Solid State Phenomena Vol. 198

Abstract: The problem of autonomous formation flight control of UAVs (Unmanned Aerial Vehicles) is presented in the paper. A decentralized control method of the autonomous formation flight realization is described. A practical approach to the UAV formation flight control was shown. The applied method bases on the information exchange between flying objects. The shared data concern the position and velocity of the aircraft. Constructed UAV airframe was presented as well as used autopilot, developed formation flight control unit, wireless communication links and used data packet structure. The main aim of this work was the in-flight tests. The test of formation flight with Virtual Leader (VL) was examined. The autopilot reactions to the incoming data packets with desired altitude, airspeed and heading from formation flight controller were checked. During the flights the longitudinal and lateral positions of the UAV, orientation angles (pitch, roll, yaw), angular velocities (pitch rate, roll rate, yaw rate) and many other flight parameters were logged. The research and flight tests checked and verified the developed method of formation flight control.

Abstract: During last few years avionics system research platform was invented at the Military University of Technology. This modular simulator allows user to design and verify avionics system software using hardware-in-the-loop technique. Mathematical model of an airplane under tests is implemented on a high-performance computer which response to all control signals and environmental disturbances. Environment is simulated on a separate computer which can also visualize orientation and movement of the airplane. Plane structure and aerodynamic features as well as control data can be modified accordingly to user needs. The third PC is used as an interface unit between research platform and main computational unit of the avionics system. This device can send and receive information in real-time using various data protocols and interfaces depending on sensors and actuators that are planned to be used in real system. Those three computers work in a local area network and exchange data using Gigabit Ethernet standard. Possibility to simulate behavior of an UAV controlled by the developed avionics system implemented on an embedded computer working in hardware-in-the-loop mode on the platform, allows software developer to debug any part of the application in various environment conditions very close to reality. Research platform gives also the possibility to modify algorithm and adjust its parameters in real-time to verify suitability of the implemented avionics system software for the particular UAV. The avionics system software developed using this simulation method minimize expensive in-flight tests and assure failsafe performance after first successful flight

Abstract: This paper presents an experimental research simulator of an Unmanned Aerial Vehicle (UAV) and supporting systems, designed at the Department of Avionics and Control, Rzeszow University of Technology. The research simulator enables hardware-in-the-loop testing of an autopilot, actuators, the ground control station and telemetry modules. Particular hardware blocks can be integrated with real-time environment with the use of a CAN data bus, Ethernet interface and a set of popular serial interfaces. Current experiments support development and hardware-in-the-loop testing of advanced flight control and navigation systems of a small UAV (taking into account both the on-board and the ground segments).

Abstract: Technical University of Lodz in cooperation with the Foundation for Cardiac Surgery Development conducts research on the design and control method of Polish Robin Heart cardiosurgical robots family. One of the major problems in telemanipulation is intuitiveness of control. One of the methods to ensure it is using systems that duplicate master displacement to manipulator displacement. The selection of the proper method when it is not possible to predict what will be the position of the camera observing the work area in relation to the position of the manipulator arm is especially important. Transformations between different coordinate systems must be taken into consideration. Four methods of position copying system implementation tested on RobIn Heart cardiosurgical telemanipulator will be presented in this article. Detailed algorithms will be described and the results of tests determining the duration of certain tasks will be presented.

Abstract: Magnetic Shape Memory Alloys (MSMA) constitute one of the newest groups of intelligent materials [. Although these materials have yet to find commercial applications, literature with information on the first pre-prototype actuators can already be found. The mechanism of operation of these actuators is based on the magnetic shape memory effect. During tests, the shifting of piston and current in the coil of the electromagnet were measured. Measurements were synchronized with set courses of this current coil of the actuator. The obtained results made it possible to make static characteristics for constant levels of current, and dynamic curves for constant values of frequency as well as to construct a mathematical model. In this work, the authors have described laboratory tests of an experimental actuator of this type.

Abstract: The paper presents problems connected with the preparation of technical objects, including bearing rollers, for the process of the in-process, on-line automatic optical inspection. The objective was to develop an industrial solution ensuring automatic removal of pollutants from the technological process, located on the controlled surface of the object examined. The developed method allows for effective removal of both liquid and solid pollutants from the surface of the roller originating from the technological process. The removal is conducted in such a way that the quality control of the tested object is possible on the basis of the digital image obtained automatically at the test stand. The control process is limited by the efficiency of the cleaning process. The critical parameter is the achievement of expected effectiveness. The basic assumption was to adjust the efficiency of the control process to the efficiency of the production line (3 items/s). The essence of the presented solution is cleaning of the heads of bearing rollers in an automated, non contact manner with total elimination of the handwork. Therefore, the method meets the requirements of the automated process of cleaning of bearing rollers' heads right before the process of automated optical inspection of an object.

Abstract: The paper presents the conditioning system prototype intended for an electromagnetic generator supporting an MR damper in self-powered vibration reduction systems. The system engineered in the form of an electronic circuit comprises the following blocks: the MR damper control coil supply, self-powering, measurement and the microcontroller. The self-powering function consists in supplying the microcontroller from the generator, assuming that the voltage is larger than that required to power the microcontroller, otherwise the microcontroller will take up energy from a battery since the system has also the battery charging option. The performance of the system was verified through experiments where it acted as a component of a vibration reduction system.

Abstract: The aim of the examination was to determine characteristics of the dynamic movement of the impact cylinder in the function of supply pressure and capacity of the chamber of the accumulator.

Abstract: During recent years structural health monitoring (SHM) systems have gained growing attention. Widely applied methods in SHM are methods based on the ultrasonic Lamb waves (LWs) which are also known as plate waves. LWs may be generated and sensed using different types of transducers and their selection is essential for the SHM systems performance. Among transducers used for generation and sensing of such waves, Interdigital Transducers (IDTs) are ones of the most promising types. Their main advantages are: mode selectivity, high excitation strength, wave directivity, small sizes and relatively low cost. In most cases IDTs are made of piezoceramics or piezoelectric polymers what makes them stiff and fragile. Contrary to the piezoceramic transducers, the ones based on piezocomposites (i.e.: macro-fiber composite) are flexible with the comparable efficiency of piezoelectric effects. The MFC transducers are usually optimized as actuators and they are not designed to any specific frequency. It appears, however, that sparse comb-like electrodes used in interdigital transducers create very interesting properties of mode selectivity. In the paper, after the introduction and short discussion about advantages and disadvantages of the IDTs, a novel type of the interdigital transducer, based on elastic macro-fiber composite, is presented. Next, the results of the numerical and experimental tests of the MFC based IDT designed for the A0 mode excitation in a 4mm-thick aluminium plate is presented. In the final part of the paper advantages and disadvantages of the investigated transducer are discussed.

Abstract: The paper describes concept of the usage of the planar stepping motor (Sawyer motor) as a haptic device. The principle of operation of a planar stepping motor is presented.