.tr
Keywords: Machine design, design stress, design factors, Neuro – Fuzzy,

Intelligent design
Abstract
In this study, an intelligent system model that can evaluate experimental material
properties and safety factors is developed. The model contains Artificial
Intelligence Technologies such as Artificial Neural Network (ANN) and Fuzzy
Logic. It consists of sub modules into interaction. Also, the model can obtain
more precision values than interpolation techniques used to classical design. The
study contributes to define safety factors, design criterions and safety stress
according to a new approach based on information technologies. So, this study
can be seen as one of the sub modules of Intelligence Multi Agent System and it
can be integrated with Multi Agent System Model for design. Also, it can be used
for classical design studies so that results can be quickly obtained.
Figure 1. The user interface the intelligence design system
131
The study is a part of comprehensive project which is about the development
of an integrated intelligent system using knowledge technologies for mechanical
product design. The user interface of the project called as Intelligent Design
System (IDS) has been present in fig. 1. This study will be involved in the
calculation and library sub modules of IDS.
The conclusions that have been drawing from this study can be summarized as
the following.
The developed material data base can interactively run together general design
program. So, there isn‘t necessity to consider the tables and diagrams of the
materials. The selection of design factors and to be included in the Engineering
Calculation Module of Intelligent Design System (IDS) can be realized easily.
The design stress (safety stress) can be very quickly obtained by using the
computer environment completely. The documentation errors by the manual
process can be minimized because of the improved data integrity. To compare the
maximum critical stress and the design stress can be possible and the developed
system can directly make a decision about if the material of the machine element
is safe or not from the point of view of material strength.
It is expected that this approach will be widely used by designers.
132
Modeling of Moment of Friction under Increasing Load
Using Artificial Neural Networks
Krzysztof Gocman1, a, Bolesław Giemza1, b,
Tadeusz Kałdoński1, c
1
Military University of Technology, Gen. S. Kaliskiego St. 2 00-908
Warsaw 49
a
k.gocman@wme.wat.edu.pl, bb.giemza@wme.wat.edu.pl,
c
dziekan@wme.wat.edu.pl
Keywords: boundary friction, lubricity, modeling of tribological processes, artificial

neural networks
Abstract
Searching models of tribological quantities like wear, friction coefficient,
moment of friction, temperature taking into account every processes which
proceed in friction pairs is one of the most important problem in present tribology.
Although respective friction models and mechanisms of particular kinds of
wearing are rather well known, we are not able to predict values of definite
tribological quantities. What is more, friction and wear models which are
currently used are unfortunately imperfect. Models which were worked out
during last years do not reflect every occurrences proceeded in tribological pairs,
especially in case of boundary friction. Complicated and nonlinear nature of
friction processes force researching of non-analytical models, which for example
permit us to predict value of moment of friction or tribological wear. In view of
their properties, the artificial neural networks (ANN) could become very useful
instruments. They let us carry out some dimensional analysis, define the influence
of single parameters and what is important – interaction between these parameters.
The results of preliminary tests on influence of load and rotational speed on
moment of friction are presented in this paper. Tests were carried out under
increasing load and at the range of rotational speed 500 – 1500 rpm. The analysis
of results was elaborated and run of moment of friction on base of artificial neural
network (ANN) was modeled. The different kinds of ANN and different training
algorithms were applied to obtain the best quality of built models. All researches
showed that artificial neural networks are very useful as a prediction models in
tribological processes. The analysis proved that GRNN networks are better
models for moment of friction prediction than another tested networks (RBF,
MLP). Obtained model achieved very good precision – for GRNN networks we
get lower than 5% error for testing data. Considered networks had simple
structure – only two inputs because teaching data was quite small (for example
weather conditions were skipped). To obtain model which will give us better
characterization of processes proceeded in tribological pairs we have to conduct
133
much more experiments to increase teaching data, especially in areas with
nonlinear dependences.
References
[1] T. Kałdoński: Tribologia i płyny eksploatacyjne. Cz. I. Wybrane problemy
tribologii. Warszawa 1995
[2] M. Trzos: Modele neuronowe do prognozowania właściwości
przeciwzużyciowych olejów smarnych. Tribologia 2004 nr 4, s.273-283
[3] R. Tadeusiewicz, P. Lula, P. Wójtowicz: Sieci neuronowe. Materiał kursowy.
[4] Polish Standards: PN-76/C-04147, PN-83/M-86452, PN-77/C-96080
[5] B. Giemza, K. Gocman, T. Kałdoński: Neural networks model of wear under
boundary lubrication. International Tribology Conference Austrib 2006,
Brisbane, Australia
134
Managing Changes in Product Configurations
Linas Burneika1, a
1
Vilnius Gediminas Technical University, Faculty of Mechanics,
J.Basanaviciaus st. 28, Vilnius, Lithuania
a
linas@mail.lt
Keywords: product configuration, data management, knowledge representation
Abstract
In modern engineering environment all information about product is stored in
PDM (Product Data Management) system. These systems allow enumerated
configurations of product by using mechanisms of BOM (Bill of Materials) or
versioning. However problems arise when product has many frequently updated
configurations. This is a common situation for producers of consumer goods.
In the present paper this issue is addressed by extending an engineering
configuration concept. An initial idea of engineering configurator is to have a
product defined by generic BOM, consisting all possible components. The BOM
also includes a set of constrains, that define valid combinations of components.
However it makes maintenance a difficult task. This paper proposes an idea of
BOM decomposition into simple and manageable units. Decomposition is also
performed in domain of constrains. Configuration problem is split into
independent sub problems that could be delegated to different engineers.
The configuration model is constructed using some concepts of object
oriented modeling and classification of components. The most important entity in
the model is class. From object oriented point of view – classes may have
properties; it can be derived to produce a new class. The derived class inherits
everything from parent class, but new properties can be added or overridden. This
is the way to branch down by deriving from a general class to the specific classes
with additional properties. There are introduced four templates for classes:
assembly, component, property and product templates. Named classes are
produced from these templates – they form the fundament of configuration model.
From classification point of view – every class is a container for related
components that exists in PDM system.
The main features of configuration model are decomposition of generic product
structure into hierarchy of classes and support for management of alternatives and
properties of unrelated components.
135
Modeling of Force Drives of the Production Gear Hobbing
Machine with CNC
Vladimir Gichan1, a, Kastytis Slivinskas1, b, Vytautas,
Kazimieras Augustaitis1, c
1
Basanaviciaus str. 28, Vilnius, Lithuania
a b c
Vladimir@zebra.lt, Kastytis.Slivinskas@me.vgtu.lt , pgmas@me.vgtu.lt
Keywords: CNC gear hobbing machine, dynamic model, simulation model,

frequency characteristic, force frequency response.
Abstract
One of the ways to increase the productivity of producing gears in job shop
production is the usage of a CNC gear hobbing machine [1]. The method of
forced gear hobbing by using CNC gear hobbing machine tool is analysed in the
paper. In the case of production of gears using gear hobbing, the economics of the
production process restricts cutting in and cutting off stages of the cutting cycle
which last comparatively a long time during which not all power possible is used.
There are methods [2], where forced cutting in feed is used instead of an accepted
cutting-indexing cycle feed, during which the axial feed is increased significantly,
and the hob axis motor reaches the possible rated cutting power. After reaching a
particular cutting depth, the forced feed is switched off leaving the indexing
process only, and when the workpiece will make a full turn, the forced feed is
switched on for the next time, and the cutting cycle is repeated.
The method of speeding up the time consuming cut in and cut off processes in
forced gear hobbing with the CNC gear hobbing machine is researched in the
paper. The method is based on the corresponding control of the axial feed axis by
creation of the pulse type axial feed during these processes and corresponding
control of shifting axis. Using the axial tool shifting during forced feeding, it is
possible to decrease the angle of indexing on which the workpiece turns during
the forced feeding and at the same time to reduce the thickness of the chip cut due
to indexing, leaving more power for cutting of metal due to the forced feeding.
The tool can be returned to its initial position along the shifting axis by switching
the shifting in the opposite direction during an ongoing conventional
predetermined fool profile hobbing.
The model for simulation of the gear hobbing process (SIMULINK diagram),
comprising models of mechanical parts of axes, their motors, motor drives,
electrical links between them, the control system was designed and is presented
here. The model created allows researching of force, accuracy and control
dependences. The load on the hob can be determined by measuring an electrical
power (active power) used by the hob motor. Such a method of determination of
the load on the tool is rather simplified. However, the practice shows that it gives
136
sufficiently good results. Examples of force drives modeling are shown, as well.
The cutting in stage of the gear hobbing process was modelled. The character of
the cutting force (hob axis motor torque) changes during starting the cutting
process is shown. The torque change characteristic allows obtain information in
order to create the signal for controlling switching on or switching off the axial
feed axis motor, as well as the shifting axis motor. The total kinematical error of
the gear hobbing – the mismatch between the hob spindle and the workpiece
spindle was calculated by using the same SIMULINK modelling diagram
With the aim of determining the dynamic characteristics of the hob axis per
wide range of the frequency of excitation, the force frequency response of its
mechanical part was calculated. The hob spindle axis has two frequencies, which
could cause the resonance. But they are in a high frequency region and had not
influence to our investigation.
References
[1] K. Slivinskas, V. Gichan, A. J. Poska, and V. K. Augustaitis, in: Solid State
Phenomena. Vol. 113 (Trans Tech Publications Ltd, Switzerland 2006), p.
97-102.
[2] S. Fraimovitch, J. Lukashev, V. Gichan, G. Rozman. SU patent No 944823.
(1982).
137
Modeling Similar Real Time Systems with Petri Nets
Robertas Sunokas1, a, Egidijus Kazanavicius1, b
1
Department of Computer Engineering, KTU, Studentu 50-214b, LT51368
Kaunas, Lithuania
a b
rob.sunokas@gmail.com, ekaza@ifko.ktu.lt
Keywords: Petri nets, flexibility, reliability, performance, price, real time system,
IKP.
Abstract
While modeling real time systems application quality parameters are always
relevant. Future system must be reliable in operating, flexible enough in different
situations and to have good efficiency. Price is important for system builder.
Integrated quality parameter is defined for measuring and evaluation of all these
and other quality parameters.
In this paper Petri nets architecture is picked as projecting methodology. Real
time information system is created and modeled theoretically. While studying
several similar real time systems in every projecting and modeling step we try to
evaluate these parameters: a) flexibility b) reliability c) performance d) price.
Integrated quality parameter IKP is presented here.
While analyzing Petri nets it is required to make and describe information
system theoretically. It is analyzed how to find the best way to reach optimal
system features. Application quality parameters are used for that.
References
[1] A. Bobbio. System modelling with petri nets. Istituto Elettrotecnico
Nazionale Galileo Ferraris. Italy (1999).
[2] O. H. Roux, A. Déplanche. A T-time Petri net extension for real-time task
scheduling modeling. IRCCyN, UMR CNRS 6597. Nantes (2001).
[3] R. Sunokas. Modeling of application quality parameters in a secured
electronic service system: master thesis / science guide doc. V. Kiauleikis.
Kaunas University of Technology, Informatics Faculty, Department of
Computers. Kaunas (2004).
[4] V. Volovoi. Modeling of system reliability using Petri nets with aging
tokens. Reliability engineering and system safety. (2003).
138
Adaptive Intelligent Vehicle Safety Systems of a New
Generation
Reshat Fourounjiev1, Yulij Slabko1
1
Belarusian National Technical University
Keywords: Adaptive control, Adaptive stabilization, Stability, Multi-axis machines
Abstract
Active Safety Systems (ASS) have found wide application and the important
theoretical and practical questions of their creation are solved. However,
increasing requirements to accuracy and speed of these systems induce further
development of the common theory and creation of adaptive regulators for non-
stationary conditions of their functioning.
The way and the algorithms of adaptive control of ASS are realized by an
integrated system in which, according to carried out functions, the basic modules
(systems, components) are allocated: the antilock braking system (ABS), antislip
regulation (ASR), the monitoring system of a rate (MSR), the system preventing
overturning (SPO), vibration and stabilization active system (VSAS), emergency
braking system (EBS), etc. In connection with multi functionality of the
considered system, information-diagnostic system is also provided. All the
mentioned systems are interconnected and in common carry out demanded
dynamics of the mobile machine. The resulted division of their functions has
methodical character.
For all modules of the integrated system of active safety the unified control
criteria, the formulation of problems and basic algorithms of adaptive
management are used.
The real time functioning algorithm of the integrated system adapts to the
concrete applications and is defined by the program, which is "sewn up" in a
constant memory of the controller after the end dialogue of the system installation.
In the dialogue of the selected module are also set: the scheme of realization
(for example, Individual Regulation (IR), High Regulation (HR), Low Regulation
(LR)), properties of used executive mechanisms, etc. Thus, the desirable
configuration, the scheme of realization, the principle of functioning, the order of
derivative observable target variables are set. As a result, the algorithm of
functioning of each module adapts to the concrete applications.
Control quality criteria are formulated as quality of transient of the output
variables. It allows expressing accuracy, speed and some other quality parameters
as one function. The requirement of active safety system stability is considered in
conformity with Lyapunov's second law and built in technology of synthesis of
operating functions.
139
Let E k be the set of properties, which describe an actual dynamic condition of
the system, and E k be the set of the permissible motion properties k  1,..., m .
These sets can be specified in the process of knowledge development or change
of requirements for the considered system. The integrated ASS should provide
performance of the conditions Ek  Ek for all included modules. Controls uk (.) ,
developed for each module with high speed and accuracy without overshoot
provide the condition Ek  Ek , k  1,..., m .
A unified adaptive regulator of a new generation was created. The control,
according to a new regulator, is adequate to the hardware of modern digital
technical equipment and guarantees asymptotic stability of the operated system.
Thus, it is not required to carry out parametrical optimization to define the
algorithms parameters - their values are calculated analytically without using
numerical methods. It is not required to spend time for the research of stability of
the systems, which are generally essentially nonlinear. Stability is guaranteed by
synthesis technology and by a choice of the reference equations of target
variables.
The algorithm still possesses a number of advantages. Using the nonlinear
built-in desirable motion properties, high accuracy and speed are combined
without overshoot. Additionally, adaptive control and quality of functioning,
close to the potential opportunities of the systems, are provided.
Requirements to the accuracy and ASS speed continuously increase. Using
universal PI- and PID-regulators, it is basically impossible to combine high
accuracy and speed, and besides, it is difficult to vary control quality criteria in
the predictable form. Therefore, a new way and an adaptive regulator without
those drawbacks have been developed. The new algorithms of adaptive
management possess the following advantages: they combine high accuracy and
speed of system without overshoot, due to the functioning on nonlinear control
quality criteria; they fulfill the task of any desirable motion properties of the
output variables for each or all ASS modules; they give adaptive properties to the
operated system; they guarantee motion stability of the controlled system; they
pull together the opportunities of the modern software and modern hardware.
The offered intellectual regulators allow realizing potential opportunities of
used drives for adaptive ASS. Therefore, they solve already known and new
control problems of motion at qualitatively new level. ASS modules can function
both on a classical principle, and on a power principle.
140
The Automobile in the Transition from Passive to Active
Safety
Stanley H. Backaitis1
1
National Highway Traffic Safety Administration, Washington, D.C.
Keywords: automobile, trasition, passive safety, active safety
Abstract
Vehicle accidents resulting in single vehicle crashes and rollovers account for
disproportionate number of fatalities and injuries. When rollover occurs, the
probability of occupant injury is considerably higher if the occupant is ejected
than when staying within the vehicle. Preventing loss of control of vehicles in
crashes is the most effective way of reducing rollovers. NHTSA estimates that
that the installation in vehicles of electronic stability controls (ESC) will
significantly reduce the probability by about 71 percent of passenger car and 84
percent of SUV rollovers. The best estimates indicate that ESC systems would
reduce from 4200 to 5500 fatalities of the more than 10,000 deaths each year on
U.S. highways resulting from rollover crashes. Electronic Stability Control
System is a breakthrough technology evolving from and incorporating two
technologies: the Antilock Brake System and Traction Control System (TCS).
The ESC is a stability enhancement system designed to improve vehicles‘ lateral
stability by electronically detecting and automatically assisting the driver when
the driver is about to loose the control of the vehicle in high speed s traffic
situations. Data from applicable sensors within the vehicle compare the driver‘s
intended course with the vehicle‘s actual movement so as to detect when the
driver is about to lose directional control of the vehicle. Upon detection of an
onset of an uncontrollable situation, the ESC automatically intervenes in split
seconds by applying the brakes to selected individual wheels and also possibly
reducing engine torque to provide stability and help the driver stay on course.
This paper provides further details on how ESC works and why it is of benefit to
the vehicle occupant.
141
Section VII: Education in the Fields of Mechatronic
Systems and Materials Science
(2007.09.28 9:00 – 10:30, room 4)
142
Method of Dynamic Parameters Measurement of High-
Speed DAC„s
Vygaudas Kvedaras1, a, Rokas Kvedaras1, b,
Tomas Ustinavičius1, c
1
Electronics Faculty, Vilnius Gediminas Technical University, Vilnius,
Lithuania
a b
vygaudas.kvedaras@el.vtu.lt, rokas.kvedaras@siemens.com,
c
tomas.ustinavicius@el.vtu.lt
Keywords: dynamic parameters of high-speed DACs automated measurement of

high-speed DACs settling time
Abstract
High-speed Digital-to-analogue converters (DAC) are widely used in today‗s
electronics industry. Settling time of the output signal is one o the most important
parameters characterizing speed of these DAC‘s [1 – 3]. Settling time of today‘s
10-16 bit high-speed DAC‘s is in range from units to tenths of nanoseconds.
Therefore it is rather complex task to measure this parameter during DAC
development and manufacturing quality control process [1 – 4].
Automated sampling testers were developed and implemented by authors for
measurement of settling times of high-speed 8 – 12 bit DACs [1, 3, 4]. For these
testers‘ specialized precise circuits of sampling time step shaping, compensating
low-noise sampling heads, methods of amplitude limitation and automatic
measurement of settling times were developed and successfully implemented. In
order to perform automatic measurement of settling times of 12-bit DACs it is
necessary to convert DAC output signal with transformed time scale to digital
form and to perform digital signal processing. Further investigation of the
developed testers and software has shown that it is possible to use these testers for
settling time measurement of 12 – 14 bit high-speed DACs with readout levels of
0.5 LSB (for 14 bit DACs – 0.003 %).
Nevertheless hardware solutions for the implementation of testers were
developed in late 90‘s and therefore has been reviewed essentially with the
accordance to the modern element base and also to the possibilities of the high-
speed digital signal processing algorithms.
One of the methods for further reduction of tester‘s internal noise level and
for improvement of efficiency of digital signal processing algorithms without
increasing analysis duration is to develop a new specialized sampling tester. Such
tester should incorporate simple circuit of formation of sampling step and
simplified hardware processing of signal after time-scale transformation.
Compensating sampling converters with peak detection and two quartz
oscillators used earlier has shown very good metrological characteristics while
143
being comparably simple [4]. Nevertheless these converters have limited
possibilities to change sampling step formation and therefore can not be used for
implementation of different time-scale transformation methods directly. It is
possible to ensure such possibilities of sampling step formation by using
numerically controlled oscillators. Numerically controlled oscillators (NCO)
ensure precision digital control of frequency and phase of output signal. Using
NCOs in sampling testers it is possible to ensure agile change of sampling step
formation (e.g. from serial sampling to sampling on single point, etc.). In earlier
implementations hardware for processing of signal after time-scale transformation
was rather complex because of the limited element base. Therefore the aim is to
simplify hardware part of the signal processing by using new IC‘s and also
implementing more efficient digital signal processing algorithms.
Complementing possibilities given by NCO with modern relatively high-
speed sigma-delta ADCs it is possible to simplify circuit of processing of signal
after time-scale transformation considerably. Speed of ADC is related to
transformation factor of the sampling converter and speed of DAC under
investigation. Taking into account the aforementioned statements block diagram
of a new tester for measurement of dynamic parameters of high-speed DACs has
been developed. Further investigations and development of the new tester have
resulted in:
1. It is shown that it is possible to simplify the device significantly by expanding
functional features of the device and to introduce different types of sampling
methods on one device.
2. Equations of transformation factor, sampling step and calculation of the
settling time parameters of the new device were deducted.
3. Algorithm and software for digital processing of the signal under investigation
were developed and investigated. It has been shown that by using signal
processing software it is possible to improve metrological characteristics of the
developed sampling device significantly.
4. Structure of the developed new sampling device can be implemented for
measurement of dynamic parameters of different high-speed circuits, such as op-
amps, gates, latches, registers, counters, etc.
References
[1] E. Balestrieri: in Proceedings of Instrumentation and Measurement
Technology Conference, IMTC 2006.
[2] E.-A. Bagdanskis, V. Kvedaras: in High Optoelectronics, Instrumentation and
Data Processing No. 5 (1985), p. 97.
[3] J. Williams: in EDN. – Nov. 19 (1998), p. 159.
[4] V. Kvedaras, R. Kvedaras: in Electronics and Electrical Engineering No.
7(49) (2003) p.35.
144
Rigid Rotation by Spectral Analysis in Robotics and
Astrodynamics
Radu D. Rugescu1, a, Sorin Aldea
1
Str Bancila 18, sector 6, Bucuresti 060144, Romania EU
a
rugescu@yahoo.com
Keywords: Linear transforms, rigid rotation, rotation matrix, spectral analysis,

rotation spectrum
Abstract
After a brief insight into the specific geometry of linear transforms in m-hyper-
spaces, spectra of the rotation matrices are further analyzed, on the ground of the
conservative properties of rigid rotation transforms. A natural connection between
the eigen-vectors of such matrices and the vector of angular displacement and
velocity is observed. The observation is extended from 2-dimensional problems
with rotations and symmetries to 3-D general problems, where the structure of the
rotating matrix is outlined in a very simple and general manner, easy to use in the
engineering of robots and in astrodynamics.
References
[1] J. C. Maxwell, Matter and Motion (1877, repr. 1952).
[2] J. L. Synge, B. A. Griffith, Principles of Mechanics, McGraw-Hill Book
Company, Inc. (1949).
[3] O. Onicescu, Mecanica, Ed. Tehnica, Bucuresti, 416 pp (1969).
[4] St. Staicu, Applications of the matriceal calculus to the mechanics of rigid
bodies, Ed. Acad. Rom., Bucuresti, 261 pp, (1986).
[5] J. Gleick, Chaos (1987).
[6] E. P. Popov, Engineering Mechanics of Solids, Prentice-Hall, Upper Saddle
River, NJ, 864 pp, ISBN 0-13-726159-4 (1999).
[7] Huston, R. L. and Liu, C. Q., Formulas for Dynamic Analysis, M. Dekker,
New York, 642 pp, ISBN 0-8247-9564-4 (2001).
[8] J. Curtado, Mechanics in n-dimensional spaces, Aerospace Engineering
Department, Texas A&M University (in press).
[9] V. V. Pashkevich, G. I. Eroshkin, Application of the Spectral Analysis for the
Mathematical Modelling of the Rigid Earth Rotation – Vol. 41 No. 4 (2005) p.
251.
[10]C. A. Woolsey, Hamiltonian Attitude Dynamics for a Spacecraft with a Point
Mass Oscillator, Virginia Tech., Blacksburg VA, USA (2003).
145
Application of Modern E-Learning Techniques in the
Vocational Training in Automation and Robotics
Zbigniew Pilat1, a, Marcin Słowikowski1, b Jacek Zieliński1, c
1
Industrial Research Institute for Automation and Measurements - PIAP,
Al. Jerozolimskie 202, 02-486, Warsaw, Poland
a b c
zpilat@piap.pl, mslowikowski@piap.pl, jzielinski@piap.pl
Keywords: Automation, Robotics, eLearning.
Abstract
Economical changes in Europe, as well as rising global competition are the
reasons for continuously growing interest in Automation and Robotics. It causes
the significant extensions of the needs and the offer in vocational training area,
while development of ICT techniques enables the introduction of new teaching
methods. One of them is e-learning – distance learning supported with electronic
presentation and communication media. E-learning can be applied both in a
school based teaching and in a vocational training for adults, and its advantages
are especially significant in technical professions. This paper presents the
application of e-learning in the area of Automation and Robotics.
References
[1] information on: http://www.isar-project.net/
[2] W. Klimasara, Z. Pilat, R. Sawwa, M. Slowikowski, J. Zielinski: Leonardo da
Vinci Programme supports the Development of e-Learning Methods in
Application to the Vocational Training in Automation and Robotics, 2nd
IPROMS Virtual National Conference 2007, conference materials p. 144 -
149
[3] information on: http://moodle.com/
[4] ISAR system website: http://www.atb-bremen.de/projects/isar/moodle/
[5] L. Bielawski, D. Metcalf: Blended eLearning, HRD Press Inc. Amherst
Massachusetts 2005
[6] W. Klimasara, Z. Pilat, R. Sawwa, M. Slowikowski, J. Zielinski: Application
of E-Learning improve the efficiency vocational training automation and
robotics, ROBTEP 2006, Kosice, Slovakia, conference materials p. 205 – 214
146
A Survey of Mechatronics Education in the Nordic and
Baltic Countries
M. Ottestad1, a, G. Hovland1, b, S. Persson1, c,
K.G.Robbersmyr1, d, J. Pohl1, e
1
Agder University College, Faculty of Engineering and Science, Grimstad,
Norway
a b c d
morten.ottestad, geir.hovland, sara.persson, kjell.g.robbersmyr,
e
jochen.pohl @hia.no
Keywords: Mechatronics education.
Abstract
This paper describes mechatronics education programs in terms of the extent to
which mechatronic courses are developed and their course content emphasis (i.e.,
electrical/computer engineering vs mechanical engineering and system courses vs
analytical courses). A selective survey of some mechatronics education programs
in the Nordic and Baltic countries is presented and the programs are compared.
The survey revealed that the investigated universities have self-contained
mechatronic departments with research activity and their programs are optimized
from a mechatronics point of view. The small universities focus their education
towards the local industry, while the larger universities‘ programs are more
general.
References
J. Buur, ―Mechatronics Design in Japan‖. Institute for Engineering Design,
Technical University Denmark, 1989
D.A. Bradley, ―Applying Mechatronics‖, Manufacturing Engineer, IEE, pp. 117-
120, June 1997.
M. Acar, ―Mechatronics Engineering Education in the UK‖, in Mechatronics: the
basis for new industrial development, eds. M. Acar, J. Makra, E. Penney,
Computational Mechanics Publications, 1994, pp. 763-770.
J. Wikander, M. Törngren and M. Hanson, ―Mechatronics Education – Science
and Education‖, IEEE Robotics and Automation Magazine, 2001, vol. 8, No.
2, pp. 20-26.
147
The Subject “Automatics” at a Studying of Mechatronics
Specialists
Aleksandr Grinko1, a
1
Sõpruse 182-411, Tallinn13424, Estonia
a
abbgrinko@hot.ee
Keywords: Curricula, mechatronics, structural scheme, teaching, practical training
Abstract
This paper discusses the area of subject ―Automatics" in studying of Mechanical
Engineering curricula, Mechatronics. Mechatronics devices are mechanical
devices which involve a microprocessor, electronics and control.
Work is devoted to definition that least of themes and questions must be in the
course of subject ―Automatics" of studying of Mechatronics spetsialistes a level
bachelor.
The rough maintenance of a course ―Automatics" for bachelor of
Mechatronics, and also students of a specialties of "Automatics system‖ level of
college and technical school is offered. The principles and criteria of the approach
to definition of a level and a way of a teaching material are described.
References
[1] Altshuller, G.S. Creation as Exact Science. Available:
http://www.trizminsk.org
[2] Nikolay Shpakovsky. Man and Technical System. Available:
http://www.gnrtr.com/
[3] Elmo Pettai. Tootmise automatiseerimine. TTÜ elektriajamite instituut.
Tallinn, 2005, 336lk
[4] Nikolay Shpakovsky, Vasiliy Lenyashin, Hyo June Kim. Structural Scheme For
Solving a Problem Using TRIZ. Available: http://www.gnrtr.com/
[5] Aleksey Shiyanov. Mixer for 3 components. The report of practical work. Not
published manuscript, 4 pages.
[6] Konstantin Shmakov. Auto parking. The report of practical work. Not
published manuscript, 3 pages.
[7] LOGO! Application stories. Available:
http://www.automationdrives.ru/as/download/doc/
148
Less Expensive Equipment for Mechatronics Training
and Education
Ion Lungu1, a, Dan Mândru1, b, Simona Noveanu1, c
1
Department of Mechanisms, Precision Mechanics and Mechatronics,
Faculty of Mechanics, Technical University of Cluj-Napoca, B-dul Muncii,
nr. 103-105, 400641, Cluj-Napoca, Romania
a b
lungu_ion@yahoo.com, mandrud@yahoo.com,
c
noveanu_s@yahoo.com
Keywords: mechatronics, education, laboratory equipment.
Abstract
I. Education and training in the field of Mechatronics should be supported by
experimental learning not only by reading textbooks. Thus, the laboratory is
critical in the development of any Mechatronics course. The Mechatronics
educational aids must fulfil following requirements: allowing the students to
develop familiarity and confidence with electronic and mechanic fundamentals,
introducing the students to a representative sample of integrated circuits, sensors
and actuator options, establishing the control elements, calibrating and wiring the
system, providing the students with the ability to integrate knowledge from many
different fields.
II. The proposed less expansive, laboratory equipment stand is modular
permitting five different applications, but a single application at once. The block
diagram of the prototype is in Figure 1.
1.1 Delphi interface of the first application.
1.2 Electrical diagram for step motors control.
1.3 Positioning system with gear rack-pinion
transmission.
2.1 Delphi interface for the second application
2.2 Electrical diagram for DC motor.
2.3 Adjustment system of a rear-view mirror from a
car.
3.1 Delphi interface for the third application
3.2 Electrical diagram for LCD display.
3.3 Base location for temperature sensor.
4.1 Delphi interface for the fourth application
4.2 Electrical diagram for seven segments display.
4.3 Base location for optical barrier.
5.1 Delphi interface for the fifth application
5.2 Electrical diagram for temperature control.
5.3 Base location for temperature sensor and the
cooler.
6 Electrical diagram for the motherboard.
7 Computer and the communication system with
the microcontroller.
Fig. 1 The block diagram and the 3D model of the equipment
149
The main module includes a microcontroller Atmega 8535, the
communication module with PC (in this case Max 232 for serial communication
RS232), and a series of connectors for the communication with the other five
applications. The first application is referring to a positioning system actuated by
stepper motors. It responds to unipolar and bipolar stepping motors control. The
second application is the control of a direct current servomotor which actuates a
platform along two axes. The temperature measurement using a LM35 sensor is
the object of the third application. The measured value of the temperature is
displayed on a digital display and PC. The fourth application refers to counting
and displaying the numbers from an optical barrier. The Delphi interface has the
option to select the counting order. It offers the possibility to select the start value.
The current value is displayed on seven-segment display. This application could
be easy adaptable in order to upgrade the measurement devices. The fifth
application is the control of the temperature of an electrical resistance using a
cooler actuated by a D.C. servomotor. This actuator is commanded through PWM
pulses. The temperature is prevailed with LM 35 sensor and sent to a PC. The
Delphi interface allows the control of initial settled temperature and the selection
of the communication port. The average voltage to actuate the motor and the
electrical diagram can be displayed, too.
At each laboratory, a single application was studied, in groups of 3-5 students.
A number of lessons were learned during the use of the described system. Thus, a
strong platform for students‘ more advanced design and laboratory courses is
provided, yielding better prepared engineers. The design of the above-presented
equipment allows its future development.
150
Section VII: Measurement Techniques
(2007.09.28 11:00 – 12:45, room 4)
151
Testing System for Composite Wood Based Strips
V. Augutis1, a, D. Gailius1, b, G. Balčiūnas2, c
1
Kaunas University of Technology, Faculty of Telecomunications and
Electronics, Measurement Technologies Laboratory, Studentu 50-445,
51368 Kaunas, LITHUANIA
2
Kaunas University of Technology, Institute of Metrology, Studentu 50-
257, 51368 Kaunas, LITHUANIA
a b c
vygau@ktu.lt, dagail@ktu.lt, gintautasbalc@gmail.com
Keywords: Composite strips, acoustic emission, force, defects, delamination.
Abstract
Composite materials are more and more used in various areas because of their
good properties. Composite strips may be used as fixing (fastening) elements or
as bending stiff elements (springs). Wood based composite strips, where wood
peel layers are oriented in the same direction, are relatively new product in
furniture industry. They are usually used as spring elements.
Mechanical properties of such elements are characterised by the bending
strength, static and dynamic stiffness. Beside standardized and well known testing
methods, characteristics of wood based products may be determined using
acoustic emission, ultrasonic, and multicycle load testing techniques. The main
task of the work, was development of the fast composite plywood strips testing
system, which may be used for online (in production line) testing of the
manufactured strips, keeping in mind, that the main such strips strength properties
limiting factor is delaminations between strip layers.
Information about elastic properties of composite strips is acquired measuring
force during the deformation bending tests. There was calculated correlation
between the composite strip breaking force and measured stiffness. The
determined correlation coefficient R = 0,91. We can assert, that there is a big
correlation, between strip breaking force and stiffness of the strip.
Information about disintegration processes, when increasing force is applied
or during multicycle load tests may be acquired measuring acoustic emission
signals. Registered acoustic emission signals show structure changes of the tested
sample such as delaminations of separate wood layers and wood fibber ruptures.
One of the main properties of such strips is their homogeneity, i.e. absence of
delaminations between layers and various defects in layers. Such defects mainly
determine strength and longelivity of composite wood strips.
Ultrasonic techniques allow locate defects precisely enough. Frequency range,
wave type (longitudinal or Lamb) and testing technique is usually determined by
the sample dimensions, material properties, defects types and size, testing speed
and reliability. This system is potentially suitable for implementation in the
production line of such strips.
152
Strain Measurements and Monitoring of Constructions
Rokas Kvedaras1, a, Vygaudas Kvedaras1, b
1
Electronics Faculty, Vilnius Gediminas Technical University, Vilnius,
Lithuania
a b
rokas.kvedaras@siemens.com; vygaudas.kvedaras@el.vtu.lt
Keywords: strain, strain measurements, multi-channel strain measurement

system, digitally balanced Wheatstone bridge
Abstract
Buildings constructed of lightweight steel or concrete structures have fallen,
people were lost. There were many accidents in the Europe recently. Most
frequently such failures occur during winter time when structures are exposed to
additional load because of the snow which is accumulating on a roof, strong
winds, and other exposures that overload the structures of the building. It would
be possible to save human lives if people were notified about a critical condition
of building structures at least 10 – 20 minutes before collapse. In case approach
of critical conditions is known at least before 1 – 2 hours it is even possible to
keep a building itself. Therefore automatic signalling systems should be used.
Concluding aforementioned the following major tasks for such systems are
set: a) determination of the current condition of a building (structure, bridge, roof,
etc.); b) definition of small changes of parameters (strain, vibration, acceleration,
etc.) of physical quantities in specific points of a structure; c) transfer of results of
an estimation to the data-processing centre where results are processed,
mathematical model of a structure is applied and result is carried out [2].
According to these results decision on the current condition of a structure is made
(automatically or by human operator).
Development and implementation of such constant monitoring systems is not
common yet. Authors are analyzing possibilities to build and use such systems.
Investigations to develop automatic digital multi-point measurement system
for constant monitoring have shown that:
1. It is possible to avoid unexpected construction collapses if the constructions
are constantly monitored and preventive actions are performed.
2. Most of construction monitoring systems is relying on measurement of
strain of multiple points of constructions.
3. The system for automatic multi-channel strain measurement is proposed.
The method for evaluation of small changes of resistance based on automatically
digitally balanced using DAC R-2R matrix Wheatstone Resistance Bridge is
developed and investigated.
The method for measurement of small resistance changes by using
automatically digitally balanced Wheatstone bridge has been developed by
153
authors [3, 4]. Method is based on using of R-2R DAC as balancing element. The
resistance of the sensor in this case is:
R4 N  2 n RIN
Rx  R1  R2 R3 ; (1)
2 n R4 RIN
where n – number of DAC bits, RIN – resistance of DAC input (resistance R-2R
matrix elements), N – decimal DAC control code.
It has been shown that system with automatic digital Wheatstone Bridge
balancing ensure following advantages:
 Feedback system is regulating itself and therefore reducing influence of
external noise to evaluation results.
 System is not influenced by length and resistance of the gauge
connecting wires and therefore can be easily used as multi-channel
system by multiplexing gauges using low resistance switches.
 Analysis and experimental research has shown that this method can be
used for monitoring tasks with resolution up to 2 8. The model of the
system was checked during 24 hours and worked with 10 m length
cables. The measurement errors are not established for all this period of
time.
The proposed method enables to improve evaluation of small changes of
resistance and to avoid disadvantages observed in classic non-balanced
Wheatstone bridge applications. The accuracy of the method is not influenced by
the stability of the bridge excitation voltage and the feedback nature of the system
reduces the influence of external interferences to evaluation result.
4. The methods of improvement of evaluation quality and resolution are
investigated. It is established that combining different methods it is possible to
achieve 12 – 14 bits resolution (0.024 – 0.006) % accuracy). It is established that
it is necessary to use digital signal processing and different compensation
methods in combination for gaining such accuracy.
References
[1] The Pressure, Strain and Force Handbook, Vol. 29, (1995), Omega
Engineering.
[2] E. O. Doebelin. Measurement Systems Application and Design, 4 th Ed.
McGraw-Hill, 1990.
[3] R. Kvedaras, V. Kvedaras, R. Martavičius. Electronics and Electrical
Engineering. No. 6(48) (2003), p. 28 – 32.
[4] R. Kvedaras. Conference Archives PTETiS. Vol. 19.No. 1 (2004), p. 60 – 63.
154
Wavelet Analysis of Barkhausen Noise in Reconstructing
Distributions of Residual Stress
Cezary Kownacki1, a
1
Politechnka Białostocka, ul. Wiejska 45C, 15-351 Białystok, Poland
a
cezarkw@poczta.onet.pl
Keywords: Surface layer, Barkhausen effect, magnetoelastic parameter, wavelet

transform, own stress, centre frequency, residual stress distribution.
Abstract
The paper presents a relation between two distributions as the function of surface
layer depth: distribution of residual stress and distribution of the wavelet
parameter. The author uses an innovative technique of wavelet analysis of
Barkhausen noise, which is able to estimate a layout of surface layer properties as
the function of measurement depth in the range greater than that offered by other
methods of non-destructive testing. The change of wavelet parameter distribution
as the function of depth is compared with the change of residual stress
distribution obtained from X-ray stress test using electrolytic etching. The
comparison presents very similar curves, so the wavelet analysis of Barkhausen
noise can be used to create a reliable method of non-destructive testing of an
engineering object.
Ferromagnetic materials combine two different structures: a crystal structure
build with grains and a magnetic structure build with domains. Barkhausen effect
uses an interaction between the crystal structure and the magnetic structure. The
domain walls movement intensity depends on a value of residual stress existing in
the material structure, because residual stress can impede or stimulate a
reconfiguration of magnetic vectors. Present non-destructive testing methods give
only an average value of surface layer properties.
Research into the use of CWT in Barkhausen noise analysis has produced the
model of Barkhausen noise wavelet analysis, where Barkhausen noise intensity
can be expressed by developed wavelet parameter distribution. Wavelet
parameter represents the maximal value of wavelet coefficients smooth surface
for each scale value, so it‘s possible to create its distribution as the function of
scale. Using the equation of the spectral damping function and the equation of the
central frequency, the wavelet parameter distribution as the function of scale can
be converted to the function of measurement depth. The final result of wavelet
analysis is the wavelet parameter distribution as the function of surface layer
depth.
Research into 2H13 steel specimens subjected to a ball peening process
revealed a relation between distribution of residual stress and distribution of the
wavelet parameter. The relation can be express by conversion functions, which
translate changes of wavelet parameter value into changes of residual stress value.
155
Conversion functions can be used to derive the residual stress distribution as the
function of depth without running X-ray test. It is possible if the initial residual
stress distribution is known (before ball peening).
The final result of research presents the possibility of evaluating residual
stress distribution as the function of surface layer depth. However engaged X-ray
estimation of residual stress distribution requires the use of electrolytic etching,
which is a destructive laboratory process. Thus the real residual stress distribution
is difficult to obtain because of the unknown influence of electrolytic etching on
residual stress distribution. The unknown influence also affects accuracy of
reconstruction of residual stress distribution basing on the wavelet analysis model
and the conversion functions. So it‘s suggested to use the wavelet analysis model
only in comparative tests, where the aim is finding the relative change of residual
stress in non-destructive way.
156
Analysis of Geometrical Accuracy of Long Grating Scale
Calibration Comparator
A. Barakauskas1, a, A. Kasparaitis2, b, A. Šukys2, c,
P.Kojelavičius2, d
1
Precizika Metrology, Ţirmūnų 139 LT-09120, Lithuania
2
Faculty of Mechanics, Vilnius Gediminas Technical University,
J. Basanavičiaus 28, LT-03224, Vilnius-9, Lithuania
a b
a.barakauskas@precizika.lt, a.kasparaitis@precizika.lt,
c d
a.sukys@precizika.lt, mgkat@ me.vgtu.lt
Keywords: comparator, grating scale, accuracy of a linear scale, geometrical

errors, computational and active compensation of errors, accuracy increasing
means of design
Abstract
Line detection errors in linear scale comparators occur in the cases where Abbe
principle is not observed. These errors consist of random and systematic
components and can be minimized by increasing the accuracy of component
design and production, as well as by compensating geometrical deviations.
Design methods intended to increase the accuracy of the precision movement of
comparator parts are described here. Experimental error investigation results are
presented. Computational and active methods of geometrical errors compensation
are described and established. Investigation results are arranged and efficiency of
the examined methods is compared.
References
[1] R.Bentkus, A.Kasparaitis, E.Poņela: An Interactive Algorithm of Measurement
Errors Fitting by Multidimensional Argument Spline (Measurements, 2001,
Nr.1 (17), ISSN 1392-1223, Technologija, Kaunas), p. 7-12
[2] A.Jakńtas, S.Kauńinis, R.Barauskas: Modeling of Precision Line Scale
Comparator (Mechanika, 2006, Nr. 2(58), ISSN 1392-1207, Technologija,
Kaunas)
[3] S.Kauńinis, A.Jakńtas, R.Barauskas, A.Kasparaitis: Investigation of Dynamic
Properties of Line Scales Calibration Systems (Proceedings of IMECO World
Congress 2006, September 17-22, 2006, Rio de Janeiro. Proceedings on CD-
ROM)
[4] R.Bentkus, A.Kasparaitis, A.Ńukys: Optimization of Linear Precise
Movements (Mechanika, 2005, Nr.1 (51), ISSN 1392-1207, Technologija,
Kaunas), p. 49-53
157
Mechatronic Structure of Modern Test Bench for Precise
Angle Calibration
V. Giniotis1, a, D. Bručas1, b, P. Petroškevičius1, c, P. Kuzas2, d
1
Vilnius Gediminas Technical University, Saulėtekio al. 11, LT-10223
Vilnius, Lietuva
2
Kaunas University of Technology, Studentu 50-445, LT-51368 Kaunas
a b c
vg@ai.vtu.lt, domka@ktv.lt, petras.petroskevicius@ap.vgtu.lt,
d
elektronshchik@gmail.com
Keywords: test rig, photoelectrical encoder, multiangular prism, autocollimator,

scale, microscope.
Abstract
Almost all optical - electronic measuring instruments consist, among the other
elements, of the circular scales as a reference measure for angle determination. As an
outcome the angle measuring devices must be tested or calibrated with a relevant
precision, so a special test rig for these purposes is needed. At present times
achievement the precision of measurements means not only precise mechanical
manufacturing and assembly of the parts but also it must be granted by high efficiency,
it is, incorporating the modern computer technologies allowing the automation of
measuring process. These all components of modern technologies can be
accomplished by using of mechatronic constituents. Here we present a brief review of
the angle testing/calibration equipment with the mechatronic devices incorporated in
it.
Nowadays the capabilities of angle measuring devices used in modern industry are of
highest accuracy – its discretion down to 0.1˝ is achieved in precise and widely available
devices. The geodetic instruments – theodolites and tacheometers are among the most
precise instruments for the flat angle determination. Special test bench was created at
Institute of Geodesy, Vilnius Gediminas Technical University, for testing and calibration
of these devices. It is mainly designed for testing the geodetic instruments but can easily
be used for examination of other precise angle measuring instruments and devices (rotary
encoders and tables, circular raster scales, etc.). As the precision of such devices can‘t be
reached only by means of one of the technology branches (as mechanics, optics,
electronics, etc.) it forces merging all of them. So here we present an analysis of the
mechatronic, electro optical devices used for the precise angle measurements.
The flat angle calibration test bench created provides the measurements of high
precision and feature by small values of uncertainty. The means of measurement used
(rotary encoder, photoelectric autocollimator and microscopes with CCD elements,
circular scale of high precision) permit to accomplish a wide range of applications for
angle measurements.
Such equipment can be used for the calibration of geodetic instruments and measuring
instruments in geodesy and machine engineering. It is possible to calibrate the angle
measuring instruments of the accuracy in the range of 3‖-10‖.
This work has been funded by Lithuanian State Science and Studies Foundation,
Project T-99/07.
158
Adaptive Committees of Neural Classifiers
Arunas Lipnickas1, a
1
Kaunas University of Technology, Mechatronics Centre for Studies and
Research, Studentų g. 48-111, LT-51367 Kaunas, Lithuania,
a
arunas.lipnickas@ktu.lt
Keywords: Adaptive committees, aggregation, neural networks, half&half

sampling
Abstract
It is obvious that combination of several classifiers might improve overall
classification performance. The approaches used most often include the majority
vote, the averaging, weighted averaging, the Bayesian approach, the Borda count,
probabilistic aggregation, and aggregation by a neural network. Often the researchers
are focusing on the sophisticated combination methods and forgetting that the
committee‘s performance is highly dependent on the members used. The committee
members should be designed in the way by being accurate as well as diverse.
Committee design by half&half data sampling focuses on the most often
misclassified data points from the training data set. We use the half&half
sampling approach to create neural network committees.
The proposed approach for adaptive classifiers selection is also compared
with the committee design approach based on diversity measure named -statistic
and approach with exhaustive search of members for the best performing
committee.
Three real world problems are used to evaluate the approach proposed. We
compare the developed technique with the ordinary decision fusion scheme when all
the networks available are utilised to make a committee decision.
After experimentations we may conclude that, in all the tests performed, the
half&half data sampling approach outperformed the committee member‘s
selection approach based on  statistic and it was only slightly worse that ES
approach. Obviously, the pairware selection criterion cannot guaranty the optimal
committee. Good committees should be divers as well as accurate. Exhaustive
search procedure can guaranty the best committee only after long searching
procedure.
In this work an approach to create adaptive committees of neural network for
classification from already trained pool of classifiers was proposed. The comparisons
were made for three aggregation approaches, named majority vote, averaging, and
aggregation by the median rule. In all the tests performed, the proposed way of
generating neural network committees was superior to the ordinary decision fusion
scheme when all the networks available are utilised to make a committee decision.
159
Poster Session: Mechatronic Systems
160
Application of Photogrammetric Method for Height
Measurement Instrumentation
V. Giniotis1, a, Jonas Skeivalas1, b, P. Petroškevičius1, c
1
Vilnius Gediminas Technical University, Saulėtekio al. 11, LT-10223
Vilnius, Lietuva
a b
vg@ai.vtu.lt, jonas.skeivalas@ap.vtu.lt,
c
petras.petroskevicius@ap.vgtu.lt
Keywords: level meter, coded scale, phtogrammetric, calibration
Abstract
The paper deals with new approach in the levelling instrumentation and means
and methods for an accuracy assessment and calibration of levelling meters. New
design of levelling instruments is proposed simplifying the construction of digital
levelling instruments. A photogrammetric method for accuracy calibration of
levelling meters is described using the CCD sensors and correlation analysis for
digital information processing.
References
[1] Ingensand, H.: The evolution of digital levelling techniques – limitations and
new solutions. Geodesy Surveying in the Future. The Importance of Heights.
Gavle, Sweden (1999) pp. 59-68
[2] NA 2002. NA 3003, Technical report, digital levels. Leica Geosystems AG,
Geodesy. CH9435 Heerbrugg 1997.
[3] J. Skeivalas, V. Giniotis. Accuracy and performance analysis of digital levels.
Optical Engineering, Vol. 44, No 2, 2005, pp. 027007-1-6. ISSN 0091 – 3286.
[4] V. Giniotis, P. Petrońkevičius, D. Bručas. Theoretical and practical aspects of
geodetic instruments calibration // Environmental engineering, The 6 th
International Conference. Selected papers, vol. II, Ed, by D. Čygas and K.D.
Froehner, May 26-27, 2005 Vilnius. Lithuania: Technika, pp. 863-866.
[5] Menzel, M.: The development of levels during the past 25 years, with special
emphasis on the NI002 optical geodetic level and the DiNi  11 digital level.
Geodesy and surveying in the future. The importance of heights. Gavle,
Sweden (1999) pp. 85-93.
[6] V. Giniotis, P. Petrońkevičius, J. Skeivalas. Niveliavimo matuoklių
kalibravimo įrenginys. LT patentas, Int. Cl. G01B 11/00, G01B 5/008, Nr.
5333, Vilniaus Gedimino technikos universitetas, OB 2006.04.25, p. 10.
161
Transition Test Patterns Generation for BIST
Implemented in ASIC and FPGA
Vidas Abraitis1, a, Ţydrūnas Tamoševičius1, b
1
Departments of Software Engineering, Kaunas University of Technology,
Studentu str. 50, Lithuania
a b
abravida@elen.ktu.lt, tamozydr@elen.ktu.lt
Keywords: Transition faults, transition test, BIST, ASIC, FPGA, linear feedback
shift registers (LFSR), cellular automata (CA).
Abstract
Many built in self testing (BIST) techniques have been developed. The vast
majority of them use a pseudo-random pattern generator (PRPG) to produce test
vectors that detect the easy-to-detect faults, which mostly represent more than
90% of the total faults. For the remaining faults, test vectors are either applied
externally, or they are generated by the BIST structure itself. In this paper
transition delay testing of sequential circuits in a clocked environment is
analyzed. There are presented two test pattern generator methods for BIST of the
circuit implemented as Application Specific Integrated Circuit (ASIC) and Field
Programmable Gate Array (FPGA) of Virtex family. Cellular automaton (CA)
and Linear Feedback Shift Register (LFSR) structures are used for test sequence
generation. The circuits are tested as the black boxes under Transition fault
model. Experimental results of the test pattern generation methods are presented
and analyzed. Results compared with exhaustive test of transition faults for
ASICs and programmable integrated circuits with given configuration.
We have performed experiments on the ITC‘99 benchmarks [1], to determine
fault coverage achieved by a pseudo-random test sequence generated by a two
pseudo-random pattern generators – LFSR and CA. The experiments were made
in this way: (1) the test vector pairs for transition faults were generated by our
made software. The software simulates the LFSR and CA and calculates test
vector pairs; (2) fault coverage of the generated test vector pairs for benchmark
circuits implemented in the FPGA we checked with industrial software ―Tetra
Max‖ [2].
Our future work will involve reseeding. We will try to implement the
reseeding to make fault coverage more attractive. Proposed method is not useful
for circuits with one input too.
References
[1] Information on http://www.cad.polito.it/tools/itc99.html
[2] Information on http://www.synopsys.com/products/solutions/galaxy/test
/test.html
162
Steering Wheel and Brake Pedal Feedback for Advanced
Driving Simulators
Petr Bouchner1, a, Martin Kozumplík1, a, Stanislav Novotný1, a,
Roman Piekník1, a, Tomáš Radoň1, a
1
Driving Simulation Research Group, Institute of Control Engineering and
Telematics, Faculty of Transportation Sciences, Czech Technical
University in Prague, Konviktská 20, 110 00 Prague, Czech Republic
a
{bouchner|kozumplik|novotny|pieknik|radon}@lss.fd.cvut.cz
Keywords: Driving simulators, HMI research, motion cueing, driving simulation

fidelity.
Abstract
The paper presents a summation of the requirements on the system of active
feedback on the steering wheel of the driving simulator in combination with
feedback on the brake pedal. Those results were derived from the experience with
hundreds of experiments we performed on our driving simulators. We present a
functional design of the electronically controlled servo system which is used for
our experimental simulators. The functions of the feedback described in the paper
are derived from the measurements of ―Car-Driver Interaction‖ in a real car on
real roads. The procedure and some interesting results of analyzed data from
those experiments are presented in the paper too. To be able to develop control
algorithms for these feedback simulator subsystems, their functions had to be
primarily simulated. The paper among others depicts the interconnection of the
feedback system with the physical model of the car simulator.
References
[1] Bouchner P., Novotný S., System with driving simulation device for HMI
measurements, 8th WSEAS International Conference on SYSTEMS (part of
the 8th CSCC Multiconference), Athens,2005
[2] Bouchner P., Novotný S., Piekník R., Measurements and analysis of data
measured from real car driving used for development of research driving
simulators, CTU Workshop, Prague, 2007
[3] Bouchner, P., Driver’s Micro-sleeps Detection Using Virtual Simulation, In:
SSGRR - 2004, NNW 14. Piacenta: ICS UNIDO, 2004, vol. 1, pg. 3-15.
[4] Bouchner, P., VR Simulation Device as a Support for Research in Driver's
Micro-sleeps and Attention Decrease Detection ,In: TRANSTEC 2004
.Athens, Greece, 2004, vol. 1, pg. 65-72.
163
Tribological Aspects of Electrosensitive (ES) Lubricant
Usage
Кorobko E. V.1, Zhurauski M. A.2, Bedzik N. A.1, а,
Novikova Z. A.1, Basinuk V. L.1, Sushko M. I.1
1
Heat and Mass Transfer Institute of National Academy of Science of
Belarus (Minsk, Belarus)
2
Kaunas University of Technology (Kaunas, Lithuania)
а
nbedik@mail.ru
Keywords: ES lubricants, electric field, tribotechnical characteristics, viscoplastic

properties, sliding friction.
Abstract
At interacting friction junctions in technological equipment, working nonstop at
stationary regimes of loading in the conditions of liquid sliding friction, the most
intensive wear of working surfaces of bearings and supports of sliding appears at
stopping and launching the gear drive. One of the ways to solve problem of
intensive wear is to use lubricant materials with governed, in particular, by the
electric field viscoplastic properties.
We developed compositions of electrorheological fluids (ERF) that could be
used as adaptive lubricants. Compounds of plastic electrosensitive lubricants
contained high dispersive silicon dioxide — aerosil as a filler and the dispersed
medium motor oils, such are Mobil-1, SAE 5W-50, Castrol JTX3 were used.
Electric field changes significantly viscoplastic properties of such fluids,
forms and heightens fluidity limit 0. After switching the electric field off the
medium completely returns to the initial stage. The measuring method of the 0 is
based on the formation of a sample deformation, linearly changing in time, and
the determining minimum torque, which enough to fix plastic deformation.
The use of ERF on the basis of mineral oil as the lubricant material for friction
junction with oxide-ceramics coatings on the contacting surfaces leads to the
reversible change of the sliding friction coefficient. At this the most rational
range of electric voltages applied to the contacting surfaces exists, the smaller
values of which do not provide the accelerated transition from the friction of
boundary lubrication to the liquid friction in initial moment of motion, and the
biggest values — practically do not influence on the friction coefficients and
thicknesses of the lubrication layer. Their values are determined by the properties
of ERF and the roughness of the contacting surfaces. For the sample discussed
this range is equal to 120 – 150 V.
The results obtained has shown, that the realization of the suggested way
allows to create the rubbing junctions of expensive and unique objects with
manageable tribological characteristics and to heightening their longevity.
164
Intelligent Mechatronics Systems for Climate Parameters
Optimization Using Fuzzy Logic Control
Ivars Beinarts1, a, Anatoly Levchenkov1, b,
Nadezhda Kunicina1, c
1
Riga Technical University, Kronvalda blvd. 1-202, Riga, LV-1010, Latvia
a b c
ivars.beinarts@latnet.lv, levas@latnet.lv, kunicina@latnet.lv
Keywords: intelligent agents, modelling, intelligent mechatronics systems,

electrical processes, climate control, fuzzy logic, energy saving.
Abstract
In article interest is concentrated on the climate parameters optimization in
passengers‘ salon of public electric transportation vehicles. The article presents
mathematical problem for using intelligent agents in mechatronics problems for
climate parameters optimal control. Idea is to use fuzzy logic and intelligent
algorithms to create coordination mechanism for climate parameters control to
save electrical energy, and it increases the level of comfort for passengers. A
special interest for investigations and further development is devoted to
intelligent heating, ventilation and air condition systems allowing more flexible
control of the system‘s compressor, fan and heater operation, and, therefore,
improvement of efficiency and energy saving.
This paper provides the mathematical model and algorithm for optimal control
of the heating system. The modeling and investigation are based on the typical
architecture of heating, ventilation and air condition system with a traditional
application of AC induction motors for driving both compressor and fan of the
conditioner. The well-known field-oriented method has been considered for the
modeling. Mechatronic process is characterized with several controlled energy
flows. Energy flows can be controlled by changing variable characters of low
voltage. Thus with the help of electronic devices the flow of energy influences
climate parameters in facilities. Several detectors control measurable variables.
The purpose is to define the optimal heating, ventilation and air condition system
working regime, taking in account priorities of consumers.
Deep and detailed investigation of the behaviour of such a system, its
operation and running processes requires its generalized mathematic modelling,
taking into account all possible regimes of the operation of heater, compressor
and fan motors and setting an algorithm of their control in all possible regimes
under any condition.
The control function is provided with the help of computer which dispatches
the control signals according to this algorithm to the power converter which in its
turn controls the motors and heater. The fuzzy logic controller developed here is a
two-input single-output controller, which makes output control decisions from
165
input users‘ fuzzy decisions on comfort level. Value adaptation provided using
improved Rastrigin‘s adaptation algorithm. Intelligent agent usage gives such
advantages for climate parameters control: autonomous fulfillment, interaction
with other agents and/or users, surrounding control, ability to adaptation for
achieving goals, ability to learning from environment, non sensitivity of mistakes
and/or wrong signals, real time work, coordination with other agents and ability
to make decision.
General mathematical description of one of the modern methods of electric
motor control is taken as base of the modelling of the system. The modern
systems provide a simultaneous control of the compressor motor and fan motor
and even the input factor as well that gives the possibility to improve the
efficiency of the system and follow the energy saving. The methods of the
problem solving and the structure of problem solving algorithm are given in the
article. Algorithm is tested in modeling way. The elaborated system model can be
used for sustaining microclimate in different facilities, buildings and public
electric transportation. There are main conclusions at the end of article.
166
A Classification of Flash Evoked Potentials Based on
Artificial Neural Network
Vidas Raudonis1, a, Gintautas Narvydas1, b,
Rimvydas Simutis1, c
1
Department of Process Control, Kaunas University of Technology,
Lithuania
a b
vidasraudonis@yahoo.com, gintautas.narvydas@ktu.lt,
c
rimvydas.simutis@ktu.lt
Keywords: Brain – Computer Interface (BCI), EEG, Flash Visual Evoked

Potentials (FVEP).
Abstract
During the ten last years there has been a growing interest in the development of
Brain Computer Interfaces. The BBCI (Berlin Brain Computer Interface) was
presented by the research team from Fraunhofer FIRST institute at the CeBIT 2006
exhibition in Hanover. With this BCI a disabled person can write words and control
the mouse pointer by means of his brain waves. The BBCI detects motor-related EEG
changes and uses this information to decide between two alternatives: preparation to
move the left hand leads to the first alternative, whereas the intention to move the
right hand leads to the second alternative. Grant McMillan et al. presented in year
2000 a BCI that translates steady – state visual evoked potentials (SSVEP) for
operating a psychical device. Two thresholds are used to achieve binary control.
If the classifier of a BCI is based-on SSVEP then some aspects must be
considered: a useful range for BCI is from 5 to 40 Hz, the blinking frequencies of the
stimulator must be such that the visual response must be not in the alpha range
activity and the components and the harmonics of the visual response must not
overlap. The mentioned conditions reduce the number of the useful frequencies for
the commands.
We are proposing idea, that the certain sequences of the light impulses (or narrows
squares) can be used to increase the number of commands, i.e., the certain light code can
be used. Some features can be detected in the brainwave of the visual stimulated person
which depends on the used light code. The observation of the certain components in the
power spectrum of the measured EEG will not give needed results, because the blink of the
stimulators is not periodic. Therefore the flash visual evoked potentials (FVEP) of visual
cortex which is induced by OFF-to-ON flash of light source must be analyzed and
different methods must be used to recognize the user commands. We are proposing
artificial neural network for mentioned task. The results, presented in this work, shows that
is possible to classify EEG signals, which were recorded when person was visually
stimulated with two different stimuli, i.e., periodic and non-periodic light flashing.
The paper is divided into three chapters. The first chapter describes electrical activity
in the human brain and differences between SSVEP and FVEP. Experiments are presented
in the second chapter, the results are presented in the third chapter and the conclusions are
in the fourth chapter.
167
State Controller Design in Programmable Logic
Controllers
Leonas Balaševičius1, a, Vytis Svajūnas Januševičius1, b,
Snieguolė Zakaraitė1, c
1
Department of Control Technology, Kaunas University of Technology,
Studentu st. 48, LT-51367, Kaunas, Lithuania
a b c
leonas.balasevicius@ktu.lt, vytis.janusevicius@ktu.lt, sniegiux@mail.ru
Keywords: State controllers, state-space models, programmable logic controllers.
Abstract
In this paper, a state controller is presented for the control of a chemical reaction
vessel model process. There are presented two state controllers design approaches
for product temperature in the reactor vessel model control. First of all in the
state-feedback version of the linear quadratic regulation (LQR) problem were
assumed that if not all x states can be measured they are still available for control.
Second state controller design refers to the selection of the state controller gain
matrix, using the pole placement method.
Designed state controllers were tested in Matlab environment. Simulation
results showed that both controllers allow decreasing the temperature settling
time distinctly comparing to an open loop system. In fact, the controllers obtained
through the described procedure are generally good.
Finally, the complete algorithm was tested in the programmable logic
controller (PLC), and the results of this test are explained. Only LQR controller
was tested in the PLC, because the LQR controller output fits into the output
range of the PLC analog output module.
From the system responses to the step input it can be concluded that after the
settling time, the occurrence of the steady state error depends on the reactor
vessel agitator state and the limit time of the controller output. The controller
output and the steady state error also are affected by the temperature
measurement accuracy, PLC program cycle and data interchanging speed which
causes a delay of the process and a manipulated variable.
In a study of the state controller design in a programmable logic controller the
following observations were made based on such results: a state controller in
Matlab performs better than the controller in the PLC; the simulation and
experimental results seem to justify the design concept of a state controller in the
PLC.
168
Modeling and Investigation of Vector Controlled
Induction Drive
R. Rinkevičienė1, a, V. Batkauskas2, b
1
Naugarduko str. 41, LT-03227, Vilnius, Lithuania
a b
roma.rinkeviciene@el.vgtu.lt, vygintas.batkauskas@el.vgtu.lt
Keywords: induction motor, AC drive, field-oriented method, modeling
Abstract
In industrial applications, vector drives are often required to operate from zero
speed (including zero speed start-up). Therefore we propose a model of the AC
motor drive based on the low-speed region where rotor flux components can be
synthesized more easily with the help of speed and current signals. The paper
discuses modeling and simulation of the AC induction motor drive controlled by
the vector or field-oriented method and comparison results with scalar control.
For this purpose set of differential equations of the induction motor for
development of the model is derived. The mathematical and Simulink model is
developed in a stationary reference frame.
The vector control system uses stator currents and motor shaft speed. The
speed control loop generates the torque component of current iqs*; the flux
component of current ids* with desired rotor flux r*maintained constant for
simplicity. If the rotor flux is constant in indirect vector control, which is usually
the case, then it is directly proportional to steady state current ids. Motor speed is
controlled by a torque-generated stator current component flowing in the rotor
while maintaining the flux-generated current component steady.
The torque-generated current component is corrected to track it set point in
the current controller using its own dedicated PI controller.
For comparison of simulation results, scalar control and vector control of
induction motor Simulink models has been elaborated. Simulation of scalar or
V/Hz control has been made with the same induction motor model without the
speed feedback. Also a part of the Simulink model devoted for vector control, is
replaced with the standard PWM (Pulse Width Modulation) function block
adjusted to three-phase PVM control.
Results of simulation indicate that speed response time of the motor with
vector control is two times shorter than the same motor speed transient with the
scalar control method. In the scalar control method maximum dynamic torque
value is 60% higher than nominal motor torque value, while in the vector control
method the motor accelerates with constant, approximately 20% higher torque
than a nominal motor torque value. That correspond transients of drive speed with
constant acceleration in the vector control method.
169
PID Controller with Enhanced Disturbance Rejection
V. Zlosnikas1, a, A. Baskys
1
Semiconductor Physics Institute, Microelectronics laboratory, A. Gostauto
11, LT-01108 Vilnius, Lithuania
a
mel@pfi.lt
Keywords: Control, PID controller, load disturbance rejection
Abstract
One of the main goals of the control system is the load disturbance rejection. The
situations when the set point step response is followed by the positive load
disturbances frequently appear in practice of control of the actual mechatronic
systems. It is desirable that the overshoot (Ms) and settling time (ts) of the set
point step response of the control system should be low and at the same time the
system should be characterized by the good positive load disturbance rejection.
However, in the general case the values of the parameters of the widely used PID
controller that provide the low Ms, ts of the set point step response and the good
positive load disturbance rejection are different. In this work the modification of
the PID controller with the switched parameters (sPID controller) is presented.
The idea of the control algorithm is based on the fact that during the set point step
response the error e(t) is predominantly positive and during the positive load
disturbance – negative. Because of this, the values of proportional (Kp), integral
(Ki) and derivative (Kd) constants are switched in proposed controller when e(t)
changes the sign. In comparison with the conventional PID method, the
employment of the developed control algorithm allows us to increase the degree
of freedom during tuning of the controller to a plant. This fact enables the
positive load disturbance rejection of the control system to be improved not
sacrificing the set point step response dynamics.
1,25 1,5
1,00
1,0
0,75
Ya(t)
Ya(t)
sPID: Kpp=2.8, Kip=0.68, Kdp=1.5

0,50 Kpn=4.0, Kin=2.8, Kdn=1.9 sPID: Kpp=1.04, Kip=0.24, Kdp=1.2
0,5 Kpn=1.7, Kin=0.48, Kdn=1.9
PID: Kp=2.8, Ki=0.68, Kd=1.5
0,25 PID: Kp=1.04, Ki=0.24, Kd=1.2
0,00
a b
0,0
0 5 10 15 20 25 0 10 20 30 40
t [sec] t [sec]
Fig. 1. Unit set point step response followed by the positive unit load disturbance
of the control system with plants G1(s) (a) and G2(s) (b) based on sPID (solid
line) and PID (dashed line) controllers
170
The unit set point step response followed by the positive unit load disturbance
of the closed loop control system with plants that are characterized by the transfer
functions G1(s)=e-0.5s/(s+1)2 and G2(s)=1/(s+1)5 based on sPID and PID
controllers was simulated using program Simulink. The results are presented in
Fig. 1. The sPID controller parameters given in Fig.1 with the index p act at
positive and with the index n – at negative values of e(t), the Ya(t) in Fig. 1 is
plant output.
It is seen (Fig. 1) that employment of the sPID controller allows us to improve
the positive load disturbance rejection of the analyzed control system as
compared with the case when the system is based on the conventional PID
controller.
It is necessary to stress that in case of the negative load disturbance the sPID
controller does not have advantage over the conventional PID.
171
The Operation of the Linear Induction Motor by Changing
the Position of the Inductors between Each Other
L. Radzevicius 1, a, E. Matkevicius 1, b
1
Naugarduko str. 41, Vilnius-03227, Lithuania
a b
Lionginas.radzevicius@el.vtu.lt, Edvardas.matkevicius@el.vtu.lt
Keywords: Linear induction motor, Linear induction motor NS position, Linear

induction motor N N position.
Abstract
The most important scientific theoretical research works of the linear induction
motor (LIM) are made having in mind double – sided symmetric model with the
uniform secondary element. Its operation is investigated by already well-known
methods used for the rotor asynchronous machines and as a rule with the opposite
value of the magnetic poles of the inductors (NS). Authors give the results of the
research only of LIM (the scientific aspect of the problem is not well studied yet,
it is little known about the ways of the speed and development regulation of the
LIM force, by changing the location of the magnetic poles of the inductors (the
inductors position between each other) from opposite (NS) to the same (NN)
magnetic poles value which is the change of the phase of the inductor current
from α = 0 till α = π. By theoretical methods were studied only the LIM features
and possibilities their natural speed and the way of the force regulation, which
could be used in the mechatronics systems.
References
[1] R. Rinkevičienė, A. J. Pońka, A. Smilgevičius: The linear mechatronics
systems. Theory and usage. Vilnius: Technika (2006), p. 324.
[2] E. Laithwait: Induction machines for special purposes, London, George
Newness, Ltd. (1986), p. 337.
[3] S. Yamamura: Theory of linear induction motors (in Russian), Ленинград,
Энергоатомиздат (1983), p.180.
[4] L. Radzevičius. Linear induction motor with a flaky secondary element.
Summary of doctoral dissertation, Kharkov, Polytechnic institute (1981), p. 32
[5] L. Radzevičius, E. Matkevičius: The generalized model of the linear induction
motor // Electronics and Electrical Engineering, Kaunas, Technologija (2006),
No.7 (71), p. 5–8
172
Development of Electropneumatic Servo System with
Reference Model Based Signal Adaptive Force Controller
Arunas Grigaitis1, Vilius Antanas Gelezevicius1, a
1
Dept. of Control Technology, Kaunas University of Technology, Studentu
str. 48, LT-51367 Kaunas, Lithuania;
a
vilius.gelezevicius@ktu.lt
Keywords: electropneumatic, nonlinearities, investigation, chamber, reference

model, controller.
Abstract
Due to pneumo-mechanical power conversion process nonlinearities and process
parameters (volumes and initial pressures of pneumatical cylinder working
chambers) on line change it is problematic to ensure satisfactory control quality
of pneumatic proportional servo drive. Considering that all nonlinearities are
concentrated in the force generation stage, application of adaptive force control
mode is suggested. Electropneumatic servo drive with reference model based
signal adaptive force controller is developed and investigated in this paper. It is
presented the strategies of reference model choose and are given control quality
investigation results of electropneumatic servo system.
References
[1] Geleņevičius V.A, Grigaitis A. Investigation of dynamic behaviour of
nonlinear electropneumatic acting system // Electronics and Electrical
Engineering. – Kaunas: Technologija, 2006. – No 4.-P.35-40p.
[2] Borcov J.A., Poliachov N.A., Putov V.V. Elektromechaničeskie sistemy s
adaptivnym i modalnym upravleniem .Leningrad, Elerktroatomizdat, 1984.
215 s.
[3] Geleņevičius V. Elektros pavarų valdymo sistemos/ K. Krińčiūnas, V.
Kubilius, Vilnius, Mokslas, 1990. 360p.
[4] Informatikon on www.catalog.festo.com/enu.
[5] Geleņevičius V.A, Grigaitis A. Research of adaptive force control loop of
electropneumatic acting system // Electronics and Electrical Engineering. –
Kaunas: Technologija, 2007. – No 6.
173
Research on Electric and Magnetic Asymmetry of linear
and Arc Motors
B. Karaliunas1, a
1
Naugarduko str. 41, Vilnius LT-03227, Lithuania
a
bronius.karaliunas@el.vtu.lt
Keywords: linear and arc motor, electric and magnetic asymmetry, experimental
research, magnetic field, modeling, edges effects, compensation.
Abstract
The article deals with the issues concerning the experimental investigation on
linear and arc motors as well as their usage in mechatronic system. The research
proved that due to an open magnetic circuit in such type of motors there is formed
inner electric and magnetic asymmetry, exhibiting itself by causing different
currents in the phases of an inductor and providing unequal concentration of
magnetic field in conformity with the longitudinal and transversal axes of the
motor. The qualitative expression of such a type of asymmetry is regarded as
longitudinal and transverse edge effects phenomenon limiting the application
possibilities of such kind of motors.
Experimentally there have been carried out the research on three dipolar linear
and arc motors with non – ferrous secondary elements of different width.The
results of the experimental research were provided, when motors were alternating
– current supply from symmetric voltage sources of 50 Hz and 400 Hz frequency.
For magnetic field simulation of a linear and arc motor there has been used
software package Maxwell SV 9.0 worked out by ,,Ansoft― company. There has
also been investigated the distribution of magnetic flux lines in the motor under
the condition of different substances used for the secondary element and by
changing the frequency of the current of the inductor and the size of air gap.
The results of the experimental research and modeling prove the structure of
the magnetic field of motors to be a rather complicated one, for the analysis of
which there are required new and sufficiently accurate mathematical models.
References
[1] P. K. Budig: The Application of Linear Motors (Proc. of 9-th Int. Conf. on
Power Electronics and Motion Control, Kosice, Slovak Republik 2000), p.
1336 - 1341
[2] B. Karaliunas, E. Matkevicius: Calculation of the Parameters of Linear
Electric Drive (Trans Tech Publications, Mechatronic Systems and Materials,
MSM 2005, Vol. 113, Switzerland 2006), p. 34 – 38
174
Optimum Rapidity Ensuring and Power Resource Saving
Two-Coordinate Positioning System
Giedrius Blaţiūnas1, a, Vilius Geleţevičius1, b
1
Kaunas University of Technology, Studentų 48, Kaunas, 51367,
Lithuania
a b
Giedrius.Blaziunas@ktu.lt, Vilius.Gelezevicius@ktu.lt
Keywords: Two-coordinate positioning, optimum rapidity, power resources,

harmonized control.
Abstract
The article represents two-coordinate positioning system, which ensures optimum
rapidity of positioning process in two-dimensional space and minimizes
equipment wear and power loss.
The main requirements for industrial devises raised by end-users are: the
maximum productivity and less expenditure during maintenance. While seeking
the maximal productivity, it‘s essential to minimize cycles of operations. For
accomplishing this objective it is required to guarantee optimal rapidity of overall
system.
The optimal rapidity of device is conditioned by maximal permissible
positioning velocity, acceleration and deceleration. These parameters have to be
limited according technical facility of device. Maximal torques and forces to
mechanical system causes rapid wear of equipment. In this case problem of
decreased durability appears.
First section of article describes hardware which is needed for two-coordinate
positioning system. Therefore functional diagram of positioning system is shown
and discussed in details.
Second section proposes control algorithm of positioning system. The strategy
of two-coordinate positioning is built-up on the thesis that optimum rapidity of a
two-coordinate positioning process achievement needs optimum rapidity
assurance only of the drive performing more time expenditure requiring (bigger)
displacement. The other (smaller) displacement performing drive should be
controlled in such way, that target position of that drive could be fulfilled just in
the same time as the time spent for the bigger displacement performance. One
possibility of this strategy realization is based on coordination of two-coordinate
system drives in such way that the bigger displacement performing drive would
act independently ensuring optimum rapidity of its own displacement
performance. This drive becomes as the master drive for the smaller displacement
performing drive, which works as the slave drive ensuring linearity of positioning
trajectory between preset start and final position points into two-coordinate space.
Because there are three different possible combinations of settled displacements
(displacement for one drive is large, smaller or approximately equal to the settled
175
displacement for the other one), the control software should allow flexible
changing of system drives (master/slave) statuses and reconfiguration of control
algorithm.
Third section represents equipment which was used as basement for
experimental researches. Experimental investigations of the two-coordinate
positioning system has been carried out using stand built up using two industrial
servo drives and industrial programmable controller. Given experimental results
demonstrate that the bigger displacement performing drive ensures desired
rapidity of positioning process; linearity of trajectories is well maintained in
performances of the all positioning cycles with continuously changing target
points preset displacement values. Velocity diagrams validate the fact that the
steady state velocity of larger displacement performing drive always remains
almost the same despite of changing displacement value, and velocity of the
smaller displacement performing drive automatically changes in proportion to
smaller and large displacements ratio. This means that in all cases rapidity of two-
coordinate positioning process is predefined by rapidity of bigger displacement
performing drive.
176
Examination of Selective Transfer Phenomenon
Andrzej Kotnarowski1, a
1
Department of Mechanical Engineering, Radom Technical University al.
Chrobrego 45, 26-600 Radom, Poland
a
a.kotnarowski@neostrada.pl
Keywords: no wear effect, selective transfer, tribological properties
Abstract
Among many methods of friction and wear decreasing in kinematic pairs of machines
there is the one that can not reach wide implementation in industrial practice. This method
is so called ―no wear effect‖ which take advantage of selective transfer phenomenon.
No wear effect is a state of tribological systems to which through centuries have
streamed their designers as well as inventors of lubricants. No wear friction is commonly
found in living nature. It exists in joints of living organisms from arthropods to mammals.
Looking, for example, into working human hip-joint we can see that spherical head of
femur (thigh bone), covered with layer of soft cartilage, cooperates with cotylid cavity
covered with similar layer and during this cooperation both elements are continuously
lubricated with synovial liquid – synovia. Therefore, in such couple soft surface of one
element cooperates with soft surface of another element and thanks to this real contact
surface correspond closely to nominal contact surface what contributes to unit load
minimization. In technology, no wear friction occurs in tribological pairs as the result of
selective transfer phenomenon, called also (from one of its inventors name) Garkunov
effect. Generation of specific metal protective layer in the contact zone is the most
characteristic condition of Garkunov effect. This layer is the place where elastic-plastic
deformations generated during friction proceed under the principle of a diffusion-vacancy
mechanism, don not affecting deeper zones of cooperating elements surface layers. The
diffusion-vacancy mechanism of tribologically generated deformations occurs during shear
process located in this layer in a result of high concentration of vacancies and low density
of dislocations. The process of lubrication with the help of self-formed non-oxidizing
metal layer saturated with molecules of surface active substances is characteristic only for
selective transfer phenomenon. Lubricating metal layer is able to dissipate energy and
matter in the way of mutual absorption of two opposite diffusion beams. The beam of
dislocations and atoms streams in the direction of surface of the layer while the beam of
vacancies streams from the surface deep into the layer. Exact and deep identification of
different practical aspects of selective transfer phenomenon is a way of its prospective
industrial application to protect against friction results such as wear or energy waste. The
present paper contains results of selective transfer phenomenon investigations in friction
pairs consisted of steel and some kinds of copper used for production of electric traction
wires lubricated with glycerine. The results show that, despite of viscous friction
conditions lack, the friction process run at low coefficient of friction values, characteristic
for hydrodynamic friction. Besides, the obtained results of friction examination enable for
the statement that differences in trace amounts of copper additives influence intensity of
selective transfer phenomenon generated in steel – copper friction couple.
177
Underactuated Manipulator with Control Based on
Variable Dynamic Properties of Joints
Kastytis Sarkauskas1, a, Rymantas Tadas Tolocka2, b
1
Kaunas University of Technology, Department of Control Engineering,
Studentų 48-107, LT-51367 Kaunas, Lithuania
2
Kaunas University of Technology, Department of Engineering Mechanics,
Mickeviciaus 37 - 118, LT 44244 Kaunas, Lithuania.
a b
Kastytis.Sarkauskas@ktu.lt, Tadas.Tolocka@ktu.lt
Keywords: underactuated manipulators, electrorheological fluid, dynamic

coupling
Abstract
Manipulators in which the number of actuators is less than its number of degrees
of freedom are called underactuated. They consist of passive and active links and
the whole system is controlled by controlling the motion of only active ones. The
passive links are equipped with brakes, joining them with active ones. The design
of underactuated manipulators differs in terms of braking links and their control.
All known designs have on/off friction brakes, which cannott influence the free
motion of the passive links.
The active materials were proposed to switch the joints. The design of a
underactuated manipulator is presented in which passive link joints are featuring
controllable dynamic properties what allow us to extend the passive link motion
control possibilities for end-effector positioning and trajectory tracking on the
base of active material application. The schematics of joints with variable and
controllable friction and damping correspondingly are proposed.
Reference PID First chain Controllable Underactuated

inputs regulator with drive joint second chain
Feedback,
Filter and Feedback, first PID
second chain
Converter chain angle regulator
angle
Fig. Control schematic of underactuated manipulator
Control of underactuated manipulators is complicated and challenge is in

organizing it for the kinematic chain consisting of both passive and active links.
This is achieved by utilizing the effect of dynamic coupling in the system. All
possible control strategies of the manipulator in underactuated state utilize
178
dynamic coupling between passive and active joints exploiting various control
schemes devised to drive the passive joints using the available torques at the
active ones.
The dynamics of the underactuated manipulator consisting of two links joined
by revolute joints with one active and one passive links is described. The
controllable due to electrorheological fluid application damping in passive link
joint is taken into account.
The manipulator control method, which schematic is shown in the Figure is
proposed and verified by experiments. Simulation has been provided with
software CENTAURUS, usable for modeling hybrid non-linear systems.
179
Analysis of Holographic Interferogram of
Microelectromechanical System with Non Harmonic
Cycles Excitation
Raimondas Vasiliauskas1, a, Arvydas Palevicius2, b
1
M.Riomerio University, V. Putvinskio 70, LT-44211 Kaunas, Lithuania
2
International Studies Center, Kaunas University of Technology,
A.Mickeviciaus 37-204, LT-44244, Kaunas, Lithuania
a b
smk@kpf.mruni.lt, arvydas.palevicius@ktu.lt
Keywords: microelectromechanical system, holographic interferometry,

mechanical vibration.
Abstract
Recent technological trends based on miniaturization of mechanical,
electromechanical, and photonic devices to the microscopic scale have led to the
development of microelectromechanical systems (MEMS). Effective
development of MEMS components requires the synergism of advanced design,
analysis, and fabrication methodologies, and also of quantitative metrology
techniques for characterizing their performance, reliability, and integrity during
design stage. In this paper, we describe analysis of holographic interferogram of
MEMS links which includes interferometric fringes related to deformation
appearing because of the non harmonic excitation in MEMS links.
Reference
[1] Brown, G.C., and Pryputniewicz, R.J.,Holographic microscope for measuring
displacements of vibrating microbeams using time-average electro-optic
holography, Opt. Eng., 37:1398-1405, 1998.
[2] Pryputniewicz, R.J., Furlong, C., Brown, G.C., and Pryputniewicz, E. J.,
Optical methodology for static and dynamic measurements of
nanodisplacements, Proc. Internat. Congress on Experimental and Applied
Mechanics in Emerging Technologies, Portland, OR, 2001, pp. 826-831.
[3] Pryputniewicz, R.J., Stetson K. A.,Measurement of vibration patterns using
electro-optic holography, Proc. SPIE, v.1162, 1989.
[4] Ostasevicius, V., Palevicius, A., Daugela, A, Ragulskis, M., Palevicius, R.,
Holographic imaging technique for characterization of MEMS switch
dynamics, Proc. SPIE Vol. 5389 , Smart Structures and Materials 2004: Smart
Electronics, MEMS, BioMEMS, and Nanotechnology; Vijay K. Varadan; Ed.,
2004, pp. 73-84.
180
Effect of Nanofillers on Wear Resistance of Polymer
Coatings
Danuta Kotnarowska1, a
1
Radom University of Technology Institute of Vehicles and Machines
Maintenance, Radom, Poland
a
d.kotnarowska@pr.radom.pl
Keywords: nanofillers, polymer nanocoatings, copper nanoparticles, erosion
Abstract
Polymer nanocoatings are, in general, coatings with conventional composition
modified with nanofillers that have at least one characteristic size between 1 and
100 nm. Effect of nanofillers on coating physico-chemical properties depends on:
kind of filler, its concentration and dispersion level in the coating as well as
interaction between filler particle surface and polymer matrix. It should be
stressed that nanofillers have much higher specific surface area – even 1000 times,
in comparison with conventional fillers. This provides lots of interfaces between
filler particles and binder what, in turn, gives better adhesive bonding with
polymer matrix. Thickness of polymer nanocoatings is from the range of 3÷30
μm, whereas of conventional coatings – 180÷250 μm. Application of
nanocoatings has an advantage of economical consumption of coating materials
as well as volatile organic compounds emission limitation.
0,93
1
Resistance to erosive wear.
0,71
0,8
S, [kg/m]
0,6
0,4
0,2
0
1 Coating type 2
Fig. 1: Resistance to erosive wear of acrylic coatings modified with copper

nanoparticles (1 – acrylic coating, 2 – acrylic coating containing 3.5% copper
nanoparticles by weight)
181
Coating modification with nanofillers increases: elastic modulus, barrier
properties, resistance to organic solvents, transparency, color purity, thermal
stability and fire resistance as well as decreases linear expansion coefficient.
Coatings modified with nanofillers show better resistance to the action of
mechanical factors (erosive particles), heat, humidity and weathering. Among
metal nanofillers added to polymer coatings, the most popular are silver, copper
and palladium.
The experimental part of this paper presents estimation of the effect of copper
nanoparticles (of mean diameter 66 nm) on acrylic coating erosive resistance.
Acrylic coating modification with this filler (3,5% wt.) caused an increase of its
erosive resistance by over 31% (Fig. 1). Coating hardness increased and its
roughness decreased as result of this modification.
182
Modeling of Trainer‟s Electric Drive Control
Liudas Brazdeikis1, a, Diana Rėklaitienė2, b
1
Institute of Agricultural Engineering Lithuanian Agricultural
University,Instituto 20, LT-54132 Raudondvaris, Lithuania
2
JSC “Baltec CNC Technologies”, Raudondvario str. 148, LT-47175
Kaunas, Lithuania
a b
autlab@mei.lt, diana@baltecsport.com
Keywords: trainig machine, electric drive, modeling, control
Abstract
The marches in mechatronic science and engeneering enable us to create and produce
high quality progammable sport and rehabilitation equipment. Weights are usually
used to create a resistance in ordinary mechanical training equipment, but in this case
the resistance of concentric and eccentric movements is the same and fixed during the
whole movement or person have to change the resistance mechanically. But there is a
possibility to create easily programmable equipments with variable resistance, which
could be generated by controlled electrical drive.
It is modeled electromechanical system witch comprise programmable regulator,
current amplifier, direct current motor, mechanical gear, torque meter. The regulator
is simulated as PID regulator with a forced link dependent upon the changes of the
input torque. The current amplifier and torque meter are simulated by means of first
order link with delay. When the motor is simulated the static and dynamic
components of the motor torque are distinguished and the total motor torque is
directly proportional to the motor current. The transmission of gear speed is simulated
at the constant factor. The model of torque transmission depends on the gear‘s type. If
it is a non-worm type (cycloid, planetary) gear, the torque transmission is simulated
with a constant factor taking into account the factor of useful performance (0.8 – 0.9)
and considering that this factor is speed-independent. Torque transmition factor is
speed dependent in a model for a worm type gear.
There we introduce block scheme of the drive‘s model, working in isokinetic and
isotonic mode in the training equipment, and the main mathematical dependences.
Executing drives work simulation according to this model we have chosen optimal
rates of programmable regulator. Here we present the samples of characteristics which
were got by simulating.
The drives and control units of trainers that are constructed on the basis of
developed models are employed and work stably in the scope of parameters of used
devices (motor, current amplifier, torque meter). By choosing the main parameters of
the programmable regulator (gain, constants of integration and differentiation) it is
possible to achieve an appropriate quality of control. Dynamics of the drive is greatly
influenced by the motor inertia. The duration of rated transitional process in the direct
current drive of approximately 1 kW power in various modes is (50 – 200) ms.
183
Development of Smart Membrane Valve Based on
Geometric Moiré Interferometry
R.P. Bansevicius1, a, M. Ragulskis2, b, R. Mitruleviciute3, c
1
Kaunas University of Technology, Faculty of Mechanical Engineering and
Mechatronics, Department of Mechatronics, Kestucio st. 27, LT - 44312
Kaunas, Lithuania
2
Kaunas University of Technology, Faculty of Fundamental Sciences,
Department of Fundamental Sciences, Studentu st. 50, LT - 51368
Kaunas, Lithuania
3
Kaunas University of Technology, Faculty of Mechanical Engineering
and Mechatronics, Department of Mechatronics, Kestucio st. 27, LT -
44312 Kaunas, Lithuania
a b
Ramutis.Bansevicius@ktu.lt, minvydas.ragulskis@ktu.lt,
c
ruta.mitruleviciute@stud.ktu.lt
Keywords: Moiré interferometry, flow control, piezoelectric ceramics.
Abstract
Novel smart membrane valve which functionality is based on optical interference
effects caused by moiré interferometry is proposed in this paper. The membrane
is comprised from two steel gratings. Geometrical adjustment between adjacent
holes in both membranes results in zero flow rate through the valve when no
control signal is activated. Rotation of the control membrane generates moiré
interference effects which are exploited for flow control. Relationships between
the shape and geometric locations of the moiré circles and the control parameters
of the second membrane are determined what helps to implement optimal valve
control strategies.
References
[1] J.E. Lindler, E.H. Anderson: Piezoelectric Direct Drive Servovalve, Industrial
and Commercial Applications of Smart Structures Technologies, SPIE Paper
4698-53, San Diego, March 2002.
[2] H. Zhao, K. Stanley, Q.M. Jonathan Wu and E. Czyzewska: Structure and
Characterization of a Planar Normally Closed Bulk-Micromachined
Piezoelectric Valve for Fuel Cell Applications, Sensors and Actuators A:
Physical, Vol. 120, Issue 1, 29 April 2005, pp. 134-141.
[3] H.Q. Li, D.C. Roberts, J.L. Steyn, K.T. Turner, O. Yaglioglu, N.W. Hagood,
S.M. Spearing and M.A. Schmidt: Fabrication of a High Frequency
Piezoelectric Microvalve, Sensors and Actuators A: Physical, Vol. 111, Issue
1, 1 March 2004, pp. 51-56.
184
Dynamic of a Rewinder with Feedback by Tension Force
Vaclovas Kubilius1, Česlovas Ramonas1, a, Arunas Lipnickas2
1
Kaunas University of Technology, Department of Control Technology,
Studentų g. 48, LT-51367 Kaunas, Lithuania.
2
Research, Studentų g. 48-109, LT-51367 Kaunas, Lithuania.
a
ceslovas.ramonas@ktu.lt,
Keywords: tight band coiling, mathematical modelling, dynamics of system
Abstract
In most devices, technological process is performed by winding different types of
materials. The most typical machines of this group are coiling machines in textile
production, in the paper processing, wire making industry and etc. Technological
process in these devices usually requires constant tension of the winded material
(textile, paper, wires, threads and so on) at various velocities.
The universal stand of the winding band was design in department of control
technologies at Kaunas University of Technology (Lithuania) for the educational
and scientific purposes. The stand (Fig. 1 and Fig. 2) is designed in the way to
have coiling speed control by direct tension force measurement of tide band. With
this stand there are several possibilities to demonstrate and investigate various
coiling process conditions for educational and scientific purposes.
Fig. 1. Picture of the lab stand
In this paper the mathematical model has been developed to simulate the real
stand for tide band coiling by using MATLAB, SIMULINK packages.
Mathematical modelling allowed to investigate the dynamics of coiling system
and to find the relationship between the tightness of the band, and the coiling
speed [1, 2].
185
Fig. 2. Functional diagram of the lab stand.
The results of the mathematical modeling have shown good coincidence with
the real experimental results. Therefore the mathematical model might be used for
determining optimal PID control parameters of real tide band coiling system.
References
[1] V. Kepalas, et. al. ―Research of tight band coiling process dynamics‖,
Mechatronic Systems and Materials, Solid State Phenomena, Trans tech
publications LTD. 2006, pp.:271-276.
[2] Č. Ramonas, V. Kepalas, and S Marcinkevičius. ―Dynamic model of the tight
band coiling process‖. Automation and Control Technologies - 2005:
proceedings of the international conference (in Lithuanian). Kaunas,
Technologija, (2005), p. 37-41.
186
An Analysis of the Adhesive Layer Model Between Two
Sheets of Paper
Georgij Petriaszwili1, Jurij Pyrjew1
1
Institute of Printing, Warsaw Technical University, Poland
Keywords: tension, adhesive layer
Abstract
Formulating the mathematical model and the calculating algorithm of the tensions
within the adhesive layer emerging in the spine of books seems important
research direction. Paper suggests an improved mathematical model for
calculating the tensions in the adhesive layer of the book spines during the
operational use.
During the use of the book, adhesive layer is strained, which results in the
form of internal stresses of the layer. In order to formulate the physical the
following assumption were made: paper is a non-flexible material, adhesive is a
homogeneous, isotopic, elastic material with the following properties: E –
Young‘s modulus,  - Poisson ratio. This model is accurate for little distortions
only. The structure of the adhesive binding of paper sheets in the adhesive layer is
presented on Figure 1.
d
2h
l
a
Figure 1. The structure of the adhesive binding of the paper sheets
d – thickness of the paper sheet, l – thickness of the adhesive layer, a – distance
between paper sheets, h – thickness of the adhesive layer in the binding area of
the paper sheet
It was specified the differential equation of adhesive layer on elastic base as a

deflection of elongated, rectangular plate w(x) (i.e. arching).
After investigations, the formula to calculate the deflection of adhesive layer
appears as
187
0  a a 
w( x)    W3 ( )W1 ( x)  W1 ( )W3 ( x)  ,
Z (a)  2 2 
for the opening angle  defined as follow
dw( x)   a a 
 ( x)     0  4 4W3 ( )W4 ( x)  W1 ( )W2 ( x)  .
dx Z (a)  2 2 
The formula for bending moment takes the form
d 2 w( x)   a a 
M x ( x)   D   D 0  4 4W3 ( )W3 ( x)  W1 ( )W1 ( x) 
dx 2 Z (a)  2 2 
Similarly, the formula for transverse force can be written as
d 3 w( x) 4 4 0  a a 
Q( x)  D D W3 ( )W2 ( x)  W1 ( )W4 ( x)  .
dx 3
Z (a)  2 2 
Finally, the tensions in adhesive layer are calculated according to
z
 x ( x) 
z
M x ( x) ,  y ( x)  M y ( x) .
2h 3 3 2h3 3
This paper proposed an improved calculating model and suggests a solution to

the system of equations. Consequently, it becomes feasible to evaluate the
strength of the spine adhesive layer in the stage of developing the book structure.
References
[1] Корнилов И.К. Проектирование книжных конструкций. –М: МГУП, 2001,
-212 с.
188
Analytic Description of Impulse Response Signals
Adam Kotowski1, a
1
Białystok Technical University, Department of Mechanical Engineering
ul. Wiejska 45C, 15-351 Białystok, Poland
a
adamk@pb.edu.pl
Keywords: Signal analysis, analytic description, impulse response.
Abstract
The paper describes a method of an analytic description of impulse response (IR)
signals obtained during the test of technical object. A method of IR signal
analysis is based on the analytic description of fragment of IR signal by auto-
correlation and power spectral density (PSD) functions, which are considered in
engineering applications. An evaluation of the parameters of the functions has
been done with use of curve fitting what is an obligatory part of the suggested
method. Therefore, the parameters of auto-correlation function are evaluated, and
next, by use of continuous Fourier transform the analytic form and the parameters
of PSD are obtained.
Technical object excited in a thoroughly described point by a single impulse
emits IR signal (sound or vibration) which can be measured by appropriate
equipment. By selecting an adequate fragment of the IR signal, the signal
description can be expressed in a simpler form in contrast with
no fragmentation of IR signal. In this paper, the analytic description is based on
the analytic description of auto-correlation and power spectral density function by
use of curve fitting for calculating the parameters of the mentioned functions. By
the reason of above one, the number of harmonics should be limited the most as it
is possible to obtain. The spectrum of Fourier transform is used for assuring the
number of dominant harmonics of auto-correlation. Therefore, a position of
considered fragment of IR signal is the problem to be solved.
The appropriate fragment of the IR signal y(t) is considered to determine a
form of experimental auto-correlation function. An analytic form and parameters
expressed in numbers are fitted up to the experimentally determined auto-
correlation function. The choice of position and fragment length of y(t) is
bounded to a possibility of auto-correlation function description of the separated
fragment by means of simple mathematical functions. The transition from the IR
signal to the parameters of the auto-correlation function Ryy() and power spectral
density Syy() requires an appropriate software with possibilities of curve fitting.
To get the right analytic description of the Ryy() functions they undergo the
frequency analysis (i.e. the Fourier transformation) and then analytic forms (the
number of harmonics) of the fitting functions are chosen.
189
The method suggested in this paper can be useful tool for determination and
evaluation of the damage-sensitive parameters in the process of detection and
identification of technical object damage. By selecting an adequate fragment of
the impulse response signal, the IR signal description based on the fixed number
of dominant harmonics of auto-correlation function can be expressed
in the analytic form of the auto-correlation and power spectral density function
with values of parameters calculated by curve fitting. This approach allows to
describe changes of IR signals in the form of percentage variations in the
parameters of the auto-correlation and power spectral density function (e.g.
changes from the object damage). All the time of object testing, the beginning
and ending of the fragment of IR signal selected for further analysis, should be
held in the constant position to avoid unwilling changes of the considered
parameters.
190
Control of Mobile Crane by Means of Fuzzy Logic
Controller
Tomasz Pędrak1, a, Jacek Kłosiński2, b
1
University of Bielsko – Biała, 2 Willowa St., Poland
2
University of Bielsko – Biała, 2 Willowa St., Poland
a b
tpedrak@ath.bielsko.pl, jklosinski@ath.bielsko.pl
Keywords: mathematical model, control systems, slewing motion, numerical

simulations, fuzzy control, fuzzy logic.
Abstract
Modern computer technology and knowledge on building of mathematical
models enable creation of models of control systems. These systems can be
created for different objects without any need to build real scientific test stands in
the initial stage of investigations. It, in turn, enables an essential limitation of the
costs as well as performance of fast analysis of usability of the defined methods.
This approach constitutes a big improvement in a whole process of designing of
such a system.
References
[1] J. Kłosiński: Swing-free stop control of the slewing motion of a mobile crane.
Control Engineering Practice 2005 V.13 Iss.4, 451-460.
[2] Praca zbiorowa pod redakcją M. Trombskiego: Algorytmy sterowania cyklem
pracy żurawia teleskopowego. Wyd. ATH (Bielsko – Biała 2003).
[3] J. Kłosiński, T. Pędrak, S. Duda: Analiza dokładności pozycjonowania
ładunku w układzie sterowania rozmytego obrotem nadwozia żurawia
samochodowego. Materiały Konferencji PRMR (Zakopane 2007).
[4] T. Pędrak: Sterowanie rozmyte żurawiem obrotowym zapewniające
minimalizację wahań ładunku zawieszonego na jego końcu. Praca dyplomowa
(Bielsko – Biała 2006).
[5] Praca zbiorowa pod redakcją M. Trombskiego i J. Kłosińskiego: Metodyka
projektowania mechatronicznego sterowania ruchami wykonawczymi
przejezdnych maszyn roboczych. Wyd. ATH (Bielsko – Biała 2007).
191
Control of Slewing Motion of a Crane Model Taking into
Account Non-Linearities in Drive System
Janusz Jarosław1, a, Kłosiński Jacek1, b, Majewski Ludwik1, c
1
University of Bielsko- Biala, Poland
a b
jjanusz@ath.bielsko.pl, jklosinski@ath.bielsko.pl,
c
lmajewski@ath.bielsko.pl
Keywords: crane model, fuzzy control, payload oscillations
Abstract
In the paper, the problem of control of a slewing motion of a crane (Fig. 1) –
taking into account some non-linearities in the drive system has been considered.
The goal of a control strategy is displacement of a payload from the start point to
the arbitrary chosen point in such a way that the swinging of the payload after
termination of a motion are minimized [1]. The control procedure is performed by
means of the FLC controller which allows for slew of a chassis around a
particular angle – simultaneously minimizing the tangent component of payload
oscillations. For a purpose of numerical simulation, the mathematical model of
the crane was built.
Fig.1. Model of crane
The computer program allowing for numerical simulations was written. Then,
the simulations were performed which allow for determination of a quality of
positioning of a payload. The evaluation was done via comparison of the
trajectories and the time histories of the tangent component of the payload
oscillations for the linear and non-linear drive system.
192
The exemplary charts of the trajectories of the payload oscillations and
tangent components are presented in Fig. 2 and 3, respectively.
Based on the presented results of the simulation investigations – it can be
stated that the introduced non-linearity in the crane drive system has unfavorable
influence on the system of the fuzzy control of the crane slewing motion.
trajectories time histories
tangent components
payload radial components
head jib
Fig. 2. Trajectories – non-linear Fig. 3. Time courses – non-linear

characteristics of the drive system characteristics of the drive system
It seems that the improvement in a quality of fuzzy control of crane slewing

motion aiming for minimization of the payload oscillations – depends also on
proper choice of parameters of a fuzzy controller. The expert knowledge [2] is
needed for proper choice of characteristics of the fuzzy controller.
References
[1] J. Kłosiński: Control of slewing motion of a mobile crane ensuring swing-free
stop of a suspended payload: The Eleventh World Congress in Mechanism
and Machine Science: Proceedings, Tianjin, - Vol. 2, 2004
[2] M. Trombski, J. Kłosiński: The selected problems of automation of the
controlling of the motions of the mobile cranes (in Polish). Problemy Maszyn
Roboczych z. 26, 2005
193
Controlling of Work Motions of a Mobile Crane under a
Threat of Loss of Stability
Kłosiński Jacek1, a, Janusz Jarosław1, b
1
University of Bielsko- Biala, Poland
a b
jklosinski@ath.bielsko.pl, jjanusz@ath.bielsko.pl
Keywords: mobile crane, control system, stability
Abstract
In the paper, the mathematical model of the control system is presented. The
system controls the slewing motion of the chassis as well as it is equipped in the
model of the emergence subsystem which changes the jib reach. The last one
starts its activity in the moment when the threat of loss of stability occurs. Some
results of numerical investigations are presented in the paper. The results are
connected with different strategies of control of the slewing motion as well as
different types of controllers applied in the main loop of control and in the
emergency subsystem. Finally, the results of experimental investigations are
enclosed. The experiments were performed using the specially built test stand
which is a kinematic model of a crane.
References
[1] J. Kłosiński: Swing-free stop control of the slewing motion of a mobile crane.
Control Engineering Practice, 13(2005), 451-460.
[2] K. Takagi, H. Nishimura: Control of a jib-type crane mounted on a flexible
structure. Control Systems Technology, IEEE Transactions on Vol. 11, Issue
1, Jan. 2003, 32 – 42.
[3] J. Janusz: Dynamical analysis of the system controlling the crane working
motions under a threat of loss of stability (in Polish). Doctor‘s thesis.
University of Bielsko-Biała 2005.
[4] J. Kłosiński: The working motions control in mobile crane ensuring proper
position of carried load (in Polish). Scientific Bulletin of the Technical
University of Łódź Branch in Bielsko-Biała, no 55, 2000.
194
Poster Session: Sensors and Actuators in Mechatronics
195
Modeling and Design Optimization of Butterfly Type
Piezoelectric Actuator
D. Maţeika1, a, P. Vasiljev2, b
1
Vilnius Gediminas Technical University, Saulėtekio av. 11, LT-10223
Vilnius, Lithuania
2
Vilnius Pedagogical University, Studentų 39, LT-08106 Vilnius, Lithuania
a b
Dalius.Mazeika@fm.vgtu.lt, vasiljev@vpu.lt
Keywords: piezoelectris actuator, numerical modeling, FEM
Abstract
Piezoelectric actuators are widely used for different applications such as high precision
positioning devices, micromanipulation systems, scanning microscopes, robotic systems
and etc.
71KHz
71.5KHz
70.5KHz
Fig. 1. A prototype actuator Fig. 2. Trajectories of contact point movement
A study of a novel design miniature butterfly type piezoelectric actuator (Fig. 1) is

proposed and analyzed in the paper. Actuator consists of butterfly type oscillator and two
piezoceramic elements. Operating principle of the actuator is based on exciting electrodes
of the different piezoceramic elements using input voltage of the same frequency but
different phases. Elliptic trajectory of the contact point movement is achieving when
phases of the voltage differ by π/2 on different electrodes. Numerical modelling and
simulation of the piezoelectric actuator was performed using finite element method.
Natural frequencies, modal shapes and actuator response to the different input voltage sets
were analyzed. Numerical study confirms the possibility to achieve elliptical trajectories of
contact zone (Fig. 2) and to have linear motion of the slider. Optimization of actuator
boundary conditions was carried out and optimal result is presented and discussed.
Experimental prototype of the piezoelectric actuator was built and measurements of
driven tip movements were performed. The results of experimental study showed that the
resonant frequency and amplitudes of the actuator are in good agreement with the results
from optimised finite element model.
196
ERF Valves Controlled by Plane Capacitor Electric Field
R.Bansevicius 1, a, J.A.Virbalis2, b
a b
bansevicius@cr.ktu.lt, arvydas.virbalis@ktu.lt
Keywords: electrorheological fluid ERF, valve controlled by electric field,

multilayer valve, Braille reader.
Abstract
Holes filled with electrorheological fluid (ERF) are used to form the Braille
symbols or relief in Array Manipulators. The valves as elements of matrix are
used in this case. Two essential technological problems are the accuracy of
mounting and connection electrodes of valves to voltage source. We propose to
use for valve matrix realization standard laminated electronics plate. Voltage
applied to coppered upper and lower surfaces of the plate creates electric field,
which controls ERF viscosity. To control voltage of every hole discretely,
individual electrodes on the plates are made in a form of strips, with an angle of
90 degrees (Fig.1) between them on both sides of the plate. It allows to simplify
considerably the manufacturing of valves.
Three methods to form a relief are investigated: (a) using an elastic membrane,
covering the holes, dielectric (b) and metallic (c) pins moving in the holes.
Electric field in a hole of the matrix was calculated as electric field in a hole of
plane capacitor. The average relative electric field Er in ERF is 1,7 times
stronger using metallic pin and 1,25 times stronger using dielectric pin than in
the hole without pin. For the points, a distance of which from electrode plane is
not more than 0,25 (electrode zone), average field strength in hole near metallic
pin is ≈1,75 stronger than in all volume near metallic pin.
When voltage between the electrodes increases, stiffening of ERF begins on
the plane of electrodes. Height hf of stiff ERF layer is needed to fix the pin
reliably. This height can be obtained in different ways: it can be increased by
raising electrode voltage or by forming a hole in multilayer plate, e.g. stiff layer
hs develops when voltage between electrodes of any plate is Us. The medium with
a permittivity more than 1 is above and below inner electrodes in multilayer
valves. Therefore, the field at inner electrodes is stronger than the field at upper
and lower electrodes, where the field is pushed out of ERF into the area where
relative permittivity is 1. There is additional motivation to use multilayer valves.
The design of multilayer valve was proposed.
The thickness of plate and diameter of valve hole was equal to 1 mm. The
vertical force was the order of 0,5 N and corresponded with the forces of typical
Braille devices. When this force is applied, fixing of the pin was achieved due to
control voltage Uc≈250V in monolayer valve. With multilayer valves this voltage
can be decreased.
197
Holographic Interferometry Methods for Analysis &
Disign of Rotary Converter
Laima Patašiene1, a, Raimondas Vasiliauskas2, b,
Algimantas Fedaravičius1, c
1
Mechanical Engineering and Mechatronic department, Kaunas University
of Technology, Kestucio 27, LT- 44312, Kaunas, Lithuania
2
Kaunas Faculty of Police, Mykolas Romeris University, V.Putvinskio 70,
LT-4421, Kaunas, Lithuania
a b c
laima.patasiene@ktu.lt, r.vasiliauskas@ltukf.lt, alfedar@ktu.lt
Keywords: rotary converter, piezoelectric sandwich, measuring
Abstract
A rotary converter used in mechanisms requiring high precision displacement has
proved that accuracy depends on design and technological factors. An important
feature of mechatronic systems containing links made of an active sandwich
beam is the performance of various functions by the same transducer enabling the
development of improved designing methods The analysis of various parameters
and constructions of mechatronic systems has made it possible to introduce the
mechanism containing a rotary converter which can turn any top around or turn a
screw. A holographic interferometry method has been applied in the experimental
work [1,2].
If a piezosensor can measure the amplitude of object vibrations according to
the voltage used for a piezoectric cell, then the voltage is proportional to the
amplitude of the object. This measurement method makes it possible to estimate
non-linearitties thus increasing the measurement accuracy three and a half times
due to spread measuring range. In order to determine more precisely the initial
stress values in sandwich beam and to choose the optimal version in the rotary
converter design, a few piezoelements are inserted to the sensor. They
significantly improve the operation parameters of the sandwich beam increasing
in accuracy and releability.
1
2
Fig. 1. Schematics of rotary converter:1- monoblock, 2 – suspension, 3 –

sandwich beam, 4 – base.
198
Application of holographic interferometry methods to sandwich beam analysis
and design is of great importance. The developed rotary converters are offered for
manufacture of titanium frames used in fastening ultrasound converters on human
heads and also for loosening rigid tightenings and eliminating corrosion impurity
(machine building).
References
[1] Patasiene L., Fedaravicius A., Vasiliauskas R. Holographic Methods for
Analysis of Vibrodrives Transport Means 2005, Proceedings of 9 th
International Conference. Kaunas University of Technology, Lithuania,
October 2021, 2005. Kaunas University of Technology, IFTOMM
National Committee of Lithuania, SAE Lithuanian Branch, Klaipėda
University, Vilniaus.
[2] L.Patańienė, R.Vasiliauskas, A.Fedaravičius. Application of holographic
Interferometry Methods for Analysis of Piezzodrives with Ring Actuators.
Ultragarsas Nr. 3(56). Kaunas: Technologija, 2005. ISSN 13922114. p.
1721.
199
Dynamic Simulation of Nonlinear Electromechanical and
Vibro-Impact Interactions in Electrostatically Driven
Microactuator
R. Dauksevicius1, a, V. Ostasevicius1, b, R. Gaidys2, c
1
International Studies Center, Kaunas University of Technology, A.
Mickeviciaus g. 37, LT-44025 Kaunas, Lithuania
2
Faculty of Informatics, Kaunas University of Technology, Studentų g. 50,
51368 Kaunas, Lithuania
a b
rolanasd@centras.lt, vytautas.ostasevicius@ktu.lt,
c
rimvydas.gaidys@ktu.lt
Keywords: MEMS, microswitch, electrostatic actuation, contact bounce, stiction,

adhesion.
Abstract
Microelectromechanical systems (MEMS) refer to microscopic devices that have
a characteristic length of less than 1 mm but more than 1 μm and combine
electrical and mechanical components. Many traditional MEMS devices do not
include contacting surfaces. However in recent years there is an increasing
interest in MEMS devices possessing contact as part of their normal mode of
operation. Among such devices, the fast development of MEMS switches is very
promising [1,2].
Fig. 1 Photo of electrostatic microswitch fabricated at Kaunas

University of Technology and schematic drawing of mathematical
model of this microdevice.
This paper reports on dynamic modeling and simulation of electrostatically

actuated cantilever microstructure, representing elastic contacting element of
fabricated resistive MEMS switch (Fig. 1). Several finite elements models have
been developed that account for vibro-impact interactions between the cantilever
tip and the drain (contact bouncing), influence from electrostatic field due to
applied voltage and damping due to squeezed air in the gap between the
200
microstructure and the substrate. For numerical study of detrimental contact
bouncing phenomenon a general adhesive-repulsive contact model has been
implemented, whose adhesive contribution is represented by microscale-specific
attractive van der Waals force component and the repulsive contribution is
described by a classical linear elastic force. For modeling of squeeze-film
damping incompressible isothermal Reynolds equation was employed, which
solves for the air pressure acting on the microstructure. Obtained results indicate
that this air pressure has a pronounced effect on the magnitude of bounce
amplitude. Simulation of electrostatic-structural interaction has been used to
determine dependence of switching time of microswitch on magnitude of applied
voltage. It has been shown that the larger is the pull-down electrostatic force, the
shorter is the time required by the microstructure tip to make the contact with the
substrate.
References
[1] M. Gad-el-Hak: The MEMS Handbook (CRC Press, USA 2002).
[2] G.B. Rebeiz, RF MEMS: Theory, Design, and Technology (Wiley-
Interscience, USA 2003).
201
Experimental Researches of a Flexible Waveguide with
Alternate Tightness of Ultrasound Vibrations
M.Valaika1, A.Bubulis1 , V.Jūrėnas1, A.Vilkauskas1,
I.Adzericho2,V.T. Minchenia3
1
Kaunas University of Technology, Kestucio 27, LT-44312 Kaunas,
Lithuania
2
Center of “Cardiologia”,R.Liuksenburg 110,220013 Minsk, Belorus
3
Belorus National Technical University, Nezavisimosti 63,220013
Minsk,Belorus
Keywords: ultrasound vibration, waveguide, cavitation
Abstract
In this article, an experimental research of a new flexible and alternate rigidity
waveguide of ultrasound vibrations was given.
The waveguide researched is a combination of conical-stepped-cylindrical
waveguides which allows to significantly improve dynamic characteristics by
existing various static loads. The resonant frequency for exciting the waveguide is
24-26 kHz.
Experimental researches were performed on an anti-vibratory table firm
„Standa― Honeycomb Table Top 1HT with a vibrometer controller of the firm
―Polytec‖ OFV-5000, a laser interferometer ―Polytec‖ OFV-512, Thermovision
A20 of the firm ―FLIR systems‖ and analogo-digital converter type ADC-
2424(pico,GB).
For removing tissues and fragmenting stones, removing clots from blood
vessels and other undesirable derivatives which can occur in a person‗s body, it is
possible to use the ultrasound energy. Usually the energy generated to the
environment by the waveguide is transmitted in the form of intensive acoustic
waves of high frequency, tissues are destroyed under their influence, under the
direct mechanical effect, or because of the phenomenon of cavitation. Within
cavitation, in the liquid effected by the ultrasound frequency of big power,
microscopic bubbles filled by vapours or cavities occur which expand fast and
explode. These explosions are accompanied by intensive local hydraulic impacts
which cause destruction of tissues. Ultrasound devices are used in the medicine
where the phenomenon of cavitation is adjusted to destroy tissues, for example,
for treating cancer, cleaning foul vessels, sucking and other procedures.
The main disadvantage of existing ultrasound medical waveguides
acknowledged by most doctors is their slow action, compared with surgical
interventions.
202
Therefore, a waveguide of the new construction, of the conical-stepped-
cylindric type was created, its work characteristics were determined
experimentally.
The amplitude frequency characteristics established of the waveguide bent
indicated that the maximal vibratory amplitude of the deformed 60° angle
decreased in 10-15%. The frequency of resonant vibrations increases by
increasing the bending angle of the waveguide, the maximal increase 450Hz was
established by the 60° angle.
The temperature of the catheter where the waveguide researched was
positioned depends on the size of deformation – bending angle, its maximal
increase of the temperature was established in the site of the biggest deformation
and at the end of the waveguide. Within the research, the maximal temperature
did not exceed 41° by maximal vibratory amplitudes (20-25 micrometers).
203
Piezo-Monitoring of Magneto-Rheological Fluids
Egidijus Dragasius1, a
1
Department of Mechatronics, Kaunas University of Technology, Kęstučio
27, LT-44312 Kaunas
a
egidijus.dragasius@ktu.lt
Keywords: magneto-rheological fluid, monitoring process, conditioning process,

piezo-monitoring, sedimentation, ferromagnetic particles, diagnostic.
Abstract
Reological properties of magneto-rheological (MR) fluids changes due to
sedimentation. Aiming to ensure reliable operation and good exploitation
properties of devices with MR fluid during long period of time, rheological
properties should remain constant. Therefore a monitoring system for control of
sedimentation process should be introduced. In this paper piezo-system for
automatic monitoring of sedimentation process in magneto-rheological fluids is
proposed. This patent pending monitoring process allowing monitoring of MR
fluid rheological properties in standby phase is very useful. Such monitoring
system can be used for control of MR fluid properties.
Main Results and Conclusions

New method for monitoring and analysis of the sedimentation process is
proposed. It is based on the usage of active piezoelectric transducers, which are
submerged into the MRF. Analytical rheological model of the system is designed
and analyzed. Numerical simulation of in-plane vibrations of built-in vibration
transducers confirmed the fact of the change of the dynamical characteristics of
the transducer during the process of sedimentation. That confirms the proposed
methodology for monitoring of process of sedimentation
References
[1] Lord Corporation, USA, MR Damper (RD-1005-3),
http://www.lord.com/Default.aspx?tabid=761&pid=3.
[2] Lord Corporation, USA, MR Controllable Friction Damper,
http://www.lord.com/Default.aspx?tabid=763 &pid=3.
[3] Lord Corporation, USA, Magneto-Rheological (MR) Fluids,
http://www.lord.com/Default.aspx?tabid=762 &pid=3.
[4] Lord Corporation, USA, LORD Rheonetic. Magnetically Responsive
Technology MR Fluid Comparison Sheet http://literature.lord.com/root/other/
rheonetic/fluid_comparison_chart.pdf.
204
Development of Electro-Rheological and Magneto-
Rheological Fluids Monitoring system
Paulius Ibianskas1, a, Egidijus Dragašius1, b
1
Kaunas University of Technology, Kestucio str. 27, Kaunas, Lithuania
a b
Ibianskas@gmail.com, Egidijus.dragasius@ktu.lt
Keywords: rheological fluids, mechanical resistance, sedimation
Abstract
Manageable fluids react into electro and magneto fields changing their
rheological properties. Theirs mechanical resistances shear, also to smear depends
on external field strength. One of those material calls electro-rheological and
magneto-rheological fluids (ERF and MRF). Using them we can create simple
and quick-acting contact between electronic operating and mechanic subsystem.
Rheological properties of ERF and MRF are influenced by sendimentation
porcess. That influence exploitation properties of devices, where those fluids are
used.
This paper describes monitoring systems for control of sedimentation process
of rheological fluids. Applications of those systems allow monitoring of fluids
rheological properties during their exploitation. Sedimentation is more significant
in periods of times, when devices are not working. Therefore rheological fluids
should be mixed, when concentration of particles reaches critical value, in order
to keep their homogeneity.
Fig. 1. Monitoring scheme
205
A Flat Compound Piezoelectric Actuator of a Type
«a Shaking Beam»
P. Vasiljev1, a, R. Bareikis1, b, L. Vasiljeva1, c, J.Tiskevicius1, d,
A. Rotmanas1, e
1
Vilnius Pedagogical University, Studentu 39, LT-08106 Vilnius, Lithuania
a b c d
vasiljev@vpu.lt, bare@vpu.lt, vasiljev@cablenet.lt, tdk@vpu.lt,
e
alrotman@vpu.lt
Keywords: piezomotor, “shaking beam”, actuator, FEM
Abstract
It is investigated piezoelectric actuator, consisting of two flat converters of
longitudinal fluctuations which ends are close by the bridging piece – « a shaking
beam ». Also is resulted the principle of work actuator in quality stator of the
motor, and also as the ultrasonic concentrator of fluctuations. Additionally is
made research of it actuator with the help of programs computer modeling. And it
is carried out optimization of the sizes driver bridging piece of actuator.
Theoretical researches are confirmed experimentally, with the help of the
precision laser equipment.
References
[1] P. Vasiljev. Actuator of type “a shaking beam // Actuator 2002. Conference
proceedings, Bremen, Germany, 2002, pp 493-496.
[2] S. Borodin, J.-D. Kim, H.-J. Kim, P. Vasiljev, S.-J. Yoon. Nano-Positioning
System Using Linear Ultrasonic Motor with “Shaking Beam”// Journal of
Electroceramics, 12, 2004, pp169-173
[3] D.-K. Lee, D.-Y. Han, S. Borodinas, P. Vasiljev, S.-J. Yoon Compound
Linear Ultrasonic Motor Based on Shaking Beam ,// Japanese Journal of
Applied Physics, Vol.43, No.4A, 2004, pp 1454-1457
[4] P. Vasiljev, S. Borodinas, S.-J. Yoon, D. Maņeika and G. Kulvietis , The
actuator for micro moving of a body in a plane,// Materials Chemistry and
Physics, Volume 91, Issue 1, 2005, pp 237-242
[5] T. Hemsel, M.Mracek, J. Wallaschek, P. Vasiljev A novel approach for high
power ultrasonic linear motors// 2004 IEEE International Ultrasonics,
Feroelectrics,and Frequency Control Joint 50th Anniversary Conference, pp
1161-1164
206
Poster Session: Analysis of Vibration
207
Application of Mathematical Modeling in the Analysis of
the Vibroacoustic Processes
Danielius Guţas1, a, Algirdas Čiučelis2, b
1
Šiauliai University, Vilniaus St. 141, Šiauliai 5419, Lithuania
2
Vilniaus Gediminas Technical University, Saulėtekio al. 11, Lt 10223
Vilnius, Lithuania
a b
danielius.guzas@fondai.com, fmf@tm.vgtu.lt
Keywords: Vibroacoustics, modelling, noise control
Abstract
By means of the principle of mathematical modelling the complex tasks in
vibroacoustics may be solved, clarifying the vibroacoustical characteristics and
their parameters. This method helps us to analyze the results obtained and to
forecast the absolute levels of noise and vibrations. The object under
investigation may be described by certain definitions, the general laws of
processes, and their similarity, which allow one to draw certain conclusions.
As an example we may take a model of a room by the method of ray tracing
in architectural acoustics. This method is applied only in the sphere of science.
The premises, as a rule, are taken as being of the regular geometrical form and
without equipment.
In the calculations of vibroacoustical processes, by using the method of finite
elements, for analysis of the results obtained the dynamic modeling may be
applied.
As an example we shall analyze the issues relating to the modeling of the
structure of the air compressor engine from the standpoint of forecast of noise
output of new and improved engines in the complex with an air compressor.
In discussing the methods of dynamic modeling, special attention will be
focused on the types of elements and the fineness of processing of gearing,
necessary for forecast of allowed frequencies and mode forms. Also analysis is
made of the problems, related to the forecast of absolute levels of vibration with
the help of dynamic model.
The static finite element model can be used to examine the coupling
mechanisms related to a particular force. Here shows the computed deflections at
points on the main bearing plane of a 6-cylinder in-line diesel engine with wet
liners due to an upward load on the centre of the cylinder head and a downward
load of equal magnitude on the bottom of the bearing cap, i.e. simulating the
loads due combustion. Several coupling mechanisms can be distinguished from
the example. For example it can be seen that the crankcase deflects downward
more on the camshaft side (due to the weakening effect of the camshaft bearing
hole), swinging the crankcase bodily away from the camshaft side. The crankcase
208
wall on the camshaft side has been stretched vertically more than the opposite
wall for the same reason so that it will shrink more in the direction parallel to the
view away from the camshaft side – clearly a significant mechanism for exciting
the whole block bending modes. If the precise shape of these modes is known,
when the contribution each makes can be found mathematically by solving the
appropriate set of linear equations. It will be observed that this is basically how
the crankcase side walls are deflecting and thus the static deflection shape
contains all the panel modes.
We shall consider here some criteria of optimization from Section (2) of
dynamic process modeling. If we analyze the predominant modal characteristics
of that process, we can readily see in studying the character of the static
deflection shape of an engine, depicted in the models. It is also possible to
determine how the deflected shape should be modified in order that those modes,
which are predominantly responsible for the noise, be removed or reduced in
amplitude.
209
CFAR Vibration Signal Change Test and its Applications
to Real-Time Recognition of Developing Cracks in Jet
Engine Rotors
N.A. Nechval1, a, K.N. Nechval2, b, G. Berzins1, a,
M. Purgailis1, a
1
University of Latvia, Raina Blvd 19, LV-1050 Riga, Latvia
2
Transport and Telecommunication Institute, Lomonosov Street 1,
LV 1019 Riga, Latvia
a b
nechval@junik.lv, konstan@tsi.lv
Keywords: Vibration signal, change, CFAR test, rotor, crack, recognition.
Abstract
The machines and structural components require continuous monitoring for the
detection of cracks and crack growth for ensuring an uninterrupted service. Non-
destructive testing methods like ultrasonic testing, X-ray, etc., are generally
useful for the purpose. These methods are costly and time consuming for long
components, e.g., railway tracks, long pipelines, etc. Vibration-based methods
can offer advantages in such cases [1]. This is because measurement of vibration
parameters like natural frequencies is easy. Failures of any high speed rotating
components (jet engine rotors, centrifuges, high speed fans, etc.) can be very
dangerous to surrounding equipment and personnel (see Fig. 1), and must always
be avoided.
Fig. 1. Jet engine fan section failure.
This paper introduces a new technique for early identification of fatigue

cracks, namely the constant false alarm rate (CFAR) test. This test works on the
null hypotheses that a target vibration signal is statistically similar to a reference
210
vibration signal. In effect, this is a time-domain signal processing technique that
compares two signals, and returns the likelihood whether the two signals are
similar or not. The system monitors the vibration signal of the rotor as it cycles,
and compares that vibration signal with, say, the original vibration signal. The
difference vector reflects the change in vibration over time. As a crack develops,
the vector changes in a characteristic way. Thus, it is possible, during CFAR test,
to determine whether the two signals are similar or not. Therefore, by comparing
a given vibration signal to a number of reference vibration signals (for several
crack scenarios) it is possible to state which is the most likely condition of the
rotor under analysis. The CFAR test not only successfully identifies the presence
of the fatigue cracks but also gives an indication related to the advancement of the
crack. This test, despite its simplicity, is an extremely powerful method that
effectively classifies different vibration signals, allowing for its safe use as
another condition monitoring technique.
References
[1] A.D. Dimarogonas: Vibration of Cracked Structures: a State of the Art
Review, Engineering and Fracture Mechanics Vol. 55 (1996), pp. 831-857.
211
An Oscillating Linear Electrical Generator
Saulius Barauskas1, Zigmantas Jankauskas1, a,
Vygaudas Kvedaras1, Valentinas Zaveckas1
1
Saulėtekio av. 11, LT -10223 Vilnius – 40, Lithuania
a
zigmantas.jankauskas@el.vtu.lt
Keywords: electrical generator; barium titanate; capacitor with the modulated

capacity.
Abstract
The new type of linear oscillating electrical generator is proposed. The electrical
power is being generated by the help of oscillating dielectric (BaTiO 3) piston in
the capacitor with the modulated capacity. The translational movement of the
piston is provided by the external motor. The equivalent electrical circuit and load
characteristics are obtained. The power density in the dielectric material BaTiO 3
is equal 1000 W/cm3 for the oscillation frequency 50 Hz. Other dielectric
materials with the high values of dielectric constant also may be used.
References
[1] M.A. Langhton, D.J. Warne: Electrical Engineer‗s Reference Book, 16 th
edition. Newnes 2003, p.1500.
[2] Information on http://www.wikipedia.org/wiki/Barium_titanate.
212
The Transient Behavior of Rails Used in Electromagnetic
Railguns: Numerical Investigations at Constant Loading
Velocities
L. Tumonis1, a, R. Kačianauskas1, b, A. Kačeniauskas2, c ,
M. Schneider3, d
1
Department of Strength of Materials, Vilnius Gediminas Technical
University, Saulėtekio 11, 10223 Vilnius, Lithuania
2
Laboratory of Parallel Computing, Vilnius Gediminas Technical
University, Saulėtekio 11, 10223 Vilnius, Lithuania
3
French-German Research Institute of Saint Louis (ISL), 5 rue G'al
Cassagnou, 68301 Saint-Louis, France
a b c
liudas.tumonis@fm.vgtu.lt, rkac@fm.vgtu.lt, arnka@fm.vgtu.lt,
d
schneider_m@isl.tm.fr
Keywords: Electromagnetic railgun, transient dynamics.
Abstract
Electromagnetic railguns are mechatronic systems working at very high power
levels (in the range of GW). While the functional principle is relatively simple
and muzzle velocities up to 2.5 km/s for masses of several hundred grams have
been demonstrated experimentally the performance limits of the technique are
still under investigation [1-3]. Here, one important issue, namely, the dynamical
reaction of the rails and their supporting structure to the moving (due to the
projectile) magnetic pressure loads is still not sufficiently described [4, 5].
In this paper the railgun EMA3 of the French German Research institute of
Saint-Louis (ISL) [6, 7] is investigated numerically by using the finite element
method. The rail is presented by 2D model with discrete elastic supports. It is
subjected by electromagnetic uniform load moving with constant velocity. The
boundary conditions correspond to the moving electromagnetic pressure repelling
the rails one from each other.
The dynamic structure response is characterised by the displacements of the
inner rail surfaces because of its importance for the electrical performance of the
system. The oscillation profiles under several loading histories with constant
velocities ranging between 0.6 and 1.4 km/s are examined. In different rail points
the extracted resonance velocities vary in the range between 1250 and 1400 m/s.
Behavior of the middle point leading to resonance velocity 1400 m/s would be
regarded as characteristic of the railgun systems.
References
[1] H. Fair: IEEE Trans. on Magnetics Vol. 43(1) (2007), p. 93.
213
[2] G. Shvetsov, P. Rutberg and A. Budin: IEEE Trans. on Magnetics Vol. 43(1)
(2007), p. 99.
[3] P. Lehmann, H. Peter and J. Wey: IEEE Trans. on Magnetics Vol. 37 (2001),
p.435.
[4] J.T. Tzeng: IEEE Trans. on Magnetics Vol. 41(1) 2005, p. 246.
[5] A.J. Johnson and F.C. Moon: IEEE Trans. on Magnetics Vol. 42(3) (2006), p.
422.
[6] M. Schneider, D. Eckenfels and F. Hatterer: IEEE Trans. on Magnetics Vol.
39 (2003), p. 186.
[7] M. Schneider and R. Schneider: IEEE Trans. on Magnetics Vol. 41 (2005), p.
432.
214
Interaction of Vibrating and Translational Motions
Kazimieras Ragulskis1, Laima Patašienė2, a
1
Kaunas University of Technology, Kaunas, Lithuania
2
Kaunas University of Technology, Faculty of Mechanical Engineering
and Mechatronics, Kęstučio 27, 44312 Kaunas, Lithuania,
a
laima.patasiene@ktu.lt
Keywords: vibromotor, dynamical system, characteristics of motion, numerical

integration.
Abstract
The mathematical model describing the interaction of a vibrating system and a
system performing translational motion is proposed. Such motions take place in
vibromotors. The main characteristics of the dynamic motion are defined. The
model is investigated numerically and a number of graphical relationships are
obtained. They are used in the process of design of systems with vibromotors.
system performing translational motion is proposed in the form of the matrix
differential equation describing the motion of a nonlinear vibrating system with
two degrees of freedom. Such motions take place in vibromotors [1, 2]. The main
characteristics of the dynamic motion are defined. The model is investigated by
using numerical methods [3]. The time histories of motion and the graphical
relationships representing the characteristics of motion are obtained. The obtained
graphical relationships are used in the process of design of systems with
vibromotors.
The dynamics of interaction of a vibrating system and a system performing
translational motion is described by the matrix differential equation of the second
order:
 d 2 u1   du1 
 2   
M  2   C  dudt   K  1   F ,
dt u
 d u2   2 u 2 
 dt 2   dt 

system performing translational motion is proposed in the form of the matrix
differential equation describing the motion of a nonlinear vibrating system with
two degrees of freedom. This model is convenient for performing the numerical
integration of the equations of motion. The main characteristics of the dynamic
motion are defined. The time histories of motion and the graphical relationships
215
representing the characteristics of motion are obtained. The presented results are
used in the process of design of systems with vibromotors.
References
[1] Ragulskis K., Bansevicius R., Barauskas R., Kulvietis G. Vibromotors for
Precision Microrobots. New York: Hemisphere, 1987.
[2] Barauskas R., Kulvietis G., Ragulskis K. Calculation and Design of
Vibromotors. Leningrad: Mashinostroienie, 1984.
[3] Bathe K. J. Finite Element Procedures in Engineering Analysis. New Jersey:
Prentice-Hall, 1982.
216
Investigation of Actuators with Smart Links
E. Kibirkštis1, a and K. Vaitasius1, b
1
Department of Graphic Communication Engineering, Kaunas University
of Technology, Studentu str. 56, LT-51424, Kaunas, Lithuania
a b
edmundas.kibirkstis@ktu.lt, kestutis.vaitasius@ktu.lt
Keywords: actuator, vibrotransducer, magnetorheological liquid, shape memory,

smart links
Abstract
Actuators with smart links made of alloys with shape memory (SM) or
ferromagnetic liquid (MR) have been developed.
The smart link with shape memory, installed in the actuator‗s chamber,
provides a possibility to enhance the functional potential of the actuator. When
the operation of the smart link is controlled according to a preset programme, the
volume of the chamber is changed suddenly, consequently, its amplitude-
frequency characteristics as well. The ability of the smart link with shape memory
to change its shape at changing temperature modes was exploited in this
construction. Formulas have been presented which enable us to determine the
deformation of the smart link with SM (plate) and the critical strength during the
martensitic transformations in the link. It has been determined that when the
chamber volume is larger, the vibration peak-to-peak swing is smaller, and the
frequency is higher when the chamber volume is smaller. This transducer ability
to suddenly change amplitude-frequency characteristics can be used in
vibrostands meant for testing materials or devices and their vibro-treatment.
Equations are presented for describing motion of a pneumatic actuator with
viscous magnetorheological liquid. Performed calculations have shown that the
maximum pressure developed by the actuator reaches 10.8 kPa, when n=5000
r/min, q=0.8,   2  10 3 . For experimental study of an actuator with MR liquid,
a stand was made with the following technical parameters: the internal diameter
of the stator Ds  18  10 3 m, the external diameter of the rotor Dr  15  10 3 m,
the rotor working length L  8  10 3 m, eccentricity e  5  10 5 m, the volume
of the working chamber V  6  10 7 m3, the number of permanent magnets is 4,
the supply voltage U  15 V, the supply current I  0.7 A, the rotation
frequency of the rotor n  0  5000 r/min, M s  51.7 kA/m,   1585 kg/m3,
the diameter of magnetic particles Rdal  9.01  10 9 m.
The experimental stand was also used for determining the values of the
pressure and efficiency generated by the transducer. When the transducer rotor
with the magnetic liquid vanes is rotating, the pressure difference developed in
the diaphragm is registered by a micromanometer. According to the manometer
217
readings, the pressure and the efficiency developed by the transducer are
calculated. The value of the pressure generated by the transducer actuator
depends directly on MR liquid vane filling coefficient and rotation frequency.
The highest pressure value is obtained when the MR liquid filling coefficient is
close to 0.9. The pressure increases with the increasing rotation frequency (up to
13.7 kPa, when n=4615 r/min). The efficiency developed by the transducer also
depends on the rotation frequency of the rotor and on the MR liquid vane filling
coefficient. The maximum obtained efficiency value is 0.37×10 -6 m3/s. At low
MR liquid vane filling coefficient q values – up to 0.67 – unstable work areas of
the transducer caused by hermetic flaws of the system have been observed. The
findings of theoretical and experimental studies are sufficiently adequate; the
obtained pressure values do not exceed 15 %.
These actuators could be applied in different technological equipment: vehicle
suspensions, torque mechanisms, oscillation damping systems, various medical
devices, trainers, and so on. Their applicability is predetermined by a number of
their advantages: simple control, uncomplicated construction, high reliability, etc.
218
Applications of High Frequency Vibrations for Surface
Milling
J. Graţevičiūtė1, a, I. Skiedraitė1, b, V. Jūrėnas2, c,
A. Bubulis2, d, V. Ostaševičius3, e
1
Kaunas University of Technology, A. Mickevičiaus str. 37, 44244 Kaunas,
Lithuania
2
Kaunas University of Technology, Kęstučio str. 27, 44312 Kaunas,
Lithuania
3
Kaunas University of Technology, K. Donelaičio str. 73, 44029 Kaunas,
Lithuania
a b c
jurgita@baltec-cnc.com, inga.skiedraite@ktu.lt, vytautas.jurenas@ktu.lt,
d e
algimantas.bubulis@ktu.lt, vytautas. ostasevicius@ktu.lt
Keywords: vibrocutting, ultrasonic frequency, milling
Abstract
Metal cutting by using the high frequency vibrations is a rational method.
Research was applied in milling process. For this purpose a special milling tool
holder with ultrasonic vibration actuator of piezoceramics was developed to
create rotational and directional vibrations. Results showed that by using
vibrations the surface of machined detail could be improved.
Conclusions
The results of the experiments showed that the surfaces of aluminium after the
milling process with applied high frequencies vibrations is smoother than milling
by the conventional method. Better results can be achieved in the future, if they
were carried out by using the vibration resonance control system. The main aim
of the experiments to receive better surface quality was achieved by milling
aluminium workpieces. But plastic material did not have any difference in the
surface quality after milling with and without vibrations. The main reason for it is
that plastic absorbs vibrations.
Further experiments will be carried out to find the efficiency of vibrocutting.
Also milling process with vibrations has to be tested out on a different type of
materials with changing excitation frequencies and amplitudes.
References
[1] Kumabe, D. Vibrational cutting. Machine-manufacturing, Moscow, 1985,
424p.
[2] Graņevičiūtė, J., Skiedraitė, I., Ostańevičius, V., Jūrėnas, V., Bubulis, A.
Ultrasonic application in turning process // Vibroengineering 2006 :
proceedings of the 6th International Conference, October 12-14, 2006,
Kaunas, Lithuania. - 2006, p. 152-154
219
Analysis of the Dynamics of the Vibratory Valve-Injector
Vytenis Naginevicius1, a, Minvydas Ragulskis2, b,
Arvydas Palevicius3, c
1
Department of Transport Engineering, Kaunas University of Technology,
Kestucio 27-217, LT-44312, Kaunas, Lithuania
2
Department of Mathematical Sciences, Kaunas University of Technology,
Studentu 50-222, LT-51368, Kaunas, Lithuania
3
International Studies Center, Kaunas University of Technology,
A.Mickeviciaus 37-204, LT-44244, Kaunas, Lithuania
a b
vytenis.naginevicius@ktu.lt, minvydas.ragulskis@ktu.lt,
c
arvydas.palevicius@ktu.lt
Keywords: Vibratory valve, injector, mathematical modeling, holographic

interferometry, fluid dynamics
Abstract
Construction of a novel vibratory valve-injector and its design optimization is
presented in the paper. The principle of the system operation is based on the
effect of dynamic positioning of a steel ball in a vibrating tube. Theoretical
analysis of the stability of this non-linear system is coupled together with the
experimental study of an operating valve. Laser holographic interferometry is
used for the identification and optimization of working regimes of the system.
References
[1] Cho, K.,J., and Recinella, D.K., Pattern of dispersion from a pulse-spray
catheter for delivery of thrombolytic agents: Design, theory, and results, J.
Academic Radiology, 4(3), 210-216, (1997)
[2] Miller, P., and Ellis, M.., Effects of formulation on spray nozzle performance
for applications from ground-based sprayers, J. Crop Protection, 19(8-10),
609-615, (2000)
[3] Huang, Y., and Hsu, C., Dynamic behavior of tubes subjected to internal and
external cross flows, J. Shock and Vibration, 4(2), 77-91, (1997)
[4] Caillaud, S., and de Langre, E., The measurement of fluidelastic effects at low
reduced velocities using piezoelectric actuators, J. of Pressure Vessel
Technology – Transactions of the ASME, 121(2), 232-238, (1999)
[5] Brodeur, P., Motion of fluid-suspended fibres in a standing wave field, J.
Ultrasonics, 29, 302-307, (1991)
220
Research of Complex Rotary Systems Vibrocondition
Based on Analysis of Dynamical Processes and
Spectrum of Vibrations
Egidijus Juzėnas1, a, Remigijus Jonušas1, b,
Kazimieras Juzėnas1, c
1
Kaunas University of Technology, Kęstučio 27, Kaunas, Lithuania
a c
remigijus.jonusas@ktu.lt, bejuzenas@ktu.lt, kjuzenas@ktu.lt
Keywords: vibromonitoring, rotary systems, vibrations.
Abstract
Mechatronic systems designed for monitoring and control of complex rotary
machines can be implemented effectively only when alarm or critical levels of
monitored parameters are well known and sources of their deviations can be
determined. Vibrodiagnostics is a powerful tool which can be used for
determination of machine defects. However, in case of complex rotary machines,
it is very complicated to trace all sources of vibrations (e.g. internal defects).
Therefore attempts of vibrations modeling are made aiming to evaluate influence
of various parameters on the vibroactivity of certain machine.
Main results and conclusions

Analysis of experimentally measured spectral characteristics of complex rotary
machine vibrations showed that there are low frequency components generated by
unbalances, anisotropy of the rotor‘s structure, deviations of rotor‘s centering and
so on. There are also high frequency components generated by deviations of
reducer‘s gearwheel positioning. Those deviations are caused by defects of gears
manufacturing and assembly. Therefore periodical measurements of vibrations
were performed in quite wide range of frequencies (0 – 7500 Hz) aiming to gather
more comprehensive data.
Analysis of experimental results allows evaluation of vibrations level for
different harmonics and diagnose their sources, however it is not enough for
comprehensive analysis of machines dynamical condition.
Dynamical equation of the compressor‘s rotor has been composed applying
method of finite elements. Rotor of the centrifugal compressor GTT3 and adjacent
gear shaft of the reducer are divided into 18 elements and analyzed as a system of
flexible rotors. Avery element has 4 degrees of freedom.
Modeling of dynamical processes in rotary systems applying FEM, gives
information about condition of various rotors elements (including those that
vibrations can not be measured experimentally). Therefore it presents very
important experimental information which is impossible to obtain experimentally.
221
Research of Dynamics of Rotary Vibration Actuators with
Magnetic Coupling
Kęstutis Kanapeckas1, a, Remigijus Jonušas1,
Kazimieras Ragulskis1, Romualdas Ruzgus1
1
Kaunas University of Technology, +37061540479
a
kestutis.kanapeckas@stud.ktu.lt
Keywords: vibration actuators, magnetic coupling, rotary oscillations
Abstract
Creation and application of vibrators of rotary oscillations are relevant to the research
of rotary vibrations, emerging in rotary machines and mechanisms.
Modern technological equipment has to meet two principal requirements:
reliability and long life because its operating conditions tend to be more intensive,
machine exploitation in time has also greatly intensified, and furthermore there is a
persistent increase in demand for total quality of machine functioning. One of the
reasons of reducing equipment reliability and durability is elevated oscillations, both
linear and rotary. Linear oscillations are frequently encountered and their effect,
characteristics are more thoroughly analysed and described. Rotary oscillations lack
proper attention as they are not so common even though their impact on technological
equipment is quite significant. In optimization dynamic characteristics of certain
technological equipment and mechanisms, development and application of rotary
oscillations vibrators are of marked priority. They are also successfully employed for
intensification of technological operations, such as turning, grinding.
Various vibratory machines have gained strength in modern industry. They are
divided according to the type of a gear. The most popular vibrators are inert,
electromagnetic, eccentric, pneumatic and hydraulic. Among a great variety of
mechanisms electromagnetic vibrators are predominant for their simple design and
operational qualities. Their basic characteristic involves creating a fluctuating motion
directly without any converting mechanism. It results in a whole range of positive
factors such as unsophisticated design, no rubbing parts, simple maintenance.
Moreover, these vibrators consume a small amount of energy, their launching
conditions are facilitated, they enjoy high automation possibilities and simple
oscillations amplitude control. Owing to these qualities we have chosen this type of an
magnetic vibrator. The vibrator of rotary oscillations, consisting of two rotary
segments with permanent fixed magnets, is analyzed.
A dynamic model of the system has been made, expressed in mathematical
equation and explored in two possible work regimes, synchronic and non-synchronic.
Stability conditions of regimes have been established, as well as mathematical
subordinations have been gained, describing dynamical processes that proceed in such
types of gears and make necessary assumptions to their thorough investigation. The
mathematical subordinations describe dynamic processes, proceeding in the rotational
actuators with steady magnets and causes assumptions for their further investigation .
222
Transportation and Orientation of Object on a Vibrating
Platform with Controlled Dry Friction
Algimantas Fedaravicius1, Kestutis Tarasevicius1, a,
Minvydas Ragulskis3
1
Faculty of Mechanical Engineering, Kaunas University of Technology,
Kestucio 27, Kaunas LT-44312, Lithuania
2
Faculty of Fundamental Sciences, Kaunas University of Technology,
Studentu 50-222, Kaunas, LT-51368, Lithuania
a
ketara@ktu.lt
Keywords: vibration, dry friction, motion control, high frequency.
Abstract
An original method for transportation and orientation of objects (2) on a vibrating platform
(1) is presented in this paper (Fig. 1). The motions of the conveyed elements are based on
the asymmetry of the dry friction forces between the vibrating platform and the transported
objects. A method for recurrent control of the effective dry friction factor between the
body and the platform has been developed and validated by analytical, numerical and
experimental techniques.
Fig. 1.
This method exploits the phenomenon that the dry friction factor for a given pair of
materials is higher in the state of the rest than compared to the dynamical contact between
these materials. Manipulation with the phase and frequency of high frequency vibrations
modulated on top of relatively low frequency harmonic excitation of the vibrating platform
enables determination of such dynamical equilibriums when the motions of the conveyed
objects can be generated in the prescribed directions and predefined average velocities.
Experimental investigations validated theoretical results and proved that such dry friction
control technique can be affectively applied for the control of both the direction and the
velocity of transportation of the conveyed elements.
It is possible to transport bodies of disc shape in a flat movement if using a
vibroplatform that has areas with different frictional factor. When a body is transported on
the platform that moves in gyration in control of dry friction between the body and this
platform, it is possible to transport the body in any desirable direction or pre-given
trajectory.
223
Dynamic Stability of a Flexible Rod under Parametric
Excitation
Gouskov A.M.1, a , Myalo E.V.2, Panovko G.Y.1, b,
Tretyakova V.G.2
1
Bauman Moscow State Technical University, Russia
2
Blagonravov Mechanical Engineering Research Institute of RAS, Russia
a b
gouskov_am@mail.ru, gpanovko@yandex.ru
Keywords: flexible rod, parametric excitation, stabilization, parametric resonance,

dynamical stability.
Abstract
In the paper is considered vertically mounted and cantilevered homogeneous rod
with a constant cross section. At the unstrained state the rod‘s axis is straight. It is
supposed that lateral stiffness is such that the rod buckles in static conditions only
under gravity and its axis bends. It is known, if the base of the rod subject to
vertical oscillation when it is possible to back up (stabilize) origin rectilinearity of
the rod‘s axis due to parametric excitation at certain frequency and amplitude. In
other words, the lateral stiffness of such rod increases under vibration.
The purpose of this work is to investigate parametric oscillation of the flexible
rod and to determine stabilization conditions of the rectilinear form of the rod‘s
axis under vertical vibration of its base depending on parameters of excitation,
internal and external damping, and rod flexibility parameter.
Differential equation describing behaviour of the flexible rod under
parametric excitation was derived with the following assumptions:
 the base of the rod oscillates harmonically in vertical direction;
 the rod‘s axis is inextensible;
 finite rotations of sections are taken into account;
 rotary inertia of cross sections isn‘t considered;
 expressions for axle curvature and axial displacement as functions of
deflection are taken into account relative to geometrical nonlinearity of the
third infinitesimal order;
 external friction is proportional to absolute velocity of the rod‘s section
(linear-viscous damping model);
 Foight‘s model is applied to take account of internal friction;
Multimodal approximation of differential equation solution was found with
use of Galerkin‘s technique. Two-parameter domains, where stabilization of
rectilinear form of the rod‘s axis is possible, were obtained as the result of further
numeric simulation. Stability analysis is carried out according to Floquet -
Lyapunov‘s theory. Research of multipliers evolution on complex plane allowed
224
to determine boundaries of stability domains and bifurcation types corresponding
to main, n-th kind and combination resonances.
Stability domains were showed up, behavior of their boundaries was
investigated. Influence of flexibility parameter and influence of damping in
principal on stabilization of the rectilinear form of the rod‘s axis was analyzed.
Adding of linear damping increases stability regions. External friction relative to
internal limits excitation parameters domain of stabilization possibility distinctly.
Work was fulfilled with the support of grants RFBR 07-08-00253-а and 07-08-
00592-а, grant of Ministry of Education and Sciences of Russia and CRDF
RUB1-018-MO-07.
225
The Pulse Wave Velocity and the Velocity of Sound in
Blood Flow
Rolandas Girčys1, a, Arūnas Ţvironas2, b
1
Departement of Digital Signal Processing, Kaunas University of
Technology, Studentu 50, LT–33031, Lithuania
2
The Mechatronics Centre for Studies and Research, Kaunas University of
Technology, Kestucio 27-305, LT-44312, Lithuania
a b
girrol@ifko.ktu.lt, arunas.zvironas@ktu.lt
Keywords: Pulse wave velocity, arterial wall, elasticity, reology, blood flow.
Abstract
Pulse wave velocity (PWV) is a basic parameter in the dynamics of pressure and
flow waves traveling in arteries. The aim of paper is the evaluation of sound
velocity in blood and the adaptation of N.E.Joukowsky shock-wave equation to
evaluation of arterial pulse wave velocity. The isothermal contractibility
coefficient at the ideal gas case   1 P , here P – a pressure. The equation of
2 2

classical wave flow is:  y t  E 0     y x .
2 2

Because dim E 0    dim v   , thus the square of sound velocity in the ideal
2
g
gas is:
E0    v g2 . (1)
When the ideal gas constant R  8.31J mol  K  has known, then
E0  V p V T const  p . Using the ideal gas case, we have been got the next
expression is E0  P  1  . T. Jungas, Moens and Korteweg had proved that
when temperature is constant at the expansion – contraction processes and using
the Eq. 1, the sound velocity in the material is equal:
v g  1      E0  . (2)
For instance, the expressions: c PW V  Eh d , c PW V  1.15 Eh d ,
c PW V  Eh  ri  h 2  , are used for the PWV estimation. We choose an

emulsion, which reologic properties are close to blood and contractibility

10

coefficient is   2.55  10 m N , for the estimation of sound velocity in the
2
blood, because the elasticity module of blood E 0 is not known. Then using Eq. 2
226
the sound velocity v gk  1932.5 . For the value vg evaluation in PWV we use the
N.E.Joukowsky shock-wave equation p  cs u and now we have the pressure
wave velocity:
cs  p   u  (3)
here u  1  Ek E   d h  is flow velocity, where E k – a blood elastic module,

E – an arterial elastic module, d – an arterial diameter, h – an arterial wall
thickness. The expression for PWV estimation has been got reconstructing the
Eq. 3:

cPW V  Ek   1 1  Ek E   d h  .  (4)

The data: d  2.14 102 m , h  1.27 103 m , E0  3.921  10 N m ,
9 2


E  4.0  10 6 N m 2 ,  
  1.05  10 kg m , v g  1932.5 , corresponding the
3 3
beginning of aorta, have been added to Eq. 4 and c PW V  Eh d . In both cases

cPW V  4.83m s  has been got.
Conclusion
The results, have been got using the Eq. 4, are the same as from other popular
expressions, founded in literature. However, the Eq. 4 evaluates the dynamic of
reologic blood properties for the c PW V value more precisely.
227
Concept and Methods of Adaptive Vibration Protection
and Stabilization
Reshat Fourounjiev1, Alexander Homich1
1
Belarusian National Technical University, Enterprise “NPM-PRINT”
Keywords: Adaptive control, Vibration protection, Adaptive stabilization, Adaptive

regulator, Stability, Multi-axis machines
Abstract
Theoretical and applied problems of active vibration protection and stabilization
are examined by K. M. Ragulskis, K. V. Frolov, F. A. Furman , R. I. Fourounjiev,
A. L. Homich, M. D. Genkin, M. Z. Kolovsky, V. B. Larin, A. F. Opejko, D.
Rujechca, L. А. Ribak, A. V. Sinev, V. D. Sharapov, J. Т. Whether, D. L. Mejry,
V. G. Rosler and many others. The further essential improvement of quality of the
active vibration protection and stabilization can be obtained based on the inverse
problems of controlled systems and adaptive regulators of a new generation,
which combine accuracy and high speed without overshoot. In a general case, the
original approach and methods provide adaptive vibration protection and
stabilization in real time, taking the motion stability into account.
The motion equations of the controlled system are assumed to be known with
accuracy to the control vector u  (u1 ,..., um )T :
x  F ( x , x, u ) ,
 (1)
t  to : x(to )  xo , x (to )  xo ,
T
where F  ( F1 , ..., Fn ) is a vector of the right parts of the system;
T T
x  ( x1 , ..., xn ) is a vector of generalized coordinates; x  ( x1 , ..., x n ) is a
T
vector of generalized speeds; xo  ( x1o ,..., xno ) is a vector of the initial
T
condition; x0  ( x01 ,..., x0 n ) is a vector of the initial speeds; T is the symbol of
transposing.
Servo-drives can be installed on all supports, or only on the required ones (for
example, only on the side supports). There are unified quality criteria for all the
drives, which are presented in the form of desirable motion properties, of
formulation of the problems of control and restriction, as well as in the form of
adaptive control algorithms, which parameters, however, vary for the drives of
the various supports. For chassis with pneumatic elastic elements it is natural to
control the position of the plunger of the pneumatic elastic element by controlling
the submission of the liquid in the cavities above and under the plunger.
228
The problem of the active vibration protection and stabilization
envisages the solution of two problems at each moment of time:
- minimization of the oscillations of the amortized mass;
- maintenance of the motion stability (minimization of the take off of the
controlled wheels from the ground).
Let's consider formulations of these problems, leaving out the indices of
supports and boards of the machine for simplicity.
Formulation of the vibration protection problem. For the object (1) the
desirable motion properties are set in the following form for the output variable
x (t ) :
x f ( x , x , x) ,
 (2)
t to: x(to )xo , x (to )xo ,
where f (.) is the set operator, generally nonlinear, defined on fuzzy sets; x
is the command value (in the problem of vibration protection x0 ) and the
condition of asymptotical stability looks as follows:
x(t )x (t ), x (t )0 at t   . (3)
It is required to construct a regulator, which provides fulfilment of the
conditions of the motion optimality and asymptotical stability.
Formulation of the problem of stability of motion. The dynamic loading on a
wheel P(t) is considered as the output variable. For the output variable P(t) the
desirable motion properties are assigned in the following form:
P  f P ( P, P , P) , (4)
t to: P(to )Po , P (to )Po .
Here fp(.)is the assigned operator, generally nonlinear, defined on fuzzy sets; P is the
static loading.
The condition of asymptotic stability of the system is the following:
P(t )  P(t ), P (t )  0 at t  . (5)
It is required to construct a regulator, which provides performance of the conditions (4)
and (5).
The control for each of the servo-drives is calculated using the following formula
(indices of supports and boards are left out):
x , x , f , f , 
(4)
u ( x , x, x , 
x,  z) 
f , z , z, 
 
(6)
  0 k0 z  1 ( f , f , 
f ) 2 (  z ) 
x , x(4) )3 ( z , z, 
x, 
Here  j (.) are the known operators (j=0, …, 3); z is the output variable of the power
actuating mechanism; k0 is the constant, which describes the efficiency of the negative
feedback on the output variable of the power actuating mechanism. The results of the
computer modeling are under discussion. The received results confirm efficiency of
concept and control algorithms.
229
Heavy Duty Gearing-Roller Bearings System Stability
Performance
P. Maţeika1, a, V. Barzdaitis1, b, M. Bogdevičius2 ,c,
R. Didţiokas3, d, V. Ţemaitis1, e
1
Kaunas University of Technology, K. Donelaičio St. 73, LT44029,
Kaunas, Lithuania
2
Vilnius Technical University, Plytines St. 27, LT-10105, Vilnius, Lithuania
3
Klaipėda University Mechatronics Science Institute, Bijūnų St. 17,
LT91225, Klaipėda, Lithuania
a b c
pranasmazeika@centras.lt, vytautas.barzdaitis@ktu.lt, marius@vtu.lt,
d e
rididz@lrs.lt, vytautas.zemaitis@ktu.lt
Keywords: gear driver transmission, antifriction bearings, modeling and

simulation, vibration, contact stresses.
Abstract
The technical condition of heavy duty gear power transmission with roller
bearings have been modeled, simulated and tested in situ. The experimental
measurements data of rotors shafts vibration displacements were used in physical
model of gear teeth meshing dynamics simulation. The modeling and simulation
of rotating system and gears teeth meshing was provided by finite element
method. The aims of this paper are: to protect unexpected failures of rotating
system with gear power transmission running on antifriction bearings, to simulate
contact stresses of gears teeth meshing versus rotor rotation axis position changes
that caused by damaged bearings vibration displacements. The experimental and
simulation results were implemented in industry.
References
[1] Ou H., Long H., Balendra R. Computer Simulation for Meshing Gear Teeth
with Static and Dynamic Contact Finite Element Method. Proceedings of
Ninth World Congress on the Theory of Machines and Mechanisms, IFToMM,
Politechnico di Milano, Italy, 1995, vol.4, p. 2597-2601.
[2] Globevnik A., Flańker J. Vibroacustic method for analysis of gear drives.
Proceedings of Ninth World Congress on the Theory of Machines and
Mechanisms, IFToMM, Politechnico di Milano, Italy, 1995, vol.4, p. 2920-
2924.
230
Investigation of Vibrations of a Sheet of Paper in the
Printing Machine
Edmundas Kibirkštis1, a, Asta Kabelkaitė1, b,
Artūras Dabkevičius1, c, Liutauras Ragulskis2, d
1
Kaunas University of Technology, Studentų 56, 51424 Kaunas, Lithuania
2
Vytautas Magnus University, Vileikos 8-706, LT-44404 Kaunas, Lithuania
a b
edmundas.kibirkstis@ktu.lt, asta.kabelkaite@ktu.lt,
c d
arturas.dabkevicius@ktu.lt, l.ragulskis@if.vdu.lt
Keywords: vibrations, paper, printing, eigenmode, plate, finite elements
Abstract
The model for the analysis of vibrations of paper in a printing machine is presen-
ted. It is assumed that paper performs transverse vibrations as a membrane having
stiffness due to static tension in its plane. Thus the analysis consists of two stages:
the static problem of plane stress by assuming the displacements at the boundary
of the analyzed paper to be given is solved, and the vibrations of the investigated
paper as of a membrane with stiffness due to the static tension determined in the
previous stage of analysis are analyzed (the first eigenmodes are determined). It is
shown that the eigenfrequencies of transverse vibrations of the analyzed paper
can be controlled by the static tension in the plane of the paper.
The model for the analysis of paper stability in a printing device is presented.
It is assumed that paper moves with constant velocity in a given direction. The
analysis is performed using a plate-bending element with the contribution of the
forces of inertia from the convective accelerations.
In order to determine the dynamical characteristics of the sheet under
symmetric loading of the sheet of paper, a special experimental setup was
designed and produced. The created experimental setup enables us to change the
loading force of the investigated material and to generate longitudinal vibrations
of the investigated material in the frequency interval (8 Hz to 2.2 MHz). In this
way the nodal lines of the standing waves and the eigenmodes were determined.
For the visualization of standing waves two methods were used: a grain of
carborundum (150-180 m) and projection moiré. It is shown that the eigenfre-
quencies of transverse vibrations of the analyzed paper can be controlled by the
static tension in the plane of the paper. The critical velocities and stability
eigenmodes are determined. The operation of the printing device should take
place in the velocity intervals where the full stiffness matrix is positive definite.
In order to operate at velocities exceeding the lowest critical velocity, the regions
of unstable operation are to be passed. For this purpose the locations of the
stabilizing elements are determined from the stability eigenmodes.
231
Poster Session: Robotics
232
The Influence of Friction on the Dynamic Model for a 6-
DOF Parallel Robot with Triangular Platform
Tiberiu-Pavel Itul1, a, Doina Liana Pisla1, b
1
Technical University in Cluj-Napoca, Constantin Daicoviciu 15, RO-
400020 Cluj-Napoca, Romania
a b
itultp@yahoo.com, doinapisla@yahoo.com
Keywords: parallel robots, kinematics, dynamics, friction.
Abstract
The dynamic analysis is an important element of the mechanical design and
control of parallel mechanisms. This paper presents a method for the dynamical
modeling of the guided in three points parallel robots with six degrees of freedom
having triangular platform, including the friction. The evaluation of the full
generalized forces is performed in two stages. In the first stage, the drive
generalized forces are established, based on the dynamical equations without
friction. Using the Newton-Euler equations, the reactions from each joint are
computed. In the second stage the additional drive generalized forces due to the
frictions from the active and passive joints are computed by means of two
approaches. The first approach considers the whole mechanism. The generalized
additional forces which include the friction effect from the corresponding drive
joints and the friction effect from all passive joints are calculated using principle
of virtual power and the mechanism Jacobi matrices. The second approach treats
the kinematic chains as independent. The generalized additional forces are
evaluated using the virtual work principle. In both approaches the passive joints
are approximated with compliant joints whose momentum are equal to the
friction torques of these joints. The paper is organized as follows: Introduction,
Kinematic modeling of guided in three points parallel structures, Dynamics with
computation of the additional drive generalized forces due the frictions, Some
simulation results, Conclusions and References.
It is estimated that the forces due to the friction represent about 25% from the
forces/torques which are necessary for the manipulator movement in typical
situations. For the friction forces approximation two models could be applied: the
model of the viscous friction and the model of Coulomb friction. A friction torque
in a passive joint is a vector, which is situated along the relative rotational speed
of the considered link with respect to the neighboring links and it has opposite
direction to this relative speed.
As application it was chosen the 3-PPRS parallel manipulator (figure 1). To
solve the geometric problems the method of input-output (I-O) equations is used.
To find the kinematic model, the I-O equations are derived with respect to time.
The selected displacement of the working platform is a helical translation. The
233
dynamic modeling of 6 DOF parallel robots considering the friction effects is a
difficult problem. The integration of the friction results in the mathematical
model will lead to better results closed to the real behavior of the robot. The
obtained numerical results have shown that the frictions from the drive joints
have substantial effect in the additional drive forces components. Generally, the
numerical results have shown the friction coefficient from the passive joints do
not significantly influence the additional drive forces. The dynamical algorithms
including friction and based on kinematical algorithms offer the possibility of a
more complex dynamic study of these parallel robots in order to evaluate their
dynamic capabilities and to generate the control algorithms.
Fig. 1 The 3-PPRS parallel structure
234
Mechatronics Approach for Desk-Top CNC Milling
Machine Design
Riza GURBUZ1, a
1
Cankiri Karatekin University Cankiri College, Cankiri Meslek
Yuksekokulu, Cankiri, 18200, Turkey
a
gurbuz@cmyo.ankara.edu.tr
Keywords: CNC, Machine Tool, Mechatronics Design
Abstract
The marriage of computer, electronic technology and traditional machining
disciplines has given birth to revolutionary new disciplines, Mechatronics.
Therefore Mechatronics requires mechanical, electronic and computer knowledge
together. The main aim of this article is to present the mechatronics approach for
desk-top CNC milling machine design. Construction of computer controlled
(CNC) Machine differs greatly from that of conventional machine tools. This
difference arises from the requirement of higher performance levels. Machine
Structure, guide ways, feed drives, spindle and spindle bearings, measuring
systems, machine control unit, software and operator interface, gauging and tool
monitoring should be considered as mechatronics approach. Servo motors, motor
drivers and motor control unit were used in this CNC milling machine to make it
flexible and easy programming. Ball screws were used to X-Y –Z axes to
eliminate backlash of the slides. Non-contact home and Limit switches were used
to prevent possible damages against over travels. Necessary torque and power
have been calculated to select the motors by taking care of the load, ball screws,
motor inertia and required cutting tools and etc. and developed CNC milling
machine has been tested several times for reliable machining of machine parts.
References
[1] W. Bolton, ―Mechatronics, Electronic Control Systems in Mechanical and
Electrical Engineering‖, ISBN 0582-35705-5, Addison Wesley Longman,
(1999)
[2] S. Devdas, A.K. Richard ―Mechatronics System Design PWS Publishing
Company, (1997)
[3] S.Karunakaran, N.S.Dasharathy, ―Mechatronics and Machine Tools, Mc Graw
Hill Book Company,(1999)
[4] Gürbüz, R., ―Retrofitting of the Conventional lathe to CNC Lathe‖ Conference
Proceedings, 7. International Machine and Manufacturing Congress, (1996), p.
145
235
Aspects Concerning Modeling of Self-Reconfigurable
Parallel Robots
Cornel Brisan1, a
1
Technical University of Cluj-Napoca, C. Daicoviciu, 15, 400020, Romania
a
Cornel.Brisan@mmfm.utcluj.ro
Keywords: Self Reconfigurable Robots, Intelligent Manufacturing Systems, Virtual

Models, Simulation.
Abstract
This paper is deal with the concept of reconfigurable and self reconfigurable
robots. These robots are intended to be used as main component into intelligent
manufacturing systems. The paper presents basic concepts of this type of robots,
kinematics methods used to build up virtual models, numerical results and virtual
models. Also, conclusions are at the end presented.
References
[1] Emanuel Almeida Dawn Tilbury, Automatic logic generation for
reconfigurable cell-based manufacturing systems, IEEE Transactions on
Control Systems Technology, (2004).
[2] F.-L. Lian, J. M. Moyne, D. M. Tilbury, and P. Otanez. A software toolkit for
design and optimization of sensor bus systems in semiconductor
manufacturing systems. In AEC/APC Symposium XIII Proceedings, Banff,
Canada, October (2001).
[3] Guixiu Qiao, Roberto Lu, and Charles mclean , Flexible Manufacturing
System for Mass Customization Manufacturing Journal of Operations
management, (2003).
[4] Isao Takagawa, Coevolution of Physical Configuration and Control Strategy
on A Self-Reconfigurable Modular Type of Two-Dimensional Transfer
System, Journal of Production Research, VIII, No4, 2005. ISR, 19–21 April
2001.
[5] J. Moyne, J. Korsakas, C. Milas, T. Hobrla, T. Hong, H. Kim, J. Priskorn, K.
Sukerkar, H. Wijaya, N. Agarwal and D. Tilbury, ―A Software Infrastructure
for Reconfigurable Manufacturing Systems,‖ 2nd CIRP Reconfigurable
Manufacturing Conference, Ann Arbor, Michigan, (September 2003).
[6] J. Moyne. Moving from APC to factory-wide equipment engineering systems.
In Proceedings of the SEMI Technology Symposium (STS) 2002, Chiba,
Japan, (December 2002).
[7] Jean Conter, Flexport : a remotely reconfigurable interface based on FPGA
A.I. Technical Report, (2003).
236
Study of Robot Actuator Operatin as a System on Air
Films
K. Ragulskis1, a, E. Kibirkštis1, b, D. Pauliukaitis3, c
1
Kaunas University of Technology, Lithuania
3
Advertising agency „Creative Media Services“, Lithuania
a,b c
edmundas.kibirkstis@ktu.lt, dp@cms.lt
Keywords: pneumatic actuator, vibrotransducer, robot.
Abstract
The paper analyzes the dynamics of a robot pneumatic actuator. The aim of the
present paper is to determine the dependence of the kinematic parameters of the
robot gripper motion at different geometric parameters of the vibrating system.
The vibrotransducer of the pneumatic actuator‘s gripper operates in the air mode
and the self-exciting vibration mode.
Air flowing is described by the simplified San Venam and Vantsel formulas
suggested by Prandl. In this case, the mechanical system motion is described by a
differential equation system when the air flow is expressed by a non-dimensional
Prandtl formula. The set of equations has been solved by the Runge-Kutta method
using Mathcad. The findings of the digital study are presented.
The obtained findings of the theoretical study has shown that the system of
equations provides a sufficiently relevant description of the dynamics of the
pneumatic vibroactuator. The results of the study allow us to state that the
geometric and dynamic system parameters have an essential impact on the
kinematics of the mechanical actuator.
The zones of self-exciting vibrations of the vibrotransducer have been
determined, as well as the dependences of amplitudes and frequency upon the
supply air pressure. The dependence of the linear movement of the actuator‘s
gripper device and its velocity on the geometric parameters of the vibrating
transducer of the mechanical system is presented.
The specific feature of the robot working organ is that its motion velocity is
pulsating, and the pulsation parameters are determined by the characteristics of
the vibroactuator`s self-exciting vibrations (amplitude and frequency). However,
in some technologies this pulsation can be especially useful.
237
Development of Mobile Minirobots for in Pipe Inspection
Tasks
Olimpiu Tătar1, a, Dan Mândru1, b, Ioan Ardelean1, c
1
Department of Mechanisms, Precision Mechanics and Mechatronics,
Faculty of Mechanics, Technical University of Cluj-Napoca, B-dul Muncii,
nr. 103-105, 400641, Cluj-Napoca, Romania
a b
olimpiut@yahoo.com, mandrud@yahoo.com,
c
ioan_ardelean@yahoo.com
Keywords: in-pipe minirobots, linkages mechanisms.
Abstract
The possibilities to use the miniature robotic systems for inspection, exploration
and maintenance of the pipes are highlighted. In this paper, the authors‘
contribution in this field is largely discussed. Two in-pipe minirobots developed
by the authors are described. Our efforts are focused on the in-pipe mobility and
corresponding actuation systems. Several functional characteristics (e.g. the
maximum /minimum inner pipe diameter) are given.
The developed in-pipe minirobots

The first prototype - In figure 1, it is given the first constructive variant of an in-
pipe inspection minirobot, which was designed, modelled and developed. The
minirobot contains three linkages mechanisms, symmetrically disposed along the
longitudinal axis of the robot. The force that the minirobot mechanism exercises
on the pipe walls is generated with the help of an extensible spring. The helical
spring disposed on the central axis assures the repositioning of the structure, in
the case of the pipe diameters‘ variation. This minirobot has movement capacities
for inspection in (140 – 175) mm diameter pipes in horizontal or vertical
configuration.
Fig. 1 The 3D model of the Fig. 2 A picture of the developed in-

minirobot pipe minirobot
The second prototype - Another constructive solution that uses a similar

structure with the first prototype is presented in the figure 3.
238
D1 h3 C1 F1
G1 h2
A1
h1
E1
 O1
B1
B‘
ME
B2
E2 O2
A2
G2
D2 C2 F2
Fig. 3 The structural scheme and the photograph of the minirobot (prototype 2)
Fig. 4 The photograph of the modular robotic system
It is more compact from the constructive view point and uses a single DC
motor for actuation, disposed on the main axis of the minirobot (module no. 1).
Using the two modules connected by a universal joint was developed a prototype
of a modular robotic system with adaptable structure, as is presented in figure 4.
The first module (fig. 3) generates the traction force. The joint disposed by the
two modules of the robot offers the capacity of orientation of this one. The
second module is necessary for the transport of the needed equipments for
performing the in-pipe inspection.
Conclusions
In this paper, we proposed two wheeled-type in-pipe minirobots. A very
important design goal of these robotic systems is the adaptability to the inner
diameters of the pipes. Thus, the studied minirobots are characterized by an
adaptable structure, based on linkages mechanisms The prototypes were designed
in order to inspect pipes with variable diameters within 140 and 175 mm. It‘s still
in the phase of developing the modular robotic system.
239
Workspace and Stiffness Analysis of a Two Degree of
Freedom Micro Parallel Robot
Sergiu-Dan1, a, Vistrian Mătieş1, b and Radu Bălan1, c
1
Technical University of Cluj-Napoca, C. Daicoviciu no. 15, Cluj-Napoca,
Romania
a b
sergiustan@ieee.org, matiesvistrian@yahoo.com,
c
radubalan@yahoo.com
Keywords: workspace, stiffness, bipod, micro-parallel robot
Abstract
In this paper a workspace and stiffness analysis for a two-degree of freedom
parallel micro robot is outlined by using optimality criterion of workspace and
numerical aspects. We proposed a numerical procedure for determining and
evaluating the workspace of the Bipod robot architecture. The analysis and
algorithm can be used as a design tool to select dimensions, actuators and joints
in order to maximize the workspace and improve stiffness within the workspace.
References
[1] C. Gosselin. ―Determination of the workspace of 6-d.o.f. parallel
manipulators‖. ASME Journal of Mechanical Design, 112:331–336, 1990.
[2] J. P. Merlet. ―Determination of the orientation workspace of parallel
manipulators‖. Journal of intelligent and robotic systems, 13:143–160, 1995.
[3] Kumar, KJ. Waldron. ―The workspace of mechanical manipulators‖. ASME J.
Mech. Des. 1981; 103:665-672.
[4] YC. Tsai, AH. Soni. ―Accessible region and synthesis of robot arm‖. ASME J.
Mech Des. 1981, 103: 803-811.
[5] KG. Gupta, Roth B., ―Design considerations for manipulator workspace‖.
ASME J. Mech. Des. 1982, 104(4), 704-711.
[6] K. Sugimoto, Duffy J, Hunt KH, ―Special configurations of spatial
mechanisms and robot arms‖. Mech Mach Theory 1982, 117(2); 119-132.
[7] KC. Gupta. ―On the nature of robot workspaces‖, Int. J. Rob. Res. 1986; 5(2):
112-121
240
Autonomous Mobile Robot Control Using “IF-THEN”
Rules and Genetic Algorithm
Gintautas Narvydas1, a, Rimvydas Simutis1, b,
Vidas Raudonis1,c
1
Studentu 48-327, Kaunas, LT-51367, Lithuania
a b
gintautas.narvydas@ktu.lt, rimvydas.simutis@ktu.lt,
c
vidasraudonis@yahoo.com
Keywords: Autonomous Mobile Robots, IF-THEN rules, Intelligent Control

Systems, State-Based Control Systems, Genetic Algorithm.
Abstract
One of the main robotics tasks is efficient autonomous mobile robots (AMR)
movement in previously unknown environment with obstacles and walls. And
one of the simplest ways to control AMR is the usage of IF-THEN rules. The
paper shows that rough frame of control system using IF-THEN rules can be
designed. Then Genetic Algorithm can by used to find optimal parameters of
control algorithm: particular boundaries of infrared proximity sensors and motors
speed. In our experiments the AMR Khepera II was taught to follow the walls of
the maze using reactive control system made of IF-THEN rules. The most
difficult problem there is to find such parameters where fast speed and precise
movement match. When the speed increases, the robot can follow the wall but it
cannot react to the wall ahead on time. We created and compared two intelligent
State-Based control systems. Each system has seven states. To evaluate control
systems ability to control the robot the fitness function was used. In the figure 1,
we can see average fitness (the dotted curve) of the population of 50 individuals
and the fitness of the best individual (the solid curve) from each GA generation.
0.8
0.8
0.7
0.7
0.6
0.6
Fitness
0.5
Fitness
0.5
0.4 0.4
0.3 0.3
0.2 0.2
0.1 0.1
0 0
0 10 20 30 40 50 60 70 80 90 100 110 0 10 20 30 40 50 60 70 80 90 100 110
Generation Generation
Fig. 1. Fitness functions of the best individual (the solid curve) and average
fitness of the population of 50 individuals (the dotted curve) during GA
generations
241
The first system (Fig. 1 left) with more degrees of freedom for the speed
values search showed better results. It required fewer generations to find better
individuals (solutions). The second control system (Fig. 1 right) due to the set
maximum speed in some cases required longer time to find good solutions which
have fitness function values more than 0.7. If we compared average populations
fitness of the systems, we would see that the first system tends to have better
population. The curve of the best individuals in the first system showed more
stability, however, the best results of both systems are similar.
The ability to follow the walls can be easily transformed into the ability to
avoid even moving obstacles and to circuit them on the right or on the left. Thus
our designed control systems can be a part of Behavior-Based control systems.
Also we measured fitness when the robot Khepera II was controlled by human
expert operator via direction control (joystick was used). He reached 0.711 fitness
value. This is a similar result to the one we have gained, but approximately after
15 minutes of control the expert operator got tired, lost concentration and could
not control the robot very well.
242
Vibratory Alignment of the Parts during Robotized
Assembly
Baksys Bronius1, a, Baskutiene Jolanta1, b
1
Department of Mechatronics, Kaunas University of Technology, Kestucio
27, 44312, Lithuania
a b
bronius.baksys@ktu.lt, jbask@ktu.lt
Keywords: vibratory excitation, parts alignment, automated assembly.
Abstract
Vibratory alignment of the components, as one of the parts is gripped by the
robotic gripper and provided with vibratory excitation along the assembly
direction, is under consideration. Scheme of robotized assembly, dynamic model
and experimental setup (Fig.) for vibratory alignment of chamferless cylindrical
and rectangular cross-section parts are presented.
11
22
33
44
(a)
11
22
33
44
(b)
Fig. 1. Experimental setup for cylindrical (a) and rectangular cross-section (b)
parts alignment: 1-electromagnetic vibrator; 2 – resilient element; 3 – peg; 4 –
mating part
243
Applying formed dynamic model and motion equations of the contacting with
the base part, MATLAB code was written and numerical simulation was done for
peg-in-hole type parts alignment investigation. By obtained results of numerical
simulation were defined dependencies of parts‘ alignment duration on excitation
parameters, initial pressing force, the coefficient of friction, assembly clearance
and on angular stiffness parameter. Existing areas of parameters sets, where
reliable alignment is taking place, were determined. The initial pressing force,
angular stiffness and excitation frequency have major influence on stable
alignment areas.
Results of numerical simulation were verified by the experiments. The areas
of parameters sets have been determined, where alignment of the parts goes
reliable and stable. Also were identified parameters values, causing failures and
unstable regimes of parts alignment. Defined alignment duration dependencies on
excitation frequency, amplitude and initial pressing force provided qualitative
verification of the numerical simulation results. Properly matched system and
excitation parameters make possible reliable and fast alignment of the cylindrical
and rectangular cross-section chamferless parts as positioning error is up to a few
millimeters.
Carried out numerical simulation and performed experimental analysis lead to
conclusion, that under properly chosen system and excitation parameters,
vibratory method may be successfully applied in robotized assembly for peg-hole
type parts alignment.
References
[1] J.Y. Kim, W.S. Kim, H.S, Cho Misalignment estimation and compensation
for robotic assembly with uncertainty. Robotica, Vol. 23, (2005), p. 355-
364.
[2] L.E. Bruzzone, R.M. Molfino, M. Zoppi Modelling and control of peg-in-
hole assembly performed by translational robot, in: Proc. of the IASTED
International Conference Modelling, Identification, and Control, Innsbruck,
Austria, (2002), p. 512-517.
[3] S.-Y.Chung, D.Y.Lee Discrete Event Systems Approach to Fixturless Peg-
in_Hole Assembly, in Proc. of the American Control Conference, Arlington,
June 25-27 (2001), p. 4962-4967.
[4] Ch.Ch. Cheng, G.-Sh. Chen Analysis of Flexible Insertion Assembly of
Polygonal Pegs JSME International Journal, Series C, Vol. 46, N3 (2003), p.
1130-1141.
[5] B. Bakńys, A. Fedaravičius Vibratory systems and devices for automated
manipulation (in lithuanian), Kaunas, Technologija (2005), 373 p.
[6] B. Bakńys, J. Baskutienė, A.B. Povilionis Experimental investigation of parts
vibratory alignment under kinematical excitation Mechanika, Kaunas, Vol.
6(56), (2005), p. 27-32.
244
Local Navigation Method for Improvement of Mobile
Robot Movement
Oleh Adamiv, Vasyl Koval, Arunas Lipnickas1, a, Viktor Kapura
1
Research, Studentų g. 48-111, LT-51367 Kaunas, Lithuania,
a
arunas.lipnickas@ktu.lt
Keywords: autonomous mobile robots, local navidation
Abstract
The analysis of global and local navigation methods for an autonomous mobile
robot (AMR) allowed to select the main lacks of existent methods of navigation.
The improved local navigation method based on the use of potential fields for
robot navigation is presented.
It is proposed to use computation of cost function value in alternative points
of movement on the next step relative to the goal А(Dist) for determination the
direction of movement. Distance to the goal G(Х,Y,α) for every N alternative
point of movement Ti(Х,Y,α) might be computed as the Euclidean distance:
2 2
𝐷𝑖𝑠𝑡 = 𝑥 𝑇𝑖 − 𝑥𝐺 + 𝑦𝑇𝑖 − 𝑦𝐺 .
The direction of movement is chose from alternative of decisions, where value

of cost function of distance to the goal has the largest max{(F(Dist)} value.
If an obstacle is appeared during AMR movement then potential field and
value of cost function of distance to the obstacle should be calculated. Function
value is increasing while AMR comes near to obstacle. It also needs to set the
critical value of minimal distance to the obstacle Obst_Dist_Critical, which is
determined by technical specifications of robot, and distance Non_Dang_Dist,
where obstacle does not influence to AMR. Such approach allows AMR to move
to the goal safely without collision with obstacles and has enough space for
performing the manoeuvres.
In order to determine the optimal moving path with influence on AMR of two
or more obstacles the summary cost function value is used basis on least-squares
method:
2 𝑁 𝑇𝑖 2
𝐹𝑆𝑢𝑚 𝑇 = 𝐹 𝐷𝑖𝑠𝑡𝑇𝑖 − 𝑗 =1 𝐹 𝑂𝑏𝑠𝑡_𝐷𝑖𝑠𝑡𝑗 .
𝑖
The direction of AMR movement is chose by means of maximum value of

summary cost function for all alternative points:
245
max⁡ 𝐹𝑆𝑢𝑚 𝑇 .
𝑖
When the distance to the goal on next step of movement is more than distance
on previous step Disti < Disti-1 or distance to the goal is equal to
Obst_Dist_Critical then the value of cost function of obstacle F(Obst_Dist) is
equal to 1000. In such situation there are needs to go to the stage of obstacle
avoidance along the perimeter.
Movement along the perimeter must keep the minimal distance to the obstacle
Obst_Dist_Critical and the value of cost function of distance to the obstacle must
be maximum from alternative points of movement max(F(Obst_DistTi)< 1000.
The direction of the possible movement is determined by means of gradient to
the goal within all accessible directions for obstacles avoidance.
It may occur the situation when AMR will return back to the starting position,
in such case it is useful to save coordinates of previous stages. If the robot back to
the position where it was in some previous steps of obstacles avoidance then
direction of movement must changes on the opposite. If AMR changed direction
of movement and came to the point again twice then movement is stopped
because AMR came into closed environment.
In that way implementation of navigation method consists of two main stages:
 movement to the goal by using the gradient of direction to the goal and the
value of cost function to the obstacles;
 obstacles avoidance along perimeter.
The proposed local navigation method allows to perform criteria to reach the
goal during AMR movement in complex unstructured environment. Also it
provides the AMR navigation between dynamic obstacles or obstacles, which are
not shown on the global area map. The known global navigation methods cannot
provide the reaching to the goal in the environment with obstacles, which are not
shown on the global area map. The advantage of proposed method compare with
known local navigation method is possibility of exit from local minimums. Its
possibility is provided by second stage of method, namely the stage of obstacles
avoidance along the perimeter.
246
Hexapod Leg Control Algorithm in Fault Conditions
Viorel Stoian1, a, Mircea Nitulescu1, a, Cristina Pana1, a
1
University of Craiova, Automation Control and Mechatronics Department,
107, Decebal Street, 200440, Craiova, ROMANIA
a
{stoian, nitulescu, cristina}@robotics.ucv.ro
Keywords: hexapod robotic leg, inverse kinematics, fault detection and isolation,
optimal criteria.
Abstract
In this paper we present an algorithm which allows for the leg structure of a hexapod
robot, under the terms of the actuator blocking occurrence during the walking, either a
correct positioning (if it is possible) or a positioning in an acceptable proximity of the
desired co-ordinates by minimising of an optimal criteria (by the adequate commands
to the functional elements). It is proposing a synthesis of the commands to a poli-
articulated hexapod robotic leg (3 segments). First, a workspace analysis of the leg tip
is made, than is presented the algorithm for the actuators in the terms of a good
walking (finding the optimal motions) and than, in terms of the blocking of some
robotic leg segments.
In our case, a workspace analysis of the leg tip of a hexapod robot is made.
Trajectory planning refers to the planning of a sequence of world points to be
occupied by the leg tip and the planning of a sequence of values to be taken on by a
specific joint variable qi.
Vector and matrix algebra are utilised to develop a systematic and generalised
approach to describe and represent the location of the links of a robot structure with
respect to a fixed reference frame. Since the links of a robot structure may rotate
and/or translate with respect to a reference coordinate frame, a body-attached
coordinate frame will be established along the joint axis for each link. The direct
kinematics problem is reduced to finding a transformation matrix that relates the
body-attached coordinate frame to the reference coordinate frame.
A Rotate-Rotate-Rotate mechanical structure is considered. The structure can be
part of a poli-articulated hyper-redundant robotic arm, a part of a non redundant
robotic arm or can be itself a robotic arm or a mobile robotic leg.
The algorithm proposed by the authors allows, if the blocking exists, either a
correct positioning by other displacements of the unblocked segments (if it is
possible) or a positioning in an acceptable proximity of the desired co-ordinates by
minimising of optimal criteria. Because each joint has a sensor, we know exactly the
values of each angle and we can detect if one or more actuators are blocked. A
residual vector r(t) is calculated.
If all components of residual vector are null, we can consider that the hexapod robot leg is
in good conditions. If one or more components of r(t) are different by zero we have the
possibility to detect and isolation the presence of a blocked actuator. In this situation the
algorithm calculates the position of leg tip under fault condition. For determine the
commands we minimise the optimal criteria who represent the Euclidean distance.
247
Workspace Optimization of a Six Degree of Freedom
Micro Parallel Robot
Sergiu-Dan1, a, Vistrian Mătieş1, b and Radu Bălan1, c
1
Technical University of Cluj-Napoca, C. Daicoviciu no. 15, Cluj-Napoca,
Romania
a b
sergiustan@ieee.org, matiesvistrian@yahoo.com,
c
radubalan@yahoo.com
Keywords: optimization, hexapod, micro-parallel robot, Genetic Algorithms,

workspace.
Abstract
In this paper a mono-objective optimum design procedure for a six-degree of
freedom parallel micro robot is outlined by using optimality criterion of
workspace and numerical aspects. A mono-objective optimization problem is
formulated by referring to a basic performance of parallel robots. Additional
objective functions can be used to extend the proposed design procedure to more
general but specific design problems. A kinematic optimization was performed to
maximize the workspace of the mini parallel robot. Optimization was performed
using Genetic Algorithms.
References
[1] C. Gosselin. ―Determination of the workspace of 6-d.o.f. parallel
manipulators‖. ASME Journal of Mechanical Design, 112:331–336, 1990.
[2] J. P. Merlet. ―Determination of the orientation workspace of parallel
manipulators‖. Journal of intelligent and robotic systems, 13:143–160, 1995.
[3] A. Kumar, KJ. Waldron. ―The workspace of mechanical manipulators‖.
ASME J. Mech. Des. 1981; 103:665-672.
[4] YC. Tsai, AH. Soni. ―Accessible region and synthesis of robot arm‖. ASME J.
Mech Des. 1981, 103: 803-811.
[5] KG. Gupta, Roth B., ―Design considerations for manipulator workspace‖.
ASME J. Mech. Des. 1982, 104(4), 704-711.
[6] K. Sugimoto, Duffy J, Hunt KH, ―Special configurations of spatial
mechanisms and robot arms‖. Mech Mach Theory 1982, 117(2); 119-132.
248
Poster Session: Materials (Properties, Modeling,
Manufacturing and Processing)
249
3-D Modeling of Nanostructures Evolution in Lateral
Etching Processes
R. Navickas1, a
1
Computer Engineering Department, Electronics Faculty, Vilnius
Gediminas Technical University, Naugarduko Str. 41 - 447, LT-03227
Vilnius, Lithuania
a
romualdas.navickas@el.vtu.lt
Keywords: 3-D modeling of manufacturing processes; MEMS/NEMS; lateral

etching processes of amorphous and polycrystalline films, self-formation
processes.
Abstract
The model of evolution of micro- and nanostructures in self-formation process of
lateral etching layers was created for analysis and design on new self-alignment
and self-formation technologies nanodevices, MEMS/NEMS and integrated
circuits. Presented algorithm is based on the assumption, that any structure can be
represented by the set of randomly generated points and uses condition bases sets
interchanging method for representing the border set as surface, obtained in
lateral etching. Influence of initial parameters of the final structure configuration
together with number of evolution steps is presented. Paper shows some
theoretical basis of the model together with experimental results, modeled for
different initial configurations of nanostructures. The program was realized on the
basis of personal computer with the Intel Pentium CPU and Matlab software.
References
[1] R. Navickas: Solid State Phenomena. Mechatronic Systems and
Materials MSM 2005, vol. 113 (2006), pp. 7-12.
[2] R. Navickas, R. Kirvaitis: Solid State Phenomena. Self-formation Theory and
Applications, vols. 97-98 (2004), p. 229-234.
[3] R. Navickas, R. Ciulada: Solid State Phenomena, Self-formation Theory and
[4] S. Januńonis, V. Januńonienė: Solid State Phenomena. Self-formation Theory
and Applications, vols. 97-98, p 259-493.
[5] S. Janusonis: Informatica (Lithuanian Academy of Sciences, Vilnius), Vol. 2,
No4, (1991), p.497-515.
[6] R. Navickas: Rewiew of Electronics, Vol. 3, Microelectronics (Moscow,
CSII‗‗Electronics‗‗), No 11181, (1986), 43 p. (in Russian).
[7] Navickas, M. Romanov: Solid State Phenomena. Self-formation Theory and
250
The Influence of Selected Powder Fillers on the
Tribological Properties of Composite Materials for Dental
Fillings
Joanna Mystkowska1, a, Jan Ryszard Dąbrowski1, b
1
Technical University of Bialystok, Mechanical Department, Wiejska 45C,
15-351 Bialystok, POLAND
a b
joasia@pb.edu.pl, jrd@pb.edu.pl
Keywords: friction, wear, friction modifiers, dental composites
Abstract
The wear of dental materials is one of the major problems concerning almost
every kind of dental filling. The aim of this study was to determine the influence
of powder fillers on the tribological properties of composite materials for dental
fillings. In this work five ceramic-polymer microfilled composites containing
friction modifiers were tribologically tested.
0.48
Friction coefficient
0.46
0.44
0.42
3 6 10 20 40 60 90 120 180
Time (min)
A B C D E
(a)
0.48
0.46
Friction coefficient
0.44
0.42
3 6 10 20 40 60 90 120 180
Time (min)
B A C
(b)
Fig.1. The influence of time on friction coefficients of composite materials for
dental fillings: a) – for p=1MPa, b) – for 10MPa
251
The investigated composites contain a fluoridated filler (J-20 based on Ba-Sr-
Al-P-Na-silicate glass fillers) as a fluorine source as well as different powder
fillers (friction modifiers) e.g. silicon nitride (Si3N4), boron nitride (BN),
polyethylene (PE), polytetrafluoroethylene (PTFE). The composition of
investigated materials was: composite A (60vol.% J-20), B (57vol.% J-
20+3vol.% PE), (57vol.%J-20+3vol.% PTFE), D (57vol.% J-20+3vol.% Si3N4),
E (57vol.% J-20+3vol.% BN). The composite disks were photo-cured and tested
for wear against harder stainless-steel counterface. Wear tests were carried out by
means of special tribotester in the presence of phosphate buffer as a lubricant.
Especially, the influence of the load and filler contents on the friction coefficients
and wear was estimated. The interaction between the filler particles and organic
matrix and its influence on the tribological behavior of prepared specimens were
observed. Organic powder fillers (PE, PTFE) decreased the friction coefficient
and the wear of analyzed composite materials for dental fillings. Inorganic
friction modifiers (Si3N4, BN) don‘t exhibit that effect.
The tribological characteristics of Bis-GMA resin-based composite materials
with the addition of fluoridated glass and friction modifiers (PE, PTFE, BN,
Si3N4) were investigated in the paper. On the basis of the performed examinations
the following conclusions have been formed:
1. Friction and wear coefficients of analyzed materials depend on the filler kind
and the usage of loading value on sample.
2. The composites with organic fillers as modifiers have the lowest friction
coefficients.
3. The increase of loading brings about an increase of friction and wear
coefficients.
Acknowledgements
This work was supported by the Polish Ministry of Sciences as a research project,
Poland. Nr: N507 163 32/0501. The authors are grateful to the Glass and Ceramic
Institute (Warsaw, POLAND) for the preparation of the J-20 glass for presented
research.
252
Research on Wood Gluing Factors by a Resonant
Oscillations Method
Jonas Vobolis1, a, Darius Albrektas1, b
1
Kaunas University of Technology, Studentų g. 56, LT-51424 Kaunas,
Lithuania
a b
Jonas.Vobolis@ktu.lt, Darius.Albrektas@ktu.lt
Keywords: scantling, glued-up panel, modulus of elasticity, coefficient of

damping, resonant vibration
Abstract
Seeking to obtain assortments of larger diameters, to ensure stability of their
dimensions and form, to avoid occasional imperfections and defects, and to use
fine assortments more rationally, wood is often glued up. The aim of the research
is to determine how viscous elastic properties of scantlings, forming single-layer
glued-up panels, their amount, and used adhesive influence viscous elastic
properties of those glued-up panels. The original equipment for examination was
applied. Assortment vibrations were measured within 20 – 2000 Hz range.
The scantlings modes were close to theoretical beam modes. Vibrating glued-
up panels acquired certain modes. It was established that in most cases the plate
modes were complex. However, modes close to beam modes were recorded as
well.
Oak scantlings, randomly chosen for the research, were cut along and across
wood grain. Later, they were glued in single-layer glued-up panels. Three types
of panels were made. Panels of the first type were glued of scantlings whose
modulus of elasticity were similar, the ones of the second type – by gluing a
scantling with decreasing modulus of elasticity, and the third type panels – by
gluing a scantling with a higher and lower modulus of elasticity by rotation.
During the research three types of adhesive were used – the adhesive of category
D2 made on the basis of polyvinyl acetate (PVA) resin, the one of category D4,
and polyurethane adhesive of category D4.
It was determined, that the increasing width of panels (the number of
scantlings), the form of their first mode practically did not change, however
amplitude-frequency characteristic slightly changed – oscillations frequency of
the first mode increased up to 5 %, and band width decreased down to 30 %.
By gluing panels of other types, the forms of their modes also did not change
and only, amplitude-frequency characteristic slightly varied, analogically to of the
first type shields. It was determined, that using adhesives of different brands, the
modulus of elasticity of panels altered up to 8 %, and the coefficient of damping -
up to 30 %.
For assessing the impact of gluing joint number, also three types of equally
dimensions panels were used. The first type panels were made of 5 scantlings, the
253
second type – of 8 scantlings and the third type – of 11 scantlings. The first
modes of the panels along grain are of similar form. However, their frequencies
and amplitudes were different. With the increasing number of scantlings in the
panel, oscillations frequency increased by about 7 %, and oscillations amplitude
decreased by nearly 35 %. It was estimated that with an increase in the number of
gluing joints and with a decrease of the width of scantlings in the panel, the
modulus of elasticity of the panel in both cases, across and along grain, grew by
approximately 8 %.
In the final analysis, after evaluating various factors, it was determined that
the modulus of elasticity of the panel was higher by roughly 10 %, and the
coefficient of damping – up to 40 % lower, than the respective parameters of the
used scantlings.
Thus, elastic plasticity properties of a glued-up panel, and at the same time its
behaviour in the zone of dynamic loads will depend not only on the properties of
adhesive and scantlings being used, but also on their geometric parameters and
the number of sticking joints.
254
Vibration Based Research into Temperature Influence on
Circular Saw Parameters
Kristina Ukvalbergienė1, a, Jonas Vobolis1, b, Juozas Ţvinys2, c
1
Kaunas University of Technology, Studentų g. 56, LT-51424 Kaunas,
Lithuania
2
Kaunas University of Technology, Kęstučio g. 27, LT-44312 Kaunas,
Lithuania
a b
kristina.jasinskaite@stud.ktu.lt, jonas.vobolis@ktu.lt,
c
juozas.zvinys@ktu.lt
Keywords: Circular saw, vibration, vibration mode, damping coefficient, deep
hardness, lateral surface hardness.
Abstract
When cutting with circular saws, a peripheral area of the saw heats up more than a central
one [1]. Due to temperature differences in the direction of radius, and temperature tensions
as a result of them, the saw may loose flat form stability. The saw temperature, at which
the flat form of the saw changes, depends on saw dimensions, centrifugal forces, rolling,
etc. Also the alignment and wear of the arbour have some influence [2, 3].
It is known that when cutting at a different speed, separate zones of the saw disk reach
a temperature of 150oC, and the zones of the serrations can even reach a significantly
higher temperature. When a speed of push is near 100 m/s, the average temperature of the
serration zone is about 500oC, and that of impulse reaches about 1100oC. Such temperature
fluctuations may result in structural changes of saw material [2]. Therefore, the research
for evaluating temperature changes of the saw is highly relevant.
The objective of the research is to determine the impact of saw operational temperature
on its mechanical properties, and structural changes in material. The oscillatory research
was performed by using a dynamic research method.
The study presents the research results of transverse sawing circular saws in
conjunction with the oscillatory research of a non-rotating circular saw. It reveals that
amplitude-frequency characteristics, resonance frequencies and modes were established
and operative heating regimes of the saws were modelled. It was determined that the form
of the main modes insignificantly changes when the saw is heated. At the same time
heating temperature considerably influences the value of both high and low resonance
frequencies, as well as the size of amplitude. During the examination damping coefficient
within temperature interval was estimated and both surface and deep hardness of the saw
were determined. The study shows that the temperature of the saw significantly changes its
surface hardness, but its deep hardness remains less changed. The research results allow
forecasting the behaviour of saws during operation.
References
[1] Y. M. Stakhiev: Workability of flat circular saws (Lesnaya promyńlennostj, Moscow,
1989).
[2] Y. M. Stakhiev: Stability and Vibrations of Flat Circular Saws (Lesnaya
promyńlennostj, Moscow, 1977).
[3] J. D. Danielson, G. S. Schajer: Proceedings of Saw Tech ‘93, Wood Machining
Institute: 117-136 (1993).
255
Mechanical Properties of Smart Fluids under Combined
Electric and Magnetic Fields
Zhurauski M. A.1, a, Dragašius E.2, b, Korobko E. V.1, c,
Novikova Z. A.1, c
1
A. V. Luikov Heat and Mass Transfer Institute of National Academy of
Sciences of Belarus, 220072, 15 P. Brovka str., Minsk, Belarus
2
Kaunas University of Technology, 44312, 27 Kęstučio str., Kaunas,
Lithuania
a b c
Mikalai.Zhur@tut.by, egidijus.dragasius@ktu.lt, eva@itmo.by
Keywords: magnetoelectrorheological fluids, viscosity, shear stress, shear rate,

property control
Abstract
The results of the experimental investigations of rheological properties of
magnetoelectrorheological fluids (MERF) – adaptive media which respond to
both electric and magnetic field – are presented. The fluids with disperse phase
combined with two powders were investigated. One kind of powder – carbonyl
iron, second kind of one – iron oxide -Fe2O3, or iron oxide -Fe2O3, or aerosyl
activated polyethylenepolyamine.
The essential shear stress enhancement occurs under action of the electric and
magnetic fields for all MERF compositions. The fluids on the aerosyl base show
more significant relative shear stress increment than the fluids with -Fe2O3 under
influence of the electric and magnetic field separately or simultaneously.
Maximal increase is more than 100 times against 8 in the electric field. This
increments achieves under action of the magnetic field 215 and 85 times and
under combined action of the electric and magnetic field – 380 and 180 times
respectively.
The fluids with the disperse phase on the base of carbonyl iron and -Fe2O3
for the same disperse phase volume concentration give in the electric field shear
stress increasing up to 15 times. These media show more significant rheological
response in the magnetic field than other investigated ones (up to 290 times). The
MERF with -Fe2O3 display the maximal relative shear stress increment under
combined influence of the electric and magnetic field practically equal of the
increment for fluids with aerosyl – 380 times.
The studied materials show the synergistic effect for many cases – the induced
under combined action of the electric and magnetic fields shear stress increasing
is larger than the sum of the electrically and magnetically induced increments.
The possibility of the property control using two independent physical channels
will allow to apply these media to many devices and technologies (heat
exchangers, hydraulic systems, vibroprotector devices, etc.).
256
Influence of Cavitation Intensity on the Relative
Cavitation Resistance of Laser Processed C45 Carbon
Steel
M. Szkodo1, a
1
Gdansk University of Technology, Faculty of Mechanical Engineering, 80-
952 Gdansk, ul. Narutowicza 11/12, Poland
a
mszkodo@pg.gda.pl
Keywords: Cavitation erosion, cavitation intensity, laser beam machining, image

analysis
Abstract
This work presents investigations of relative cavitation resistance of carbon steel
(C45) at the beginning stage of erosion, after melting its surface by 6 kW CO 2
laser beam. Investigation was carried out on the rotating disk facility. Three areas
were determined on the surface of investigated sample. Each area was eroded
with different intensity. The procedures of calculation of resistance of processed
surface to plastic deformation under cavitation loading and of relative intensity of
cavitation using an image analysis of monochromatic picture of eroded surface
have been elaborated. The results indicate, that increase of cavitation loading
intensity causes decrease of relative cavitation resistance.
References
[1] C.T. Kwok, H.C. Man, F.T. Cheng: Scripta Mater. 39 (1998), p. 1229-1236
[2] S.K. Wu, H.C. Lin, C.H. Yeh: Wear 244 (2000), p. 85-93
[3] R.E. Apfel: Journal of the Acoustical Society of America 101(3) (1997), p.
1227-1237
[4] J.M. Pestman, J.B.F.N. Engberts, F. Dejong: Journal of the Royal Netherlands
Chemical Society 113(12) (1994), p. 533-542
[5] W. Lauterborn, C.D. Ohl: Applied Scientific Research 58(1–4) (1998), p. 63-
76
[6] V. Abramov, O. Abramov, V. Bulgakov, F. Sommer: Materials Letters 37
(1998), p. 27-34
[7] K.A.J. Borthwick, W.T. Coakley, M.B. McDonnell, H. Nowotny, E. Benes,
M. Gröschl: Journal of Microbiological Methods 60 (2) (2005), p.207-216
[8] M. Romdhane, C. Gourdon, G. Casamatta: Ultrasonics 34 (1996), p. 835-845
257
Express Diagnostics of Elastic Properties and Hardness
of the Materials
Rimantas Dapkus1, a
1
Kaunas University of Technology, Regional Development Dept.,
K.Donelaicio 20, Kaunas LT-44249, LITHUANIA
a
Rimantas.Dapkus@KTU.LT
Keywords: integrated instrumentation, ACIE, MCIE
Abstract
There is an immediate need for process control instruments capable of in-situ
nanometer/micro-scale quantitative characterization at different stages of
manufacturing process. Latest advances in nano and microtribology forced the
development of integrated instrumentation. A new generation of innovative
instruments for mechanical characterization of surfaces is being developed for
tribological testing applications. A combinatorial approach in microscale
tribology tests indicated the need for in-situ characterization instruments
integrated into a tribometer. A recent nano/microscale tribometer combination
with AFM instrument has been reported. Therefore, the number of novel
tribometer applications is growing fast and covering fastchanging industries, such
as biomedical.
Thus this paper is dedicated to the problems of nondestructive testing of
various materials. A method which we call an audio/ultrasonic adaptive contact
impedance evaluation (ACIE) is discussed. It is based on mechanical contact
impedance evaluation (MCIE) at the local contact area between a piezoactive
sensor and specimen. The concept of smart ACIE sensors implies the adaptivity
of the sensor to the structure to be tested. Composite transducers, consisting both
piezoelectric and/or magnetostrictive materials with sectioned electrodes and
divided winding coils and exploiting both direct and inverse piezoelectric and
magnetostrictive effects were proposed. These smart ACIE sensors are standing
wave resonance devices and their design is based on changing fryquencies, modes
and types of resonance vibrations in order to match contact impedance associated
with different engineering materials. A dynamic response obtained from the
experimental sensor highly correlates with mechanical and rheological parameters.
A theoretical model consisting of quasistatically loaded and consequently
connected dissipative Voigt‘s elements is discussed and solved analytically. A
resonance equation used for MCIE at the local contact area consists of two
impedances: mechanical impedance of PZT sensor and mechanical impedance of
the specimen. Analytical results are compared with the experimental results.
Mechanical impedances associated with the vibroimpactor and the impedance in
the zone of dynamic interaction between indenter and specimen are compared in
258
the process of dynamic indentation e.i. by solving a resonance equation. The
change in the mechanical contact impedance is proportional to the contact
compliance which is a function of the indentation deepness (hardness), Young‘s
modulus and Poisson‘s ratio.
High flexibility and self adjustment ability of the system to different
specimens are achieved by utilizing advanced signal processing algorithms and
the precise loading system. Experimental data acquisition at two sampling
frequencies is carried out by advanced signal processing procedure, i.e., digital
filtering, autoscaling and polynomial fitting. The data sampled at low frequency,
which correspond to the transient period of loading, are fitted with the dynamic
model consisting of several Voigt‘s elements connected in series. The data
sampled at high frequency, which correspond to the quasistatic loading, are
compared with the normalized mechanical parameters in a database. The database
is built utilizing polynomially fitted experimental data obtained from known
specimens.
Non-destructive testing (NDT) device for express evaluation of mechanical
and rheological properties of materials is proposed.
259
Investigation of Alloy Elements Transfer in Arc Facing By
High Carbon and Chromium Content Electrodes
Valentinas Varnauskas1, a, Algirdas Vaclovas Valiulis1, b,
Vitalijus Rudzinskas1, c
1
Department of Materials Science and Welding, Vilnius Gediminas
Technical University, J.Basanavičiaus 28, LT–03224 Vilnius, Lithuania
a b
vvalent@gawab.com, Algirdas.Valiulis@adm.vgtu.lt,
c
Vitalijus.Rudzinskas@me.vtu.lt
Keywords: welding electrodes, hard layers, deposited metal, chemical

composition, alloying elements, coatings composition.
Abstract
Weld surfacing of machine parts with hard facing coatings is an important
technological process used to strengthen manufacturing machine parts or to
restore worn components, used in abrasive environment. Surfacing makes
possible to reduce machine parts production costs since a part itself is made of
plain structural steel and merely its working surface is coated with a few
millimeters thick layer possessing the required properties.
An analysis of the surfaced coatings chemical composition has been
performed and comparison of analytically modeled coatings‘ composition has
been made. The results allow specifying transfer patterns of alloying elements
from an electrode to a built-up layer; to determine the influence of chromium
content to assimilation of other alloying elements.
Electrodes of 4 mm diameter were produced for research investigations.
Applying the previously investigated patterns of elements transfer from an
electrode to deposited metal [1], appropriate compositions of electrode coatings
were made so, that chromium content in coated layers would vary (changing the
carbon ferrochromium amount in coating), while there the content of other
alloying elements (carbon ~ 3 %, silicon ~ 2 %, manganese ~ 1.1 %, titanium
~ 0.5 %, boron ~ 0.6 %) remained in a settled level. At research of transfer of
carbon patterns, the compositions of electrode coatings were made so, that carbon
content in coated layers would vary from 0.1 % up to 4 % (content of chromium
is approximately 20 %).
The results of the chemical analysis of deposited metal indicate that chromium
transfer from an electrode to deposited metal is determined to be linear. When
chromium content in an electrode is known, it is possible to calculate chromium
content in deposited metal by above formula:
Cr1  1.076  Cr0  0.622 ; %. (1)
260
When chromium content in alloy is up to 20 %, assimilation of other chemical
elements to deposited metal increases. If chromium content varies from 20 % up
to 40 %, carbon content practically does not change – an alloy assimilates carbon
maximally. If chromium content is reduced, the amount of the element, which
forms carbides with carbon, decreases. Therefore carbon does not transfer into
alloy, but burns away and turns into slag.
Carbon transfer from an electrode to deposited metal, when there is enough
chromium into alloy, is also determined to be linear. When chromium content is
insufficient, carbon content, which is assimilated by deposited metal, depends on
chromium content in alloy. Carbon content in alloy influences titanium
assimilation. With the increase of carbon content in alloy, titanium content
increases signally too.
Reference
[1] V. Varnauskas, A. V. Valiulis, V. Jankauskas, R. Kreivaitis: Investigation of
chromium transfer from electrode coating into weld pool and its influence on
cladding or surfacing weld metal properties. 2nd International Conference
Mechatronic systems and materials, MSM–2006, 31 August – 3 September
2006, Cracow, Poland. [CD].
261
Vibration Control of Oscillating System
Based on Governing Visco-Elastic Characteristics of
Absorber by Means of External Electric Signal
Bilyk V.A1, Korobko E.V.1, a, Reizina G.N.2, Bashtovaya E.A.1,
Kaberdina E.B.1, and Kuzmin V.A.1
1
Luikov A.V. Heat & Mass Transfer Institute, 15 Brovky st., 220072,
Belarus
2
Belorussian State National University, 65 Nezavisimosti av., 220013,
Belarus
a
eva@itmo.by
Keywords: Vibration, Oscillating System, Electric Field Strength, Electro-

Rheological Fluids, Logarithmic Damping Decrement, Shear Stress and Viscosity
Introduction
The ability of damping materials to change reversibly viscous and plastic
characteristics under influence of external fields allowed to use them in the
systems of vibroprotection. The important problem is also to determine optimal
compounding of electrorheological fluids (ERF). Low cost of ERF is regarded as
one of the main advantages of their possible commercial use in vibroprotection
systems.
Aim of paper
The aim of the paper is to study rheological properties of developed ERF
compositions and damping characteristics of vibroprotection oscillating system
experimentally.
Experimental investigation
The creation and practical usage of different devices based on ERF require the
application of middle- or high concentrated suspensions in dynamic conditions.
The efficiency of such devices and their effectiveness depend on transition
process in ERF and are determined by its viscoelastic and relaxation properties.
For evaluating properties of prepared ERF compositions experimental studies
have been carried out.
Rheological properties
For liquid viscous electrosensitive suspensions the main characteristic is the
change of effective viscosity under electric field Δη = ηE – η0. These indices have
been received from rheological experiments in coaxial-cylindrical rotational unit
of viscometer ―Rheotest 2.1‖ that was specially modified for the measurement
262
under electric field. Seven samples of ERF are investigated. In this paper we
present a detailed study of the ERF sample that is optimal by electrorheological
response and sedimentation stability.
Damper characteristics
For investigating the efficiency of ERF in the damping devices the experimental
unit consisting of the oscillating system, that has ER damper of viscous friction
with regulating parameters, sample for vibroprotection (rectangular body with the
mass M), that is connected to the base by means of 4 strings, and also а voltage
source, detector and governing device has been used. The increase of logarithmic
damping decrement is more than by 2 times in the range of 0 < E < 0.5 kV/mm.
At increase of the electric field intensity in up to 2.5 kVВ/mm logarithmic
damping decrement is increased by 5 times.
The simulation of oscillating system with ERF

ER damper creates vertical resisting force Fr, that contains elastic ac and viscous
bc parts that are determined from the dependencies of rheological characteristics
of ERF on electric field intensity. Dynamic influence of Fe leads to the forced
harmonic oscillations of mass of sprung object М. Oscillations of single mass
oscillation system are described by the differential equation. Hence, in general the
model of the oscillating system is adequate to the real oscillating processes.
Conclusion
The analysis of experimental data has shown that the effectiveness of the
oscillating system (the increase of natural logarithm of damping decrement)
reaches substantial values – five times. The frequency of natural oscillations is
3.5 Hz for ERF without application of governing signal and is 4 Hz – at applying
governing signal (E = 0.5 kV/mm). A physics-mathematical model of the
oscillating system with the possibility of governing visco-elastic characteristics
was theoretically proved and shown. The comparison of experimental and
calculated data at the electric field intensity of the electric field 0.5 kV/mm gives
the value of the relative variation coefficient 0.58. The use of ERF allows us to
govern hydromechanical processes in the system of deformation directly, which
allows us to lower vibro loading on the object.
263
A Surface Micromachined Comb Drive with Superior
Stability for Application as a Power Source
Yanxia Zhang1, a, M.Kahrizi1
1
Department of Electrical and Computer Engineering, Concordia
University, Montreal, QC, H3G 1M8, CANADA
a
mojtaba@ece.concordia.ca
Keywords: MEMS, comb-drives, cantilever, micromotors
Abstract
This paper presents the results of on-going research on fundamental issues related
to comb drive, including mechanical and electrical properties. Attention is mostly
focused on the case where comb drive is used as power source, with a cantilever
beam attached to the moving plate.
FEM simulations are carried out to show the resonant behaviour of balanced
comb drive and unbalanced comb drive. Fringing effect, which helps to actuate
the comb drive, is modeled. Different measurement approaches in frequency
domain are discussed. Theoretical formulas are derived and analyzed.
In this work, we designed and fabricated both balanced and unbalanced comb
drives using MUMPs (Multi-user MEMS Processes) technology. Balanced comb
drives exhibit superior stability both in SEM observation and spectrum analysis.
Formulas governing the spectrum are experimentally verified by mixing
frequency measurement.
References
[1] Long-Sheneg Fan, Yu-Chong Tai, and Muller,R.S, ―IC-processed electrostatic
micro-motors‖, Electron Devices Meeting, 1988, Technical Digest,
International 11-14, pp:666-669, (1988).
[2] Tai,Y.-C, Fan,L-S, Muller,R.S, ―IC-processed micromotors: design,
technology, and testing‖, Micro Electro Mechanical Systems, 1989,
Proceedings, 'An Investigation of Micro Structures, Sensors, Actuators,
Machines and Robots'. IEEE , 20-22, pp:1 – 6, (1989).
[3] Ernest J. Garcia, Jeffry J. Sniegowski, ―Surface Micromachined microengine‖,
Sensors and Actuators A 48,pp 203-214, (1999).
[4] Rob Legtenberg, Erwin Berenschot, Miko Elwenspoek, and Jan H. Fluitman,
―A Fabrication Process for Electrostatic Microactuators with Integrated Gear
Linkages‖, Journal of Microelectromechanical Systems, Vol.6, No.3, (1997).
264
Infrared Reflective Coatings for Window Glazing
Jitka Mohelnikova1,a
1
Faculty of Civil Engineering, Brno University of Technology, Veveri 95,
602 00 Brno, Czech Republic
a
mohelnikova.j@fce.vutbr.cz
Keywords: Coatings on glass, window glazing, infrared reflectance, low-emissivity

coatings.
Abstract
Glasses reflective in the spectral range of long-wave infrared radiation operate as
heat mirrors. These glasses have found wide applications in architecture. Special
thin film coatings on glass panes reflect long wave infrared radiation [1], [2]. The
reflective thin films limit absorption of infrared radiation within the glass pane
and reduce radiative heat losses of glazings. Heat losses of windows could be
significantly limited with the coated glasses which are called low-emissivity
glazings [3]. The study of materials convenient for infrared reflective coatings,
the optimal composition of thin films and their thicknesses [4], [5] is the main
topic of the presented paper. The study is based on measurements of spectral
characteristics of selected glasses and computer simulations of the thin film
composition for applications of window infrared reflective coatings.
Optical properties of clear float glass and low-emissivity glass samples of
thickness 4 mm were compared. Spectral optical properties of infrared reflective
coatings were simulated in the computer program FILM*CALC 3.03 - Advanced
Optical Thin Film Technology. The study of materials for infrared reflective
coatings and analysis of their spectral properties has brought the following design
requirements. The composition of the infrared reflective film should contain a
metal layer and two or more dielectric layers. Silver is the most important
material for IR reflective films because it has convenient optical properties and it
is not as expensive as the golden layers.
The optimal thickness of the thin silver layer for the IR reflective coating is
between 10 and 20 nm. The coatings with the silver layer of thickness 25 nm and
more have high infrared reflectance but visible transmittance is limited which is
unwanted effect. It is possible to design double metal layer which is sandwiched
in dielectric coatings. Titanium dioxide TiO2 of thickness between 35 and 45 nm
is recommended for dielectric films. Required spectral optical properties of thin
IR reflective films are high transmittance in the visible range ()= min 0.75-0.85
for spectral range 380nm,780nm and very high reflectance () = 0.85 -
0.95 in the long-wave infrared range 5m,50m.
265
Acknowledgement
The author thanks to Assoc. Prof. Karel Navratil, Masaryk University, Brno CR
for spectral measurements and to Dr. Pavel Pokorný, Academy of Sciences of CR
for his help with computer simulations.
References
[1] P.H. Berning: Principles of design of architectural coatings. Applied Optics.
Volume 22, No. 24 (1983).
[2] M. Born, E.: Wolf Principles of Optics (The University Press, Cambridge
2003).
[3] M.G. Hutchins: Advanced Glazing Materials, Solar Energy (Vol.62, No 3
1998).
[4] Z. Knittl: Optics of Thin Films (John WileySons, London 1976).
[5] E.D. Palik: Handbook of Optical Constants of Solids (Academic Press, 1991).
266
Poster Session: Failure Analysis
267
Probabilistic Fatigue Reliability Assessment
K.N. Nechval1, a, N.A. Nechval2, b, G. Berzins2, b, M.Purgailis2, b
1
Transport and Telecommunication Institute, Lomonosov Street 1, LV-
1019 Riga, Latvia
2
University of Latvia, Raina Blvd 19, LV-1050 Riga, Latvia
a b
konstan@tsi.lv, nechval@junik.lv
Keywords: Paris–Erdogan law, fatigue reliability, Weibull distribution.
Abstract
The analysis of fatigue crack growth is one of the most important tasks in the
design and life prediction of fatigue-sensitive aircraft structures and their
components. An example of in-service cracking from B727 aircraft (year of
manufacture 1981; flight hours not available; flight cycles 39,523) is given on
Fig. 1.
STA 380
STA 360
Fig. 1. Example of in-service cracking from B727 aircraft.
Stochastic crack growth analysis is useful for scheduling inspection and

repair/replacement maintenance of structures. Various stochastic crack growth
models have been proposed and studied in the literature for metallic materials and
superalloys. No attempt is made herein to review the literature in this important
subject area. In practical applications of the stochastic crack growth analysis,
either one of the following two distribution functions is needed: the distribution
of the crack size at any service time or the distribution of the service time to reach
any given crack size. Unfortunately, when the crack growth rate is modeled as a
stochastic process, these two distribution functions are not amenable to analytical
solutions, because the solution is equivalent to that of the first passage time
problem. As a result, numerical simulation procedures have been used to obtain
accurate results. The simulation approach is a very powerful tool, in particular
with modem high-speed computers. However, in some situations, such as the
preliminary analysis or design, simple approximate analytical solutions are very
268
useful. Among attractive features of such an approximation are as follows: (i) it is
mathematically simple to obtain the analytical solution for the distribution of the
crack size at any service time; (ii) it is conservative in predicting the stochastic
crack growth damage accumulation; (iii) it can account for the effects of
variations in material crack growth resistance, usage severity and other random
phenomena; and (iv) it can be implemented using a deterministic crack growth
computer program. The purpose of this paper is to present a more accurate
stochastic crack growth analysis technique (second-order third-moment
technique) that is obviously more accurate than the traditional first-order second-
moment technique [1] which only considers the means and variances of random
variables.
References
[1] J.N. Yang and S.D. Manning: A Simple Second Order Approximation for
Stochastic Crack Growth Analysis, Engineering Fracture Mechanics Vol. 53
(1996), pp. 677-686.
269
A Model for Estimation of Mould Thermal Fatigue Life in
Permanent Mould Casting
R. Kayikci1, a, M. Durat1, b, E. Nart1, c, Ozsert1, d
1
Sakarya University, Technical Education Faculty, Sakarya, Turkey
a b c
rkayikci@sakarya.edu.tr, durat@sakarya.edu.tr, enart@sakarya.edu.tr,
d
ozsert@sakarya.edu.tr
Keywords: Permanent mould casting, Finite element analysis, Finite element

simulations, Thermal fatigue life.
Abstract
Permanent mould (PM) casting is a high production capacity casting process
which employs a metal mould consisting of two or more parts for the production
of many castings of the same form. Compared to sand casting, permanent mould
casting process allows the production of more uniform castings, with closer
dimensional tolerances, better surface finish, and enhanced mechanical properties.
In operation, the mould halves are closed and locked. Metal is then poured by
gravity to fill the gating system and the mould cavity. After the metal has
solidified, the mould is opened and the cast part is removed.
Beside many advantages over other casting methods the mould life remains
the major cost factor in PM casting. If the design life (expected life) of a PM is
not achieved in the service life (due to early failure for example) the benefit
expected from the cost reduction of PM casting will diminish. In reality, a
permanent mould does not last for ever and the most common failure mode to
permanent mould tooling is thermal fatigue. Surface cracks develop generally
within a few thousand cycles, or even earlier, and are consequently, formed in the
low-cycle fatigue range (103-104 cycles). If the thermal fatigue life of a given
permanent mould can be modelled from the thermal conditions, a considerable
amount of time and cost could be saved.
In this study, using materials thermo-physical data and CAD/CAE techniques the
thermal fatigue life of a permanent mould is estimated. 3D solid models of the
mould-casting system consisted of a permanent mould made from grade 60
ductile iron and an aluminium 7% Si, 0.3 % Mg Casting alloy (A356) was built in
a CAD system. After defining all boundary and initials conditions in a finite
element environment a thermal solution of the permanent mould casting is
achieved repeatedly for every cycle until the steady-state temperature change is
reached. The elastic-plastic stress calculation is performed by using the thermal
history obtained from the thermal analysis. At the end, the residual stresses are
determined and used for the thermal fatigue life estimation. The results showed
that using the proposed CAD/CAE techniques the fatigue life of a permanent
mould can be estimated.
270
Methods and Computing Environment for Research and
Design of Mechatronic Systems
Reshat Fourounjiev1, Nikolay Gursky1
1
Belarusian National Technical University
Keywords: modeling, analysis, optimization, adaptive control, mechatronic

systems, vibration protection
Abstract
Computer modeling of complex engineering systems, in particular multi-
supported mobile machines, can be realized by the means of ADAMS. As a
general rule, it leads to product complication at a high cost. At the same time it is
known, that any, even powerful enough design software packages, cannot satisfy
all the needs of designers. The main inconveniences of the known design
packages are significant time expenses, not connected directly to the design. The
problem mentioned is visible even at the solution of problems of elementary
technical systems.
At the design, the problems of studying specific object properties, depending
on its design data, are in the foreground. In other words, the software product
should provide the user with a set of predefined analytical models (design
models), which give the opportunity of changing parameters of the elements in a
visual mode as required, and obtaining the desired results in short time. For this
purpose, the software ADMOS (Automatic Dynamic Modeling and Optimization
of Systems) has been developed.
Fig.1. Dynamic model of a multi-supported mobile machine.
Dynamic systems can be considered with various levels of complexity of

detailization, depending on considered objects. In a research practice, as a rule,
the use of enough complex mathematical models, which consist of a large number
of differential equations and various equations of communication, allows
271
analyzing the influence of various factors. In the practice of design calculations
applications, the system, consisting of a limited number of equations to define the
basic types of fluctuations - vertical, longitudinal-angular, etc., is usually applied.
A dynamic model of a multi-axis mobile machine is shown in fig.1.
The analytical models (design models) of mechatronic systems, in particular
mobile machines, consist of basic elements such as support, trunk, amortized
weight, etc. Combining the basic elements, new analytical models (design
models) can be obtained, as well as blocks, which properties are inherent in all
the subsequent structural formations, such as the cabin, the driver's seat, the
platform, the tractor, the trailer, etc. In words of object-oriented programming,
similar structural formations are called classes.
For the solution of these problems it is necessary to:
- formalize the process of construction of the analytical models (design models),
· develop classes of vibration protection and stabilization, regulators, etc,
· develop a class of perturbations,
· develop a class of methods for processing the target information, etc.
The basic classes of dynamic systems. Using the described approach and the
considered classes of basic elements and units, the ADMOS program
environment is developed for modeling, analysis, optimization and management
in the field of vibroengineering and mechatronics. The visual environment is
created based on advanced achievements in the field of mechanics, management
and information technologies and allows, in a convenient way, to vary copies of
modeled objects, classes of problems to be solved, classes of external and internal
perturbations, etc., automating and accelerating work of researchers and designers.
This tool system is irreplaceable for educational purposes, as well as for design in
the field of vibroengineering and mechatronics, in particular within the following
fields:
- analysis and synthesis of nonlinear vibration systems;
- vibrostabilization and control of motion;
- transformation of motion by vibrations and waves;
- dynamics of intelligent mechanical system.
272
Algorithm of Combined Simplex Search with State
Recognition
Algirdas Dambrauskas1, a, Dainius Udris1, b
1
Department of Automatics, Vilnius Gediminas Technical University
Naugarduko 41, Vilnius LT-03227, Lithuania
a b
algirdas.dambrauskas@el.vtu.lt, dainius.udris@el.vtu.lt
Keywords: Optimization, direct search, algorithms of simplex search.
Abstract
Searching optimization is usual for objects with unknown or unsolvable
mathematical model, and result depends on the efficiency of algorithm. Simplex
search has shown good results when optimization object and measurement results
are affected by high level noise. Improvement and investigation of simplex search
algorithms is an aim of this research.
Characteristics of the object can vary in time during optimization process, and
the search has to follow the extreme. If the variation is a result of some
measurable but non-controllable parameters, the search can be improved using
the information about this variation in past steps and calculating the prognosis.
The influence of multidimensional measurable parameters is estimated in
presented algorithm of combined simplex search with state recognition, and
characteristics of the optimization process are investigated.
References
[1] Дамбраускас А. П. Симлексный поиск при дрейфе цели // Изв. вузов.
Электромеханика. 1979, No 2. C. 173-179.
[2] Круг Г. К., Масальский Г. Б. Симплексный инвариантный метод
экспериментальной оптимизации. В кн. Вопросы кибернетики. Москва,
Академия наук СССР, 1981, с. 3-32.
[3]Райбман Н. С., Чадеев В. М. Построение моделей процессов
производства. Москва, ―Энергия‖, 1975, 376 с.
[4] A. Dambrauskas. Simpleksinės paieńkos metodai. Vilnius, Technika, 1995: p.
192-202.
[5] A. Dambrauskas, D. Udris. Simpleksinės paieńkos tyrimas tikslinimo etape //
Elektronika ir elektrotechnika, Kaunas, 2004, Nr.5(54), p. 47-51.
[6] Большев Л. Н., Смирнов Н. В. Таблицы математической статистики.
Москва, Наука, 1983, 416 c.
273
The New Self-Adjusting Method of the Multi-Input Difficult
Technological Processes Optimization
Stepanyan E.1, Manukyan G.1
1
Istitute of Mechanics NAS of Armenia
Keywords: Optimization, self-adjusting, molibdenium, multi-parametr,

technological, algorithm, optimizer, composit
Abstract
We are sure if we have too much input and output parameters of technological
processes, the problem of process management becomes more difficult because
behavior, characteristics and mutual relations of some components of the process
are also changed during the process. This refers to physical, chemical,
metallurgical, biological and other multi-component technological processes. The
optimization of such processes is one of the difficult problems of scientific and
experimental researches, which is necessary to do for getting the best result in the
terms of quantity and quality. This optimization requires the using of algebraic,
physic-chemical, mechanical, thermo-technical famous method and algorithms. In
practice, for solving that problems researcher often use the method
called ,,experiment-error,, taking into consideration the absence of algebraic
descriptions of relations between factors and parameters and the circumstance
that on-going introductory processes are not fully studied yet. When the number
of alloy components exceeds 3 the number of necessary experiments grows
abruptly and it becomes impossible to define the optimal amounts of components
with high accuracy and to finish the next experiments.
We have created the new self-adjusting method of optimization of difficult
technological systems.
Suppose we are looking for the maximal cost of object‘s access optimal
criterion. Entirely Q is a function from entering managing X 1 , X 2 ,... X n and
don‘t entering Y1 ,Y2 ,...Yn parameters
Q  f ( X 1 , X 2 ,... X n ;Y1 ,Y2 ...Yn )
Occasional numbers being by occasional correspond, for entering object

X 1 , X 2 ,... X n giving X 1 , X 2 ,...X n little exchanges for occasional measure and
doing occasional seeking step.
For object becoming for growing or lowing direct correspond Q exchanging,
which carrying for boiling connection (10). The result is evaluated by two
different levels.
274
1. The entire cost of Q is by the cost of K . Q  K
2. The entire cost of Q is from K cost. Q  K
For the first occasion by the technology of optimal management (2) and new
occasional experience. For the second doing a great employer step. To the
direction of a small step giving to the X values m  X i exchanges for their
correspondent marks, or for seeking step by generator (3). After every employees
step correcting the result of Q . It the second occasion is safes, the employees
step is repeated by the same directive the first occasion is becoming that line has
consumed, doing a new occasional seeking step. During the process taking into
consideration also Q mark. If Q  K ,but Q mark is negative it means
that the surface of Q at that part is , getting direction for that small space can
safe the growth of Q output, only it needs 180  to change the direct and do great
employs step for giving entering X exchanges other marks. Employees steps by
that direct continuo when the second occasion will be and well be Q  K
during which doing again occasional experience etc.
References
[1] Goldstein D., Buchler W. J Wiley R.C. Method for treating a Bonding Rend
Bonding refractory metals and alloys (United States of America as
respresented by the Society of the Navy ) . N3416342,17.12.1968
[2] Y . le Bouare , D. Rodney , A.Finel “ The Phase Field Method;
Microstructural Evolutions in Alloys and Dislocatin Dinamics ‗‗., ONERA ,
CHATILON , FRANCE.
[3] Clare L.P. Vazguez a. J. T.Z.M Molibdenum Alloy Visa P/M “Modern
Developments in Powder Metalurgy ―, v.5 ―Materiales And properties‖,
1971
275
Coupling of Energy Flows from Internal Combustion
Engine and Electrical Motor in Hybrid Vehicle
M. Starevičius1, a, K. Pilkauskas2, b, J. Sapragonas1, c
1
Kaunas University of Technology, Kęstučio 27, Kaunas, LT-44312,
Lithuania
2
Kaunas University of Technology, Mickeviciaus 37, LT-44244, Lithuania
a b
martynas.starevicius@ktu.lt, kestutis.pilkauskas@ktu.lt,
c
jonas.sapragonas@ktu.lt
Keywords: hybrid vehicle, transmission, tyre road interaction.
Abstract
Dynamical model of the hybrid electrical vehicle transmission with internal
combustion engine and electrical motor driving the rear and the front wheels
accordingly is developed. Particular elements in it are described using classical
transmission elements. The model is used for the analysis of acceleration process
when the engine and motor operate in non stationary regimes and transmission
elements are in transition regimes of motion. Non linear models for clutch and
wheel-road interaction description are used. The gear box control algorithm was
developed and the vehicle prototype was constructed and tested. The
experimental results proved the model validity. The difference in numerical and
experimental results for the acceleration at 400 m. distance does not exceed 10 %.
The model could be the background for the simplified control algorithm
development with no mechanical link between the transmissions. Numerical
modeling and experimental research show the functionality of the algorithm. The
performed numerical modeling revealed that different from commonly used
criteria for velocity ratios selection in the gear box are necessary
References
[1] Takoka T., Ueda T. Study of the Optimization of the Engine in the Hybrid
Vehicle .- Auto Technology, 2004, No 3., 50-53p.
[2] Jost K. Chrysler‘s hybrid concept. – Automotive engineering, 1996, No 5,
110-113p.
[3] Hodkinson R., Fenton J. Lightweight Electric/Hybrid vehicle design.- Oxford:
Elselvier Butterworth – Heinemann, 2001. –280p.
[4] Iqbal H. Electric and hybrid vehicles: design fundamentals. Boca Raton: CRS
Press, 2003. 270p.
276
Selection of PDM Information System
Maxa Jiří1, a, Neděla Vilém2, b
1
Ústav elektrotechnologie, FEEC, VUT Brno, Údolní 53, 602 00 Brno,
Czech Republic
2
Ústav Přístrojové techniky AV ČR, Královopolská 147, 612 64 Brno,
Czech Republic
a b
maxa@feec.vutbr.cz, vilem@isibrno.cz
Keywords: PDM, PLM, EPD, CAx
Abstract
Technologies of the Electronics Product Definition - EPD, Product Data
Management - PDM and Product Lifecycle Management - PLM represent modern
trends in the field of Technical Production Planning and a new quality in this
sector. Efficiency of utilization of these technologies for specific manufacturing
companies depends materially on correct selection of the system and correct user
adaptation of the purchased technologies. The main problem in CR is that the
companies do not have adequate knowledge of the issue and therefore the
conceptual system of selection does not exist here. And this is why the situation
of selection is based as follows: The company addresses the supply house with
unclear requirements, is unable to be adequately depth-oriented and selection of
the system is in principle carried out by the addressed supply house which results
in the danger that the company introduces an expensive system not quite
conforming to its character. Instead of the awaited effect the total costs continue
rising materially. The methodology of selection of the PDM system should be
designed so that the whole process of selection is managed by the company itself
and is modified precisely to its requirements. This is the very topic of this paper.
References
[1] Choma, J. „Data Preparation in Engineering Companies - Key to Everything.‖
IT System. Supplement 09/2001, page 2
[2] Krupička, K. „IT at Pre-production Stages of Czech Companies at the
Beginning of the Third Millenium.‖ IT System. Supplement 01-02/2002, page
84
[3] Mazlová, T. „Complex Product Data Management. „ IT System 10/2002,
page 38
277
Stable Parametric Identification of Vibratory Diagnostics
Objects
Anatoly V. Panyukov1, a, Alexander N. Tyrsin2, b
1
South-Ural State University, 76, Lenina ave., Chelyabinsk, 454080,
Russia
2
Chelyabinsk State University, 129, Bratyev Kashirinykh str.,
Chelyabinsk, 454021, Russia
a b
pav@susu.ac.ru, at2001@yandex.ru
Keywords: autoregression; generalized least absolute deviations method; linear

stochastic difference scheme; random vibration; stable evaluation of
autoregression model factors; weighted least absolute deviations method.
Abstract
A common model of vibratory diagnostics objects is the stochastic difference
schemes
L
yk   a j yk  j   k , k  L  1, L  2, ... , (1)
j 1
in which yl = y(lΔ), l = 0, 1, 2, 3, …, are data vibration at point of time lΔ; Δ is

sampling interval; {ξk} are unobservable stochastic processes; aj, j = 1, 2,…, L are
the model parameters appointed at the design stage; L is the size of log.
Customary as a rule the identification of parameters aj, j = 1, 2,…, L is carried out
least squares and least absolute deviations techniques. It is well known that these
techniques are unstable under stochastic heterogeneity of observable process,
specifically, in the presence of outliers. One way to make the stable parametrical
identification of vibratory diagnostics objects is implementation of generalized
least absolute deviations method estimation of parameters aj, j = 1, 2,…, L for
model (1) and data {yk : k = 1, 2, 3, …, n} as
  y  
n
a   a1 , a2 , , aL   arg minL
L
k a yk l
l 1 l
(2)
aR
k  L 1
where function (x) is monotone increasing and twice differentiable for all
nonnegative x, ρ(0) = 0, and ρ″(x) ≤ 0.
Let x n  ( x1 p , , x n ) be stationary in the wide sense time series. We
observe autoregression model
278
AR(L): xk   i 1 ai xk i   k , k  Z
L
where L is known order, a = (a1, … , ap) is vector of nonrandom factors, {k} are
independent identically distributed variates with non-degenerate distribution
function. Let values
yk  xk  zk k , k  Z (3)
be observable variables, {zγk} be independent identically distributed variates,

{zγk} ~Bi(1, γ), 0 ≤ γ≤ 1,  be obstruction level, {k} be independent identically
distributed variates with distribution  from class M; successions {xk}, {zγk},
{k} be independence. In that way we observe simple obstruction scheme of data

by independence outliers. For measuring of quality of estimation an for vector a
under observable data yn we suppose existence of convergence in probability

a n 
P
 a and equality a 0  a . Condition of estimation stable is finite
sensitivity to great mistake
a  a0
GES (M , a )  sup lim .
   0 

Let GLADT estimation of parameters aGLM
n be defined by way of algorithm

(2). Qualitative assessment of stability for GLADT estimation a GLM
n under
outliers gives the following theorem.
Theorem
Let time series (3) be observed. If loss function (x) of algorithm (2) is so that
sup x2 r ¢( x) < ¥ , then GES (M , a )   .

x³ 0
Obtained requirement to the loss function guarantees the steadiness evaluation.

Software for the identification and examples are presented in the report.
279
Simulation of Mechanical Systems Using Behavioural
Hybrid Process Calculus
Tomas Krilavičius1, a
1
Faculty of Computer Science, Vytautas Magnus University, Kaunas,
Lithuania
a
t.krilavicius@gmail.com
Keywords: mechatronic systems, control of mechatronic systems, hybrid
systems, parallelism and concurrency, algebraic language theory, formal
languages, simulation languages, simulation
Abstract
The growing interest in systems that combine discrete and continuous-time behaviours, i.e.,
hybrid systems, both in computer science and control theory has generated a new interest
in models and formalisms that can be used to specify and analyse such systems. Recently,
process algebras were employed as a vehicle for the study of hybrid systems [1, 2, 3].
Simulation is one of the tools to obtain insight in dynamical systems behaviour.
Simulation results provide information on the performance of system and are helpful in
detecting potential weaknesses and errors. Moreover, the results are handy in choosing
adequate control strategies and parameters.
We report a work in progress, a technique for simulation of Behavioural Hybrid
Process Calculus (BHPC) [5]. BHPC is a process calculus that extends the standard
repertoire of operators that combine discrete functional behaviour with features to also
represent and compose continuous-time behaviour. Dynamic behaviour is represented by
the evolution of variables, which are typically defined in terms of differential equations.
Following the behavioural approach to systems theory, behaviour can be simply seen as
the set of all allowed real-time evolutions, or trajectories, of the system variables. The
operational semantics of the calculus defines the transitions for the simulator. Choice
operator provides a way to describe nondeterministic choice among process. Concurrency
is defined using parallel composition. Strong hybrid bisimulation is congruence for hybrid
transition system w.r.t. BHPC operators, and thus allows to interchange bisimilar processes
without affecting overall system behaviour. An adapted version of the expansion law is
used to solve parallel composition. Proposed simulation technique is assessed on hybrid
simulator Bhave prototype1, a part of Bhave toolset [6] for hybrid systems modelling,
analysis and simulation.
References
[1] P.Cuijpers and M.Reniers: Tech. rep., DMCS, TU/e, Eindhoven, (2003).
[2] J.Bergstra and C.Middelburg: Tech. rep., DMCS, TU/e, Eindhoven, (2003).
[3] E.Brinksma, T.Krilavičius Y.S.Usenko: in Proc. of 16th IFAC World Congr. (Prague,
2005).
[4] D.van Beek, K.Man, M.Reniers, J.Rooda and R.Schiffelers: CS-Rep. 04-37, TU/e,
Eindh. (2004).
[5] T. Krilavičius: Hybrid Techniques for Hybrid Systems. PhD thesis, FMT, Univ. of
Twente, (2006).
[6] T.Krilavičius and M. H.Schonenberg: in IFM2005 Doct. Symp. on Integrated Formal
Methods, p.33–38 (DMCS, TU/e, Eindhoven, 2005).
280
Poster Session: Measurement Techniques
281
XML Data Schemas of the Sea Level Observations for
Scalable Vector Graphics Format
Eimuntas Parseliunas1, a, Leonardas Marozas2
1
Institute of Geodesy, Vilnius Gediminas Technical University, Saulėtekio
al. 11, LT-10223 Vilnius, Lithuania
a
gi@ap.vtu.lt
Keywords: Data Schemas, XML, SVG, CGM, TGX, sea level observations,
distribution of data.
Abstract
XML (Extended Markup Language) Data Schemas as the format for information
exchange in graphical SVG (Scalable Vector Graphics) format is presented in the
paper. SVG file format is a language for two-dimensional graphics and is based
on XML. It is the advanced version of previous data exchange format TGX (Tide
Gauge Independent Exchange Format), which contains the plain ASCII data.
SVG graphics are formatted from sea level observations data at ESEAS station
KLPD. Comparing with similar CGM (Computer Graphics Metafile) format,
SVG has its advantages of being based on XML.
Data exchange for marine research sites is extremely important and valuable.
At present TGX format (only ASCII data) is used for sea level observations data
exchange. Since CSV (comma separated values) or SDF (standard data format)
format save place and as raw textual data can be exchanged, interpreted and
imported easily, therefore graphical representation of data remains complicated.
After TGX format was implemented, next short step was introduction of CGM
format for marine data exchange. However because of some disadvantages, the
complete level ahead of TGX data is though now currently under development,
but already functioning SVG (Scalable Vector Graphics) file format with XML
Data Schemas.
The SVG file is composed from two main parts: XML Data Schemas and
observation data. The XML Data Schemas describe the structure of the marine
research site: information on observing agency, equipment, sensors, data formats
etc. First of all, the header of the marine sea level measurements' site is presented
in XML Data Schemas.
XML Data Schemas, in addition, adds the header information about the
marine measurements' site, sensors and any additional necessary information. The
correct header formation and the advantages of such data exchange format are
analysed. Header is important for exchange between different sites from different
countries as so it would be information standartization. Visual appearance of the
SVG file, the source, headers and formation of the file in script are described also.
XML Data Schemas can be easily extended or narrowed by the wish of
responsible people. Currently there is work in progress on form with the most
282
common information – so as XML Data Schema would be easily modified
without actually having to reprogram anything.
Using of XML Data Schemas gives some advantages for data exchange
purposes. Firstly, it's great strength is that XML Data Schemas are written in
XML, so it becomes easier to parse data with simple XML parser, then comes the
security aspect of XML Data Schemas, extensibility, readability etc. Secondly,
XML gives an opportunity to use SVG as vector graphics format - very powerful
technology to visualize the technological data without loosing ability to check or
parse raw textual data.
Merging XML Data Schemas and SVG gives some advantages for sea level
data exchange. The graphical representation of marine data is already working
with flexible header formation system, so important for data exchange between
various sites. All the same, this presented work is only for sea level
measurements values, however, very easily it could be adapted for other marine
data.
SVG file can be seen as graphic or as raw data, when viewed the source file.
So it could be the base of the TGX format version 2, by what will improve the
data exchange within the marine community.
283
The 90 nm CMOS Charge Sensitive Preamplifier
V. Barzdenas1, a, R. Navickas1, b
1
Computer Engineering Department, Electronics Faculty, Vilnius
Gediminas Technical University, Naugarduko Str. 41 - 447, LT-03227
Vilnius, Lithuania
a b
vaidotas.barzdenas@el.vtu.lt, romualdas.navickas@el.vtu.lt,
Keywords: Hybrid pixel sensors, readout integrated circuit (ROIC), charge

sensitive preamplifier (CSP), 90 nm CMOS technology, differential cascade
amplifier.
Abstract
In this paper we present the design aspects for low-power, low-noise CMOS
charge sensitive preamplifier (CSP), that use a MOSFET transistor as a feedback
resistor and leakage current compensation for use with radiation sensors.
Computer simulation was carried out with the SPICE simulators using the BSIM4
parameters of the IBM CMOS 90 nm and has shown to simulate CSP with the
differential cascade amplifier. The advantage of this CSP design is its low-noise
level, high speed and high gain with very low-power consumption of 0.5 µW for
the whole preamplifier. The preamplifier has unipolar response with the peaking
time of about 35...45 ns and the gain is about 60…90 mV/kē. Equivalent noise
charge is less than 160 ē, when the input charge is 1…10 kē and the sensors
capacitance is equal to 30 fF. These CSP‘s are the most widely used for hybrid
pixel sensors for high energy particle physics experiments of the charge detection
and for MEMS-micromachined inertial accelerometers.
References
[1] X. Lopart, M. Campbell, R. Dinapoli, D. SanSegundo, E. Pernigotti: IEEE
Trans. Nucl. Sci., vol. 49(5) (2002), p. 2279–2283.
[2] V. Barzdenas, R. Navickas: Solid State Phenomena. Mechatronic Systems and
Materials MSM 2005, vol. 113 (2006), p. 453–458.
[3] D. Fang, H. Xie: The IASTED International Conference on Circuits, Signals,
and Systems (2004), p. 96-101.
[4] F. Krummenacher: Nucl. Instr. and Meth., vol. A305 (1991), p. 527–532.
[5] J.-F. Pratte, S. Robert, G. De Geronimo, P. O‘Connor et al: IEEE Trans. Nucl.
Sci., vol. 51(5) (2004), p. 1979–198.5
[6] Y. Hu, G. Deptuch et al: IEEE Trans. Circuits Syst., vol. 48 (2001), p. 1022-
1030.
[7] M. Manghisoni, L. Ratti et al: IEEE Trans. Nucl. Sci., vol. 53(4) (2006), p.
2456–2462.
284
Information Entropy Determination in Scales
Measurement Including Mechatronic Approach
Mindaugas Rybokas1, a, Ramutis Bansevicius2, b,
Vytautas Giniotis1, a
1
Vilnius Gediminas Technical University, Sauletekio al. 11, LT-10223
Vilnius-40, Lithuania
2
Kaunas University of Technology, Kestucio 27, LT-44312 Kaunas,
Lithuania
a b c
MRybokas@gama.vtu.lt ; bansevicius@cr.ktu.lt ; g@ai.vgtu.lt
Keywords: mechatronics, measurement, information entropy, scales
Abstract
Analysis of information entropy of mechatronic measuring systems, computer modelling;
research of the accuracy of multiparameter systems and the solutions for determination of
the deviations of those parameters are presented in the paper. The mechatronic means for
correction of systematic errors of information-measuring systems including measurement
of linear and circular scales are presented. An application of active materials for smart
correction by piezoactuators is given.
The paper deals with the information entropy assessment for circular and linear scales
measurement processes. Theoretical considerations with the equations derived for the
information entropy assessment are presented. Mechatronic approach for scale accuracy
improvement by mechatronic correctional means is discussed. Theoretical and technical
means proposed are useful for measuring process evaluation and accuracy improvement by
using smart materials applied for information measuring systems of metal cutting tools,
instruments and automated systems. It is especially important having in mind that modern
measuring systems consist of ―smart‖ transducers that can perform some logic functions
and ―smart‖ sensors and actuators. They have complicated control systems with special
programming languages able to control the functions of a measuring system by digital and
alphanumeric information. The amount of data in such systems sometimes exceeds the
gigabytes rather in average complexity of the system. The information selected and
processed is to be used to determine a statistical evaluate of the mechatronic object that is
required for essential it apprehension and for relevant impact (for example, error
correction) making. This all is under consideration including all kind of information about
the technical parameters of the object to be controlled, its displacement with the accuracy
parameters and the control of the position and micro/nano displacement. Computer
simulation system is developed including of visualization of the object and mathematic
equations for an assessment of mutual information on the mechatronic object as well. The
circular raster scale as a real example to be simulated is foreseen in this area. Mathematic
dependencies for theoretic assessment of multiparameter mechatronic systems are
proposed for the investigation of their accuracy and for the development of micro- and
nano- displacement means for error correction.
This work has been funded by Lithuanian State Science and Studies Foundation, Project
No B-07017, Contract No B-16/2007.
285
Implementation of Piezoceramic Transducers Testing
Method for Manufacturing of Ultrasonic Metering Devices
Paulius Borodičas1, a, Saulius Baskutis1, b, Vytautas Petkus2, c
1
Depatrment of Mechanical Engineeringand Mechatronics, Kaunas
University of Technology, Kestucio 27, Kaunas, Lithuania
2
Telematics Science Laboratory, Kaunas University of Technology,
Studentu 50-448, Kaunas, Lithuania
a b c
paulius.borodicas@axis.lt, saubask@ktu.lt, vytautas.petkus@ktu.lt
Keywords: Piezoceramic transducer testing, manufacturing quality control, quality

test equipment
Abstract
The paper presents new testing method that is used for automatic control of
piezoceramic transducer parameters and their flaw detection. The equipment and
specialized software is designed to implement fast, automatic and reliable diagnostic
of piezoceramic transducer and control transducer‘s manufacturing quality. The
achieved duration of quality testing of one transducer approximately takes 15 s.
Such equipment was designed and made by ―Axis Industries Ltd‖ (Kaunas,
Lithuania) and automated manufacturing of piezoelectric transducers was
implemented in mentioned company. These transducers are used in batch production
as components of new patented ultrasonic heat and water meters.
The equipment for transducer‘s parameters testing consists of measurement block,
a bath (water tank for transducer mounting) and computer with application software
which is capable to test and evaluate manufacturing quality simultaneously up to 8
transducers. The operation algorithm and conception of the automatic test equipment
for ultrasonic transducers is based on the application of pulse echo method and time-
of-fight measurements of transducers parameters (momentary vibration periods,
central frequency of transducer and relative sensitivity).
Mentioned above testing equipment was used to evaluate the quality of new
experimental batch of ultrasonic transducers performing temperature shock tests. For
experimental analysis 52 pcs. of transducers have been taken and parameters have
been measured before and after temperature shock tests. The 15 temperature shocks
have been applied on the tested transducers in the following sequence: transducers
were placed in the thermostat where temperature has been raised up to 1500 C (50
C), heated at this temperature for 3 hours, taken out from thermostat and cooled at
room temperature 20 ...250C.
Obtained results of temperature shock tests showed, that changes of transducer‘s
parameters, affected during the testing procedure, are negligible: changes in central
vibration frequency of the reflected signal does not exceed 0.5% for mean value and 6%
for standard deviation; the changes in relative amplitude does not exceed 5% for mean
value and 20% for standard deviation respectively.
286
Tool-Edge Geometry‟ and Wear‟ Recognition by Using
Contact Method
Inga Skiedraite1, a
1
1Kaunas University of Technology, A. Mickevičiaus str. 37, 44244
Kaunas, Lithuania
a
inga.skiedraite@ktu.lt
Keywords: tool-edge, wear, contact method, envelope shape, non-destructive

measurement.
Abstract
The aim of this paper is to present a device to measure non-destructively the
geometry of cutting edges and to recognize the wear too. This might sound easy.
One might propose a usual optical way where an edge is illuminated by an
inclined beam and observed from the top. Another might try to use a surface
roughness measurement device. However, those were all tried in the past and
ended up with a total failure or severe limitation in application. The major reason
exists in the size of roundness. For the case of a lancet or shaving knife the
roundness is in the order of 2 – 5 micrometer and varies along the periphery
covering over 300 degrees.
This paper presents a non-destructive method, which consists of a mechanical
device and software package to carry out reading and mathematical calculation, to
obtain practical knowledge on the relation between the sharpness and
performance of various sharp edges according to their purposes.
Conclusions
Like in other methods tried out by us, the accuracy of this method is greatly
influenced by the production precision of the device parts. The original purpose
to measure the form of the sharp edge non - destructively in an on - line system
with satisfactory precision was attained compared to other methods. Another
advantage is that this system is cheap to produce and easy to maneuver.
The present prototype is designed for the application to measure edges with
any form. If we have a specific edge form, measurement performance can be
improved at a higher level of accuracy.
The disadvantage of this system is limitation to measure and to calculate
radius, then some micro cracks or shape is worn out too badly, the measurement
will be done only on the tips of chips.
287
The Analysis of Piezomotor Driver for Laser Beam
Deflection
V.Juska1, a, L.Svilainis2, b, V.Dumbrava2, c
1
MMSC, Kaunas University of Technology, Kestucio str. 27
2
Signal processing department, Kaunas University of Technology,
Studentu str. 50, LT-51368 Kaunas, Lithuania
a b c
vladas.juska@ktu.lt, linas.svilainis@ktu.lt, vytautas.dumbrava@ktu.lt
Keywords: Laser beam deflection, piezoactuator driver design, complex

impedance, angular displacement measurement.
Abstract
The mechanical laser beam deflection using piezoactuator is analyzed. The goal
of the work is to design the high speed and high accuracy two-dimensional laser
beam deflection driver for micro-vibrations imaging using laser interferometry.
Wide angular range was required, therefore mechanical mirror positioning using a
multilayer piezoceramics friction drive configuration was chosen. The article is
presenting the deflection system parameters investigation results.
Dynamic and static motion parameters such as angular speed, breaking
displacement, positioning repeatability and angular resolution have been analyzed.
For this purpose the measurement equipment have been designed and
manufactured. Optical 600 pulses per revolution encoder have been adopted for
angular motion measurement. For angular displacement measurement
interpolation between encoder marks an optopair with light curtain was used.
Analog optopair signal level has been registered by means of A/D converter and
processed by microprocessor together with encoder logic levels. Then it was
transmitted to host personal computer for storage and further processing.
Optopair signal was calibrated basing the encoder marks.
The angular speed relation to driving voltage magnitude was analyzed.
Experiments indicate 280deg/sec angular speed has been achieved at seven volts
driving voltage in clockwise direction. Counterclockwise speed was slightly
slower and at same excitation voltage has reached 220deg/sec.
Breaking characteristics analysis has revealed that breaking angular
displacement is driving voltage dependant. At seven volts excitation signal
magnitude it was 0.125 degrees.
The positioning repeatability experiments have been carried out in order to
estimate the achievable accuracy. Results of fourteen realizations of the same
three steps have been used for analysis. Statistics for measurement results
presented. Average step size was 0.046deg at 7 driving pulses. Relative error
between steps was about 1 percent. The accumulated data was processed to obtain
the standard deviation of the position repeatability.
288
The influence of driving pulses on angular positioning dynamics has been
analyzed. The angular position has been constantly monitored while varying the
number of applied driving pulses. The number of driving pulses has been varied
from 2 to 8. Time diagrams of angular displacement are presented. It is evident
that transient response is influencing the obtainable step size.
Analysis of the complex electrical impedance of the piezoactuator over
frequency range under varying load conditions was investigated. The equipment
for electrical parameters measurement has been developed. The system utilizes
the I-V mode of impedance measurement. It contains the excitation signal
generator based on direct digital synthesis and resulting waveforms acquisition
units. Two simultaneous 10bits analog-to-digit converters are available. The data
can be streamed at 100Ms/s into two independent 256k samples deep memory
banks. The system control and data transmission to the host PC is performed via a
high speed USB2 interface. For signal containing only single frequency for
excitation sine wave correlation technique can be applied for signal amplitude
and phase extraction. Experimental study results of the actuator complex
impedance are presented. By monitoring the actuator impedance change the
optimal defection system driving conditions can be chosen.
Experimental investigation indicates that presented driver structure is suitable
for high speed wide range laser beam deflection.
289
Line Scale Comparator Carriage Vibrations during
Dynamic Calibration
A. Kasparaitis1 ,a, V. Vekteris1, b, A. Kilikevichius1, c
1
Department of Machine building, Basanaviciaus str. 28, Vilnius, Lithuania
a b c
a.kasparaitis@bsp.lt, vekteris@me.vtu.lt, akilikevicius@gmail.com
Keywords: comparator, dynamic calibration, vibration, carriage, measuring,

calibrated scale.
Abstract
Oscillations of the comparator, which is used for the dynamic calibration of long
optical line scales, are analyzed in the paper. The accuracy of determination of the
position of optical lines on the scale depends on the velocity of the carriage, which
transports the microscope with a CCD camera in relation to the line scale. Oscillations
influence the velocity equability, its value, and at the same time the error compo
measuring.
Object of research
An interference comparator with air refraction coefficient compensation meets the
technical and economic criteria by estimating the refraction coefficient from Edlen
formula according to the results of measurement of the environment parameters or by
means of a refractometer. It is based on a line gauge calibration comparator with a
sliding microscope and a stationary scale. The comparator‘s frame is made from
granite and is mounted on vibration-proof supports, the microscope holder moves on
air guides. The carriage is driven by means of motor, worm reduction gear and
friction gear. The laser measuring system comprises laser, interferometer and
retroreflector.
Experimental tests
Measuring system was installed comprising an accelerometer 8306, vibrometer 2511,
signal input and control board Ebiol–Comlab–SeiTech and personal computer IBM–
50. The obtained results are presented in Figs.
Discussion of the results
Measurements were carried out in horizontal directions. Supply of air to the
comparator‘s frame supports and the carriage‘s aerostatic bearings was controlled.
The illustrations show the measurement point at which vibration velocity amplitudes
reach maximum values at the respective frequencies.
Conclusions
1. Where the comparator‘s calibration uncertainty is 0,1 µm/m the obtained values of
vibration velocitys may affect the accuracy of reading.
2. The spectra of random vibration velocitys obtained within the low-frequency range
(2 – 10 Hz) define the preparation requirements of the vibration-proof supports.
3. These vibration velocities are acting and must be measured setting the accuracy of
raster indication.
290
The Test Stand for Analysis of Fatigue Crack Propagation
under Bending with Torsion
Grzegorz Gasiak1, a, Grzegorz Robak2, b
1
Opole University of Technology, ul. Mikolajczyka 5, 45-271 Opole,
Poland
2
Opole University of Technology, ul. Mikolajczyka 5, 45-271 Opole,
Poland
a b
g.gasiak@po.opole.pl, g.robak@po.opole.pl
Keywords: measurements of fatigue crack, test stand, stereoscopic microscope,

digital camera, control device.
Abstract
The paper presents a test stand for measurements of fatigue crack propagation.
The stand includes a fatigue machine MZGS–100 and a device for registration of
the crack length. The test stand is equipped with a stereoscopic microscope with
fluent magnification 7x ÷ 67.5x. The microscope can be applied for observation
of fatigue crack development. The microscope is also equipped with a digital
camera. Connection of the microscope with the digital camera enables continuous
observation of fatigue crack development on the computer monitor and it is not
necessary to stop the machine. The test results obtained at this stand can be used
for determination of fatigue life and fatigue crack propagation rate.
References
[1] GASIAK G.: Life of constructional materials under cycling loading including
the mean loading values. Oficyna Wydawnicza Opole University of
Technology, Opole, 2002, p. 312 (in Polish)
[2] ROBAK G.: Fatigue life of materials under bending with torsion within crack
propagation. Praca doktorska, Opole University of Technology, Opole, 2006,
s. 160 (in Polish)
[3] H. Achtelik, L. Jamroz., Patent PRL nr 112497, CSR nr 200236 i HDR nr
136544
[4] H. Achtelik: Ogólne założenia metodyki badań trwałości zmęczeniowej
tworzyw konstrukcyjnych w szerokim zakresie temperatur. Raport nr 18/89
WSI Opole
[5] BARAN S., GASIAK G., ROBAK G.: Modeling of spatial stress and strain
states in the fatigue crack growth under bending and bending with torsion.
Fracture Mechanics of Materials and Structural Integrity, Lviv, 2004, pp. 305-
310
291
Instability of Structure Plates under Two-Directional
Compression
Antanas Ziliukas1, a
1
Department of Mechanics of Solids, Kaunas University of Technology,
Kestucio str. 27, Kaunas LT-44312, Lithuania
a
antanas.ziliukas@ktu.lt
Keywords: Instability, plate, two-directional compression, strength criteria.
Abstract
For the perfect structures the peculiarities of deformability, strength and stability of
plate form elements are very essential due to the security of accurate and reliability of
performed functions. According to the studies of other authors, the poor attention is
paid to the behaviour of materials in the case of complex loading. In these studies, the
influence of both normal and shear stress acting in the same time is not evaluated.
Whereas, it is very important for the investigation of elastic-plastic materials. In this
study according to classical solutions in both the case of unidirectional and two-
directional loading in the analogical way as in the case of strength criteria, the
stability criterion is suggested. The influence of geometry is modelled in this study.
This allows the covering all of the complex loading cases and the evaluating of the
behaviour of the elastic-plastic materials. The analytical results are compared to
experimental ones.
Accepted that the instability occurrence depends on both the normal compression
stress and shear stress, the instability condition can be expressed in the same way as
the yielding one. In this case, not only the materials properties influence the stability
losing but also the plate geometry ant this must be evaluated.
According to this the instability condition can be written as follows
 ekv  m1  i ,c  m2  0,c   cr
where  ekv is the equivalent stress,  i,c is the critical stress intensity,  0,c is the
critical average stress, m1 and m2 are the parameters influenced buckling which
depend on material, structure geometry and constrain,  cr is the critical instability
stress.
As the parameters m1 and m2 are determined, the critical instability stress  cr
can be calculated in all loading cases.
The experimental researches, as the chosen plates were used, showed the
acceptability of suggested method.
The suggested method can be used as the critical instability stress is evaluated for
the plates of particular dimensions in the cases of uniaxial and biaxial compression;
the more complex loading cases can be evaluated according to the universal criterion.
292
Assessment of Dynamical Properties of Die Hammer
MPM 10000 B Considering Deformations of Working
Material
Majewski Ludwik1, a, Trąbka Arkadiusz2, b
1
University Of Bielsko-Biała, ul. Willowa 2, 43-309 Bielsko-Biała, Poland
2
University Of Bielsko-Biała, ul. Willowa 2, 43-309 Bielsko-Biała, Poland
a b
lmajewski@ath.bielsko.pl, atrabka@ath.bielsko.pl
Keywords: die forging, modelling, finite element method, vibrations.
Abstract
In the paper, an attempt is done which consists in an assessment of dynamical
properties of the steam-air die hammer MPM 10000 B - type, taking into account
an effect of partial accumulation of hit energy for a plastic deformation of a
forging material during a hot forging process.
Two versions of calculation models of the die hammer were prepared:
 model no 1 – it is a simple discrete model written in a form of differential
motion equations, implemented in the MATLAB environment;
 model no 2 – it is a model built by means of the finite element method (FEM).
Both calculation models were derived based on the functional scheme of the
die hammer which was (in turn) prepared based upon the technical-service
specifications for the die hammer MPM 10000 B - type.
As loading, the rectangle type force impulse was assumed . It was applied to
the upper surface of the forging element.
The results obtained in the numerical simulations were presented in graphical
form as time histories of displacements and accelerations of particular elements
of the die hammer.
a) b)
Fig. 1. Time histories of: a) displacement, b) acceleration of foundation,

respectively for VND model
293
Based upon the obtained results of numerical simulations – it can be stated
that the design of the die hammer MPM 10000 B has sufficiently low level
vibration amplitudes, velocities of vibrations and their accelerations.
The determined (based upon the numerical simulations) values of the maximal
amplitudes of vibrations of the anvil block and foundation are equal to 0,9 mm
and 0,8 mm, respectively. These values are essentially lower then the allowable
ultimate amplitudes for the die hammers which should not exceed 2 mm for the
anvil block (in case when anvil cap mass is equal to 2 tons) and 1,2 mm for the
foundation laying directly on the ground.
The designed insulation of the anvil block from the foundation allow for
direct placing of a hammer foundation on the ground. The vibrations which occur
during a service duties of the die hammer MPM 10000 B do not make any threat
for the machines placed in the neighbourhood of the hammer.
294
Poster Session: Education in the Fields of Mechatronic
Systems and Materials Science
295
Modelling and Control Aspects for a Type of Mobile
Robot
Mircea Nitulescu1, a, Viorel Stoian1, a
1
University of Craiova, Automation Control and Mechatronics Department
107, Decebal Street, 200440, Craiova, ROMANIA
a
{nitulescu, stoian}@robotics.ucv.ro
Keywords: mobile robots, modelling, control, stability.
Abstract
This work presents some considerations regarding mathematical models and
control solutions for a class of mobile robots namely ―two-wheel differential
drive mobile robots‖. This structure is now one of the most utilized mechanical
structures in mobile robotics practice because it assures a good balance between
large capabilities in locomotion (or tracking possibilities) and mechanical
complexity (or construction costs).
This type of mobile robot has minimum three wheels. Two "drive wheels"
have a common horizontal axis, fixed on the robot body. One or more free wheels,
or "castor" wheels, assure the robot equilibrium. Each castor wheel is
independently mounted on a vertical not drive axis of the body and it is
automatically and free aligned on the route as result of the forces developed by
the two drive wheels. Therefore, while three wheels introduce isostatic
equilibrium for robot body, more that three wheels introduce hyperstatic
equilibrium, which ensure a better stability on complex trajectories including
curve segments. We suppose that two DC servomotors energize the locomotion
system of the mobile robots, each of them with associated encoders (as common
speed and position sensors).
The entire control of the mobile robot on the trajectories is assured controlling
the angular velocities of the two drive wheels. We introduce the hypothesis that
the two instant drive wheel accelerations are equals in module. If the sign of them
is the same, the mobile robot executes a linear motion and if the sign is opposite,
the mobile robot executes a special curve namely "clotoide".
Starting from the associated co-ordinate systems and notations introduced for
the two-wheel differential drive mobile robot, we introduce first some basic
equations for the instant linear velocity of the mobile robot and its two Cartesian
components. The position, the orientation and the linear velocities of the two
driven wheels define the robot state as a five elements vector. We develop five
state equations: two for the linear velocity components of the mobile robot, one
for the angular velocity of the robot and two for the linear accelerations of the
two drive wheels.
296
The paper includes a primary model for the two-wheel differential drive
mobile robot, considering two DC servo-motors as actuators in the locomotion
system and a intermediate simplified model for the two-wheel differential drive
mobile robot, considering the same behavior for the two actuators. Finally, we
present the solution proposed to control the two-wheel differential drive mobile
robot in two bloc diagrams: the closed loop control diagram for position and the
closed loop control diagram for orientation (or direction).
For these proposed control solutions, the paper presents therefore some
analyses regarding the stability for different type of possible inputs. In this
purpose, we define first a simplified model of the two-wheel differential drive
mobile robot for stability analyzes. To evaluate the stability of the control using
Nyquist criteria, we consider a single channel, while the influence of the second
channel is integrated in the perturbation. We analyze some cases and define the
stability conditions. The root-locus method diagram for stability analyzes of the
two-wheel differential drive mobile robot is also included.
297
INDEX
A Baskutienė Jolanta 243

Abraitis Vidas 162 Baskutis Saulius 286
Adamiv Oleh 245 Batkauskas Vygintas 169
Adzericho I. 202 Bedzik N. A. 164
Ailon Amit 42 Beinarts Ivars 165
Albrektas D. 253 Berzins Gundars 210, 268
Aldea Sorin 145 Bieńkowski Adam 113
Amann Robert 73 Bilyk V. A. 262
Ardelean Ioan 238 Blaņiūnas Giedrius 175
Augustaitis V. K. 68, 136 Bogdevičius M. 230
Augutis V. 152 Bogorosh Aleksandr 103
Borodičas Paulius 286
B Bouchner Peter 163
Backaitis Stanley H. 141 Bouscayrol Alain 41
Bagdonas Vytautas 57 Brander Timo 118
Bakńys Bronius 81, 243 Brazdeikis Liudas 183
Balan Radu 240, 248 Brisan Cornel 236
Balańevičius Leonas 168 Bručas Domantas 158
Balčiūnas G. 152 Bubulis Algimantas 202, 219
Balevičius S. 129 Bučinskas V. 68
37, 54, Burneika Linas 135
Bansevicius R. 184, 197,
285 Busilas Alfredas 54
Barakauskas A. 157
Barauskas R. 101 C
Barauskas Saulius 212 Cénac-Morthé C. 43
Bareikis Regimantas 206 Chaus Alexander S. 110
Barre P.J. 41 Conkur Erdinc Sahin 77
Barzdaitis V. 68, 230 Czypryński Krzysztof 120
Barzdėnas Vaidotas 284 Čereńka Audrius 93
Bashtovaya E.A. 262 Čiučelis Algirdas 208
Basinuk V. L. 164
Baskys Algirdas 86, 87,
170
298
D Gomand J. 41
Dabkevičius A. 231 Gosiewski Zdzisław 59, 65, 84,
99
Dąbrowski Jan Ryszard 251 Gouskov A.M. 224
Dambrauskas Algirdas 273 Graņevičiūtė Jurgita 219
Dapkus Rimantas 258 Grigaitis A. 173
Dauksevicius Rolanas 200 Grinko Aleksandr 148
Didņiokas R. 230 77, 112,
Gurbuz Riza
204, 205, 235
Dragańius E.
256 Gursky Nikolay 271
Duhayon Eric 115 Guņas Danielius 208
Dumbrava Vytautas 288
Dupal Jan 64 H
Durat Mesut 270 Hanitsch R. 44
Hatchett D.W. 55
F Homich Alexander 228
Falkowski Krzysztof 48, 84 Hovland G. 147
Fedaravičius A. 198, 223 Hübner B. 44
Florescu M. C. 40 Huścio Tomasz 48
Fourounjiev Reshat 139, 228,
271
I
G Ibianskas Paulius 205
Gaidys Rimvydas 200 Itul Tiberiu-Pavel 233
Gailius D. 152 Ivanescu Mircea 40
Garbuio L. 43
Gasiak Grzegorz 291 Y
Gavriloiu V. 72 Yurkevich V. 72
Geiger Franz 73 Yuschenko Arkady S. 75
Geleņevičius V.A. 97, 173,
175
Gičan Vladimir 136
J
Giemza Bolesław 133
Jakńtas Arūnas 61
158, 161, Jankauskas Zigmantas 212
Giniotis Vytautas
285 Janusas Giedrius 54
Girčys Rolandas 226
Janusz Jarosław 192, 194
Gocman Krzysztof 133
Januńevičius V. S. 168
Gohar Manukyan 274
299
Jonuńas Remigijus 221, 222 Kleiza Vytautas 52
Junttila Petri 79 Kłosiński Jacek 191, 192,
194
Jūrėnas Vytautas 202, 219 Kojelavičius P. 157
Jurevičius Mindaugas 93 Köksal Sakip 109
Juska Vladas 288 164, 256,
Korobko E. V.
Juzėnas Egidijus 221
262
Korouji G. 44
Juzėnas Kazimieras 221
Koszewnik A. P. 65
Kotnarowska Danuta 181
K
Kotnarowski Andrzej 177
Kabelkaitė A. 231
Kotowski Adam 189
Kaberdina E.B. 262
Koval Vasyl 245
Kačeniauskas A. 129, 213
Kovarova Jana 64
Kačianauskas R. 129, 213
Kownacki Cezary 155
Kahrizi M. 264
Kozumplik Martin 163
Kayikci Ramazan 112, 270
Krilavičius Tomas 280
Kałdoński Tadeusz 120, 133
Kryspin Mirota 48, 128
Kałdoński Tomasz J. 120
Kroneld Petter 63, 79,
Kalervo Nevala 63, 79, 118
118
Kubilius Vaclovas 185
Kanapeckas Kęstutis 222
Kunicina Nadezhda 165
Kapura Viktor 245
Kurtulus Osman 112
Karayel Durmus 131
Kuzas Pranas 158
Karaliūnas B. 90, 174
Kuzmin V.A. 261
Kasparaitis A. 157, 290
Kvedaras Rokas 143, 153
Kasprzyczak L. 45, 85
Kvedaras Vygaudas 143, 153,
Kausinis S. 101 212
Kawasaki Haruhisa 28
Kazanavičius Egidijus 138 L
Kestelyn X. 41 Lapinskas Antanas 89
Khorasani K. 72 Lapinskas Renatas 89
Kibirkńtis E. 217, 231, Larkin S. 103

237
LevchenkovAnatoly 165
Kilikevichius A. 290
Liedes Toni 63
Kilikevičius Sigitas 81
Lindroos Tomi 118
Kirka Aleksandras 89
Lindstedt Paweł 125
300
Lipnickas Arūnas 159, 185, Nechval Konstantin N. 210, 268
245
Loose Harald 78
Nechval Nicholas A. 210, 268
Lungu Ion 149

Nedela Vilém 277
Luo Ningsu 117

Nitulescu Mircea 247, 296
Nogarede Bertrand 115
M Noveanu Simona 149
Macha E. 45, 85
Novickij J. 103, 129
Majewski Ludwik 192, 293

Novikova Z.A. 164, 256
Mandru Dan 149, 238

Novotny Stanislav 163
Marcinkevičius A. H. 39
Marozas Leonardas 282
O
Maties Vistrian 240, 248
O‘Toole K.T. 55
Matkevicius Edvardas 90
Ostapkowicz Paweł 126
31, 54,
Matkevičius E. 172 Ostańevičius Vytautas 57, 200,
Matsuo Takahiro 51 219
Ottestad M. 147
Maxa Jiri 277
Özkan S. Serdar 131
Maņeika Dalius 196
Ozsert Ibrahim 270
Maņeika P. 68, 230
McGrath M.M. 55
P
Meyyappan Meyya 33
Palevicius Arvydas 54, 180,
Minchenia .T. 202 220
Mitrulevičiūtė Rūta 184 Pana Cristina 247
Myalo E.V. 224 Panyukov Anatoly V. 278
Mystkowska Joanna 107, 251 Panovko G. Y. 224
Mystkowski Arkadiusz 59, 99 Parseliunas Eimuntas 282
Mohelnikova Jitka 265 Patańienė Laima 198, 215
Mokshin Vadim 91 Pauliukaitis D. 237
Pawłat Joanna 51
N Pędrak Tomasz 191
Naginevicius Vytenis 220 Persson S. 147
Nart Ergun 270 Petkus Vytautas 286
Narvydas Gintautas 167, 241 Petriaszwili Georgij 187
Navickas Romualdas 250, 284 Petrońkevičius Petras 158, 161
Petrovas Andrius 86
301
Pieknik Roman 163 S
Pilat Zbigniew 146 Salach Jacek 113
Pilkauskas Kęstutis 276 Samper Serge 34
Pisla Doina Liana 233 Sapragonas Jonas 276
Pyrjew Jurij 187 Sarkauskas K. 178
Pohl J. 147 Savin Leonid 67
Polok Dariusz 95 Sawicki Jerzy T. 35
Pucher Krzysztof 95 Schlegel Miloń 64
Purgailis Maris 210, 268 Schneider M. 213
Sergiu-Dan 240, 248
R Shirokov Sergey 67
Radon Tomas 163 Simutis Rimvydas 167, 241
Radzevicius Lionginas 172 Sippola Merja 118
Ragulskis Kazimieras 215, 222, Skeivalas Jonas 161
237
Ragulskis L. 231
Skiedraitė Inga 219, 287
184, 220, Slabko Yulij 139
Ragulskis Minvydas
223 Slivinskas Kastytis 136
Ramonas Česlovas 185
Slowikowski Marcin 146
Raudonis Vidas 167, 241
Smoczek Jarosław 123
Razouk Yousef 115
Solomin Oleg 67
Reizina G.N. 262
Spruogis Bronislovas 61
Rėklaitienė Diana 183
Starevičius Martynas 276
Rinkevičienė Roma 86, 169
Stepanyan Eduard 274
Rybokas Mindaugas 285
Stoian Viorel 247, 296
Rysiński Jacek 128
Strińka Vytautas 93
Robak Grzegorz 291
Stupak E. 129
Robbersmyr Kjell G. 147
Sugiyama Tadashi 51
Rotmanas Algimantas 206
Sulcius Nerijus 97
Rouchon Jean-Francois 43
Sushko M. I. 164
Rudzinskas Vitalijus 260
Svilainis Linas 288
Rugescu Radu D. 145
Szewczyk Roman 113
Ruotsalainen Pasi 63, 118
Szkodo Marek 119, 257
Ruzgus Romualdas 222
Szpytko Janusz 123
Ńukys A. 157
302
Ńunokas Robertas 138 Vasylius M. 68
Vatansever Fahri 131
T Vekteris V. 91, 93,
290
Tamońevičius Ņ. 162 Verkelis Jonas 52
Tarasevicius Kestutis 223 Vilkauskas A. 202
Tatar Olimpiu 238 Virbalis J. A. 197
Tiskevicius Jonas 206 Vińniakov Nikolaj 103
Tyrsin Alexander N. 278 Vobolis J. 253, 255
Tolocka R.T. 105, 178 Volkovas Vitalijus 69
Tomaszewski Jerzy 128 Voronov S. 103
Trąbka Arkadiusz 293
Tretyakova V. G. 224 X
Tumonis L. 213 Xuefeng Li 51
Turla Vytautas 61
Z
U Zakaraitė Snieguolė 168
Udris Dainius 273 Zapateiro Mauricio 117
Ueda Toshitsugu 51 Zaveckas Valentinas 212
Ukvalbergienė Kristina 255 Zhang Yanxia 264
Ustinavičius Tomas 143 Zhurauski M. A. 164, 256
Zielinski Jacek 146
V Ziliukas Antanas 292
Vaitasius Kęstutis 217 Zlosnikas Valerijus 87, 170
Valaika M. 202 Ņemaitis V. 230
Valiulis A. V. 260 Ņurauskienė N. 129
Varnauskas Valentinas 260 Ņvinys Juozas 255
Vasiliauskas R. 180, 198 Ņvironas Arūnas 226
Vasiljev Piotr 196, 206
Vasiljeva Liudmila 206
303
304

Mechatronic Systems and Materials (MSM 2007)

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Mechatronic Systems and Materials (MSM 2007)

Uploaded by

Copyright:

Available Formats

ISSN 1822-8283

Kaunas University of Technology

3rd International Conference

Abstracts of Reviewed Papers

TECHNOLOGIJA  Kaunas, 2007

Conference is supported by:

Maketavo: Inga Skiedraitė

Kauno technologijos universitetas, 2007

ABOUT MSM 2007

8:30 - 9:30 Registration

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

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

1st keynote lecture

Automatic Control of Longitudinal Form Accuracy of a

15:30 - 15:45 Coffee break

Pendulum-Generator as New Energy Source

The Control System of the Stand for Fatigue Tests of

17:00 - 18:30 Free time

Modelling of the Magnetic Attraction Force of The

PBG Fiber Low Concentration Gas Sensor

Transient Characterisation and Analysis of Shape

16:45 - 17:00 Discussions

Robustness Analysis of Vibration Control System for a

Modeling of the Beam as a Control Plane for the

15:30 - 15:45 Coffee break

Identification of Defects of Rotor Systems with Fluid-

17:00 - 18:30 Free time

Design of Dynamic Nonlinear Control Techniques for

A Path Planning Algorithm for Snake-Like Robots

Autonomous Mobile Robots for Outdoor Tasks

15:30 - 15:45 Coffee break

Enhancing the Accuracy of MRI-compatible Robots

16:45 - 17:00 Discussions

17:00 - 18:30 Free time

Section I: Mechatronics Systems

The Differential Passive Magnetic Bearing for High-

10:30 - 11:00 Coffee break

Use of Liquid Crystals for Metal Machining

Experimental Researches of Rotor Axis Revolution

13:00 - 14:00 Lunch

The Analysis of Defects Propagation in Navigating

10:30 - 11:00 Coffee break

Modeling of the Magnetoelastic Materials for Force and

13:00 - 14:00 Lunch

Mechatronics Approach in Intelligent Control Systems

Failure Analysis of Destructive Coils

10:30 - 11:00 Coffee break

Modeling of Moment of Friction under Increasing Load

Modelling of Force Drives of the Production Gear

12:30 - 12.45 Discussions

13:00 - 14:00 Lunch

Method of Dynamic Parameters Measurement of High-

10:30 - 11:00 Coffee break

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

Testing System for Composite Wood Based Strips

Strain Measurements and Monitoring of Constructions

Wavelet Analysis of Barkhausen Noise in

12:30 - 12.45 Discussions

13:00 - 14:00 Lunch

Application of Photogrammetric Method for Height Measurement

Modeling and Design Optimization of Butterfly Type Actuator

Poster Session: Analysis of Vibration

Application of Mathematical Modelling in the Analysis of the