Applied Mechanics and Materials Vol. 186

Abstract: We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors. The rotational directions were defined by the phase differences of the applied voltages, and the rotational speeds were changed with the frequencies. Additionally, we developed a very small position sensing system using rotary potentiometers. In the control experiment performed using the sensing system, the SUSM showed the returnability to the default position from several specified points, within an accuracy of 1°.

Abstract: The development of multi-agent robotics systems and their activity strategy is very complicated and complex problem in terms of fulfilling the required goals. There are plenty of testing domains for such systems. This paper points at realization of multi-agent robotic system for robot soccer by the team of TUKE Robotics (Technical University of Kosice) – category MiroSot 5 to 5. A hierarchic configuration was used in the application, containing one superior software agent and other agents (agent = robot = player).

Abstract: Three-dimensional elasticity solution is presented for finite length, simply supported, laminated cylinder with a piezoelectric layer under dynamic thermal load and pressure. The piezoelectric layer can be used as an actuator or a sensor. The ordinary differential equations are obtained from partial differential equations of motion by means of trigonometric function expansion in longitudinal direction. Galerkin finite element method is used to solve the resulting ordinary differential equations. Finally numerical results are discussed for different situations.

Abstract: The actual required productivity, accuracy and reliability impose that the robots must be optimized concerning the dynamic behavior. The joints and robots bodies are necessary to be optimized for their usability performance to assure the productivity requirements. The global dynamic compliance (GDC) is one of the most important dynamic parameters of the dynamic behavior of the industrial robots. The viscose global dynamic damper coefficient (VGDDC) is other important parameter of the dynamic behavior what must be optimized to obtain the desired dynamic behavior, the avoiding of the resonance frequencies. The paper shows one new assisted method of the GDC analyzes of the industrial robot with LabVIEW virtual instrumentation (VI) in three different cases: with/without smart magnetorheological damper (MRD) and with aero damper. The created VI-s assures to obtain the assisted research of the dynamic behavior. With this research was possible to determine in the frequencies domain, the robot GDC and the viscose global dynamic damper equivalent coefficient (VGDDEC) value in a case with MRD and finally the transmission of the vibration from the floor to the robot’s tool center point (TCP). This method and the created virtual LabVIEW instrumentation are generally and they are possible to apply in many others dynamic behavior researches.

Abstract: Advanced Rehabilitation Technology provides complex tools with both therapeutical and assistive function. Both designing and therapeutic use of these cybernetic organisms need a sustained interdisciplinary collaboration, the achievements in this domain being the result of the team work of software specialists, researchers from medical, kinematic, technical, electronic, military, sports fields, psychologists, philosophers, bioethics specialists, and not least, of the specialists from medical and neurological rehabilitation clinics and their patients.

Abstract: The software algorithm is designed to ensure compatibility between the commands given by the operator and the need to stabilize the CCD/IR payload. The implementation was made on a mini-turret with 2 degrees of freedom mounted on a miniUAV. Appropriate command and control functions were developed by programming an Atmel family microcontroller.

Abstract: Paper describes the robot equipped with USB camera for capture view of machined objects and tools holder mounted to robots wrist. Showed ideas of using view of machined surface to programming the machining process as art milling or surface grinding. Special pc control of industrial robot system was used.

Abstract: The research of advanced gun barrels focuses on materials or the combination between advanced materials and new innovative processes that enable the increase of the life cycle and performances of all calibers cannons. In addition to the investigation of new materials, considerable efforts were made for developing new techniques. The paper describes a theoretical framework validated with the experimental tests for increasing mechanical properties of thick-walled tubes subjected to high interior pressure loads. The theoretical model established a mathematical model of calculus for non-linear environments in the case of self-hooping or autofrettaging of the thick-walled tubes. The mathematical model was validated with experimental tests performed in the Mechanical Engineering Laboratory of the Military Technical Academy in Bucharest on a standard tension test specimens collected from the abutment barrel made out of alloyed steel. Finally, the present paper introduces some theoretical guidelines of hydrostatic procedure in the field of artillery barrels manufacturing, as well as experimental data obtained after using the autofrettage procedure.

Abstract: Virtual simulation is one of the best methods for training students and understanding events and has been used in many fields of science yet, for example: space researches. For this reason, creating of an environment that can simulate the operations of satellites will be very usable and appropriate. This paper will present the details of a newly constructed 6-DoF experimental Satellite Virtual Simulator (SVS) facility at the Space Research Laboratory (SRL) at the K.N.Toosi University of Technology. SVS is used for studying the translational and rotational motions of a satellite and testing the control and communication concepts. The main components of the facility are 3-D screens, video projectors, user interface, central server system, 3-D glasses for users and its modeling software.