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In this paper the novel, miniaturized full-field optical extensometer for full-field in-plane displacement measurement is presented. It consists of two modules: illumination/detection module (IDM) and Measurement Head (MH) based on grating interferometry. In the paper we study the performance of IDM, which provides the object illumination beam and captures the output interferogram. The characterization of VCSEL comprises determination of polarization state, intensity distribution, coherence path length and shape of the wavefront after being collimated by beam forming optics. The detector matrix has been tested mainly in respect of the signal to noise ratio at various exposure times and its spatial uniformity of sensitivity. [ABSTRACT FROM AUTHOR]

The paper is focused on the simulation identification of nonlinear damping characteristics of the shock absorber using genetic algorithm (GA). 2 DOF quarter car model is used with nonlinear characteristics of damping force defined as piecewise functions. The characteristics are found using time courses of position, velocity and acceleration of both masses under kinematic excitation. The influence of initial boundaries determining the limits within the parameter values are searched is shown in the paper. [ABSTRACT FROM AUTHOR]

This paper deals with the simulation of a vibration power generator that has been developed in scope of the European Project "WISE". The vibration power generator generates electrical energy from an ambient mechanical vibration. The generator is a suitable source of electrical energy for wireless sensors which operate in vibration environment. When the generator is excited by mechanical vibration, its construction produces a relative movement of a magnetic circuit against a fixed coil. Thereby the movement induces voltage on the coil due to Faraday's law. This paper describes the modelling of the vibration power generator in Matlab/Simulink. [ABSTRACT FROM AUTHOR]

This paper describes a precise machine concept based on compensating for six-degree-of-freedom (6-DOF) motion errors between the tool and the workpiece. A hexapod-type parallel kinematics mechanism installed between the tool spindle and the surface plate measures the 6-DOF motions regardless with temperature fluctuation and external forces because the mechanism has a compensation system for the elastic and thermal errors of the joints and the links. Therefore, the tool position and orientation are compensated by using the measured 6-DOF errors. This paper describes the conception of the system. Moreover, a passively extensible strut with the compensation device for the joint's errors was tested. [ABSTRACT FROM AUTHOR]

Grinding is very complex process depending on large number of correlated factors. In precise grinding it is very important to select optimal conditions and to preserve stable conditions during the process. The model of grinding process comprise usually a few elementary models: model of a grain, model of a grinding wheel topography, model of surface roughness, model of the process kinematics, model of a chip formation, forces and energy, thermal and vibration. The author of this paper undertook a study on developing algorithms and programs for complex simulation of grinding process. This paper presents assumptions, schemes, examples of models, and results of the advanced kinematic-geometrical model of grinding processes. [ABSTRACT FROM AUTHOR]

The paper deals with methods of image processing applied in a vision system for assessing welded joints quality. The vision system consists of two CCD and one infrared camera. The base of elaborated approaches to joint assesment is a set of images taken in infrared and visible light during welding process. Images taken in visible light are sources of information about outer conditions of the joint, while thermograms let us to obtain information concerning the joint interior. In the paper results of the application of processing of these two types of images are presented. [ABSTRACT FROM AUTHOR]

Automatic Speech Recognition (ASR) is gaining significance in the fields of automation and user-to-machine interaction. In this paper, the authors present a working framework for a grammar based ASR system. The paper discusses the state-of-the-art speech recognition technology used in the system. Three applications of this technology are discussed: in robotics, forms filling and telephony. [ABSTRACT FROM AUTHOR]

This paper deals with the identification of wheel robot position and orientation when dealing with the global localization problem. We used a method called PCSM (Pre-Computed Scan Matching) for solving this problem for autonomous robot in known environment. This method was developed for small robots. The identification of the position and orientation of the robot is based on the fusion of pre-computed match data and the analysis of the history of robot motion. The paper provides information about this fast yet simple method. [ABSTRACT FROM AUTHOR]

The paper deals with a concept and design of a mobile robot capable of inspecting ventilation ducts made of steel sheet. The robot can operate in several modes including: autonomous, manual, and training one. Some subsystems are briefly outlined. Mobility of the robot is achieved by four wheels that include permanent magnets. There are 2 DOFs associated to each wheel. The detection system assesses the internal state of the robot and its subsystems, and perceives the surrounding environment, providing the control system with vital data that allows completing inspection tasks. The robot is also equipped with environment recognition system that collects data whose meaning is twofold. Primarily, it allows assessing actual condition of the ducts being inspected. Further on, the data makes possible creating plans of long-term movements that are required in order to complete the mission. The work of all these systems is coordinated by the control system. It is based on behaviors that are selected or combined by a neural controller. The controller is able to learn better behaviors from examples. These issues are discussed in details in other papers presented at this event. [ABSTRACT FROM AUTHOR]

The paper deals with the implementation of the behavior-based control and learning framework for autonomous inspection robots. The presented control architecture is designed to be used in the mobile robot (Amigo) for the visual inspection of ventilation ducts. In this paper, various problems are discussed including brief description of hardware components (PC-104 modules), low-level hard real-time operating system (RTAI), high-level manual and autonomous mode control interface (Linux, KDE). The main aim of this paper is to present the framework for rapid control prototyping in the case of the inspection robot. [ABSTRACT FROM AUTHOR]

The system of environment detection and recognition is a part of a mobile robot. The task of the robot is to inspect ventilation ducts. The paper deals with elaborated methods of data and image transmission, image processing, analysis and recognition. While developing the system numerous approaches to different methods of lighting and image recognition were tested. In the paper there are presented results of their applications. [ABSTRACT FROM AUTHOR]

The paper presents a novel approach to measure the parameters of quasi-parallel plates in a Fizeau interferometer. The beams reflected from the front and rear surfaces lead to a complicated interferogram intensity distribution. The phase shifting techniques (temporal and spatial) are proposed to process the interferograms and obtain a two-beam-like fringe pattern encoding the plate thickness variations. Further pattern processing is conducted using the Vortex transform. [ABSTRACT FROM AUTHOR]

The measurement of long micro hole is often problem in contemporary technology. Particularly difficult is the measurement of micro holes of the length to diameter (l/d) ratio higher than 10. The paper presents the new measurement method based on polar co-ordinate scanning with photon counter as a detector. When cylindrical micro hole is scanned with elliptical laser beam, and the hole axis and measurement device axis is not coaxial, the measurement results can be ambiguous and dependent on a distance between axes. This problem can be solved by expansion of results series into a Fourier series. The ratio of zeroth and first order coefficient of Fourier expansion, strongly depends on the distance between axes. [ABSTRACT FROM AUTHOR]

Optical Diffraction Tomography (ODT) is the method for characterization of 3D distribution of refractive index in micro optical elements. The 3D distribution is obtained from several measurements taken for different object angular orientation taken by means of laser interferometry. Unfortunately the interferometry as a coherent technique suffers from undesirable coherent noise in measurements results. Additionally the rotation of a measured object increases the noise influence on the quality of refractiveindex reconstruction due to its amplification in the object area. In this paper we propose the coherent noise suppression technique. The technique involves modification of ODT setup configuration by introducing off center object rotation and applying a modified numerical algorithm of tomographic reconstruction. The algorithm modification involves introduction of numerical imaging and detection of element position from its diffraction spectrum. The received results of noise reduction are shown through numerical simulations and experiments involving optical single mode fiber measurements. [ABSTRACT FROM AUTHOR]

High fidelity color reproduction requires modern approach to color representation. Our research is aimed to develop a digital camera system capable of reproducing high fidelity colors from whole range of human vision gamut. The camera is equipped with three originally designed RGB filters, which spectral characteristics match human eye spectral response covering nearly all colors from human vision color gamut. This paper describes automatic method of color calibration with use of an integrated spectrometer inside the camera with a fiber optic measuring probe. The measurements are carried out in the acquiring conditions due to implementation of a semi-transparent mirror, splitting the image into two perpendicular directions to separate spectra measuring area from image acquisition area projected onto CCD. As a reference for color, a color checker is used for numerical color description. The fiber optic probe is positioned over reflected picture area for measurement of the color checker pads spectra. For accurate color reproduction a conversion matrix is used, which is estimated by least square sum analysis involving spectral data and values obtained from camera CCD sensor for each color reference. [ABSTRACT FROM AUTHOR]

The paper covers the studies on the replication process of the high aspect ratio optical structures performed by Hot Embossing technology. Considered structures are the microinterferometric heads shaped in the form of PMMA blocks with a high frequency diffraction grating placed on the side walls. We propose the full technology chain including replication of the glass machined prototypes. Additionally the preliminary characterization tests of exemplary replicated optical structures are presented. [ABSTRACT FROM AUTHOR]

In this paper we discuss modeling and design issues of microinterferometric tomography system (MiTS) for out-door non-destructive optical fiber inhomogeneity inspection. Presented system is a monolithic microdevice composed from a number of optical microelements: light source, gratings, system body, inspected fiber, imaging optics and detection device. In order to select optimal design an accurate and efficient simulation method of complete system is necessary. There are many optical modeling methods basing on Maxwell equation, wave optics or ray optics. Unfortunately none of them could be used to simulate complete system. These methods either require to much computer power or simply would produce inaccurate results. Therefore to simulate complete system in a reliable way a number of methods is used in different system regions. The received final results are used to study the reconstruction and imaging problems of the MiTS system. [ABSTRACT FROM AUTHOR]

In the paper the design of a stationary Fourier-transform spectrometer using Wollaston prism array is proposed. Interferogram with maximum path difference is divided into components composed from each sub-prism provides high resolution in recovered spectrum. Those components are located on rows of the CCD camera producing individual interferograms, respectively. Such a configuration allows us to merge individual interferograms into one using computer procedures. The analysis of errors and their influence on the recovered spectrum is performed. Due to significant influence on the spectrum errors in design of the prism array were chosen and the analysis of the error of the merging point selection was also discussed. [ABSTRACT FROM AUTHOR]

The dust and mist load in the natural gas becomes increasingly important parameter of the gas quality. The contemporary methods of the dust and mist load measurement consist on the analyse of the effects of light scattering in the dust & mist particles. These methods need however the precise shaping of the stream profile and path lines in the region where the measurements take place. The paper presents the results of designing the nozzle for these purposes with the use of the CFD modelling. [ABSTRACT FROM AUTHOR]

Paper will discuss an understanding for the compensation of the probe ball radius in a scanning process of micro-features. As will be shown, the indigenous CMM software does not always adequately compensate the stylus tip radius. As a result, the information about the real shape of the measured features can be distorted. In order to accurately measure precise geometric features, and in particular micro-features, a new algorithm for the compensation of the stylus tip radius in a CMM scanning process will be proposed. To demonstrate the performance of the indigenous CMM software as well as feasibilities of our new algorithm, we will show the results of measurements of the profiles of precise micro-feature such as silicon micro-grove. Tests will be carrying out on a fixed bridge, moving-table Mitutoyo LEGEX 910 CMM equipped with a MPP-300 scanning probe and also on a Zeiss ACCURA CMM equipped with a VAST GOLD scanning probe. [ABSTRACT FROM AUTHOR]

The paper presents newly developed measuring systems and theirs applications for testing of the strain distribution in the magnetostrictive materials. The system uses three measurement techniques: strain-gauge sensor for local strain measurement, grating interferometry for determination of inplane displacement/strain distribution and classical two-beam interferometry for outt-of-plane displacement and total elongation measurement. [ABSTRACT FROM AUTHOR]

This paper presents new type of magnetoelastic torque sensors. In this sensors the amorphous ring cores were applied as sensing elements. The ring cores were in as-quenched state and after thermal relaxation. For the investigation three type of tape were used, iron based (Fe78B13Si9), nickel based (Fe40Ni38Mo4B18) and Finemet (Fe73.5Si13.5Nb3Cu1B9). Sensor investigation indicate interesting properties and high sensitivity. Results prove that the thermal relaxation is necessary and select the best compose of ring core. [ABSTRACT FROM AUTHOR]

Identity of simulation model is influencing duality of single parameters. This paper is describing on measurement and evaluation stiffness of tyre depending on speed of loading, so-called dynamic stiffness tyre. In this case, we were orient on tyre of sport road motorcycle, where we are at first watched influence camber of tyre from vertical surface on resulting characteristic. The measuring characteristic we are express as force dependent to compression and speed of compression, so-called tyre global characteristic. Mathematical description of global characteristic makes it possible simply and more accurately creation virtual model of tyre used in the multibody software. [ABSTRACT FROM AUTHOR]

The paper presents consideration of light scattering on Kàrmàn vortex street phenomenon [1, 2]. The analytical approximation of the scattering is provided. It is based on a method using expansion into spatial spectrum Kotelnikov-Shannon sampling functions [3]. The final result is referred to the data acquired from gaseous flow installation. The method described herein is applied to count a number of vortices appearing behind a bluff body. The best signal to noise ratio (SNR) is searched at the angular scattering characteristic. [ABSTRACT FROM AUTHOR]

This paper presents results of the modelling of the influence of temperature on the magnetic characteristics of Fe40Ni38Mo4B18 amorphous alloy in as quenched state. For modelling Jiles-Athertos-Sablik model was used. Evolutionary strategies together with Hook-Jevies optimization were applied for calculation of model's parameters on the base of experimental results. To provide sufficient (from technical point of view) agreement between model and experimental data, the extension of Jiles-Athertos-Sablik model was proposed. This extension connect model's parameter k, describing magnetic wall density, with magnetic state of the material. Good agreement between experimental data and modelling confirms, that extended Jiles-Atherton-Sablik model creates the possibility of modelling of thermo-magnetic characteristics of cores of magnetoelastic sensors. [ABSTRACT FROM AUTHOR]

The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. This research is connected to research of contact force vector sensor principle which was performed in last year. The paper presents working prototype of sensor and describes experimental verification of sensor functionality. The optimization of sensor body in order to improve its axial sensitivity is also discussed as well as the design of electronics driving unit of suggested sensor. [ABSTRACT FROM AUTHOR]

The performances of a multisensorial system are given by the fundamental and technological characteristics of the sensors, as parts of the system, no matter if these are conventional sensors, matrix sensors or intelligent sensors. This paper tries to make possible the taking over a part of the signal conditioning modules or acquisition boards functions into a temperature measuring system which collect the signals from varia types of temperature sensors with nonlinear characteristic using intelligent software techniques based on certain mathematical and physical models. The implementation of these software techniques is made using the programme package LabView of the company National Instruments. [ABSTRACT FROM AUTHOR]

Development in modern combustion engines presents high challenges for designers and requires complex experimental and computational methods in development phase of new power train. This paper presents compact tools for computational and experimental thermodynamic analysis of internal combustion engines. A modern single zone heat release model is used for the computational thermodynamic analyses. This new methodology is applied for modernized subject Theory of internal combustion engines at Brno University of Technology, Institute of Automotive Engineering [ABSTRACT FROM AUTHOR]

The paper presents the improvements of the mathematical model of liquid flow dynamics in long distance pipelines. The model was formulated on the basis of the real pipeline system as a result of research concerning the leak detection and localization algorithms. The model takes into account the liquid pressure and velocity in the pipeline, but also the impact of the others important system elements such as pumps, valves and a receiving tank. This allows more precise detection and localization of the pipe leaks. [ABSTRACT FROM AUTHOR]

Precision drive systems are expected to fulfil still higher and higher performance requirements regarding their speed of operation, accuracy etc. This is being achieved on various ways e.g. by changing construction of mechanical parts or modifying electronic circuits. The other approach is to modify control algorithms using additional data from the system, which was previously not considered. In the paper there are examples of such solutions presented. One of them, electrical linear actuator controlled using signal of loading force, has reached an experimental stage. It demonstrated its ability to operate efficiently under changing load with synchronous motion of driving stepping motor kept. Results of those experiments are added. [ABSTRACT FROM AUTHOR]

The paper presents a model of the technological process in the vibro-energy machines. The abrasive medium has viscous-elastic properties. As a result of container's vibration the medium with finishing elements translate with oscillation and it results in machining the elements that are in the container. The forces between the medium and the elements are result of friction. The mathematical model is defined and the properties of the system are determined through a numerical simulation. Trajectory of the elements, their velocities and the forces between them are determined as a function of the container's vibrations. [ABSTRACT FROM AUTHOR]

Aluminum nitride (AlN) films have piezoelectric properties that are already used for acoustic wave propagation in miniature high frequency bypass filters in wireless communication [1,2]. This is a promising material also for MEMS applications and sensors using surface acoustic waves, what have already been proposed. For actuation purposes, even if PZT films are frequently used for their better piezoelectric properties, AlN material still represents an alternative that have to be explored [3]. The subject of the study is the investigation of the high quality cantilevers with AlN layer operating as reliable actuation elements in more complex MEMS systems. It makes necessary to study the mechanical and fatigue behaviors of such components allowing to understand and analyze their failure mechanisms. This paper focuses on device characterization and determination of thermal effect on the cantilever parameter evolution as one of the reliability study aspects. In this process the precise measurements play a key role therefore the interferometric platform has been proposed as an appropriate method of testing. [ABSTRACT FROM AUTHOR]

This paper shows a comparative study of differences between monolithic microsystems and hybrid microsystems. The manufacturing technologies, the performance, and financial aspects are the main criteria which were taken into consideration in this study. The establishment of the manufacturing cost of monolithic versus hybrid microsystems was carried out, respectively. In this way collaborations with over 50 manufacturing companies had been performed for estimation of manufacturing cost of monolithic microsystems versus hybrid microsystems. [ABSTRACT FROM AUTHOR]

StereoPhotoLithography (SPL) by laser allows three-dimensional objects obtaining. The paper presents some aspects related to a device consisting of a stage performing displacements on x and y directions, controlled with PC, by means of a controller and a motion interface. This device is designed to be a subassembly of a μSPL installation. There are given different geometric patterns, as preliminary test, generated by using a program in LabView to command the servomotors that act the x-y stage. There are given, also, the results of the authors as regards the 2 1/2 D configured parts by using the standard photoresist technology, starting from the idea to combine μSPL with thick resist UV lithography. [ABSTRACT FROM AUTHOR]

In the paper consecutive steps of fast prototyping with pneumatic positioning drive were outlined. The model of asymmetrical pneumatic cylinder, fed with compressed air buffer was presented. This model was determined using an IDCAD software package, developed in IAiR of WTU. The fast prototyping was carried out using PExSim (Process Explorer and Simulation) software package developed recently in IAiR of WTU too. Results received during the tests and simulation were compared and presented. [ABSTRACT FROM AUTHOR]

Subject of the paper is manufacturing technique of porous structures made of stainless steel fibers. Preparatory operations on fibers of various diameters and lengths, compacting and sintering the structures were discussed. Samples 30 mm in diameter and 4 mm high were investigated. Filters permeability was evaluated on the basis of so called viscosity type permeability coefficient α. Influence of permeability as well as that of diameter and length of fibers contained in the samples, on coefficient α was determined. [ABSTRACT FROM AUTHOR]

The paper presents dynamic analysis of a rotor with elastic shaft and the dynamic force that generates its vibration. To balance the rotor, free elements (balls or rollers) are placed in one or two drums. The balls can compensate the rotor's unbalance or increase it depends on the parameters of the system. The balls and the rotor are in different planes and it is not obvious if the system can be balanced. The vibrational forces that act on the balls push them to new positions in which the balls can compensate the rotor unbalance, entirely or partially. Computer simulation shows what part of the rotor's unbalance can be compensated by the balls and what the final positions the balls occupy. [ABSTRACT FROM AUTHOR]

This paper deals with the investigation of different variants of mechatronic vibration suppression of machine tools. The structures of machine tools suffer from the conflict between resulting stiffness and dynamics of the machine tool. The consequence is limited accuracy and/or limited productivity of manufacturing. This problem can be solved by mechatronic modification of the machine tool instead of usual pure parametric optimization. There are several variants of such mechatronic modification for active vibration suppression of machine tools. They are the vibroabsorption by adding the auxiliary mass of vibration absorber, the vibrocompensation by adding a new parallel force connection of vibrating point to the frame, the control damping by adding a new link with damping force inside the construction and the mechatronic stiffness by adding a parallel structure to the existing one with collocated force connections between them. These variants were investigated on several examples of machine tools. [ABSTRACT FROM AUTHOR]

In the paper the introduction studies and first results of the active vibration isolation of the driver seat are presented. The actuator under examination is the air spring. The laboratory results of designed active vibration isolation system are very promising. Results of the use of the active and the passive vibration isolation systems are compared. [ABSTRACT FROM AUTHOR]

On Faculty of Mechanical Engineering, Brno University of Technology it was state to life a new methodic for check quality of suspension wheel damping of means of transport so-called over-crossing test. The target group cars are categories, for those are unsuitable existing known routes. This paper is describing principle of methodology incumbent on evaluation behavior of suspension wheel after crossing of defined obstacle. This method was conquest experimental testing on real, experimental and virtual vehicle. This method is suitable for on-car test of shocks absorber on motorcycle, delivery and truck car. [ABSTRACT FROM AUTHOR]

The paper deals with the problems of material and processing parameters influence on axial compression values in the samples made from composites designated for producing dielectromagnets. Shapes were manufactured by injection moulding. The composite matrix constituted high- or low impact resistant polystyrene. As filler hard magnetic powders from Nd-Fe-B alloy were applied, having flake- or sphere-shaped grains. Tests were carried out on samples made from composites of various filler compactness values and grain sizes. Shapes were performed with application of varying composite injection pressure values and temperatures of injected plastic compound. Samples made as described above were subject of axial compression test for laying down their strength value. The experiment results have shown that the most substantial influence on the deformation sequence and on the samples compression strength has the kind of composite matrix. [ABSTRACT FROM AUTHOR]

Nowadays, fully automated and flexible systems are more and more frequently used in grinding of advanced materials, such as for example ceramics. However, mainly due to elements dimensions, and moreover, due to their extremely high brittleness and hardness (as for instance ground and finally lapped tiny ceramic gaskets, used in high-pressured hydraulic circuits), the influence of unknown input elements must be minimized. Among these factors are those, which are closely correlated to cutting properties of grinding wheel (GW) active surface, used in the machining. Therefore, there is substantial need for such methods of estimation of cutting properties of GW, and for monitoring of tool wearing, as to enable to introduce necessary adjustment of the machining process parameters, simultaneously without altering of the initial geometry of the elements in the whole machining system. In this paper some innovative method for in-situ data colleting and processing has been proposed, based on computer vision techniques. [ABSTRACT FROM AUTHOR]

Modern engines are complex mechatronic systems and require periodic maintenances during whole lifecycle. In present time mobile diagnostic methods are very effective tools applicable for all combustion engines. This paper deals with an out of montage diagnostic of internal combustion engines. Principles of the diagnostic method are based on sound evaluation of a running engine. This method can control dysfunctions in mechanical and thermodynamic side of the engine [ABSTRACT FROM AUTHOR]

This paper describes course and results of works on the development of new hardware aiding blind people and use new technologies in well known hardware. The result of this work are three patents of parts of braille printers. [ABSTRACT FROM AUTHOR]

This paper describes factors influencing quality of digital printing, how each parameter changes quality. [ABSTRACT FROM AUTHOR]

During polymerization of monomers into polymer chains a reduction in volume is observed. Shrinkage may cause internal stresses and strains of a final product. It makes some difficulties in technical applications of polymers, especially in dentistry and stereolithography. In the presented paper, two ways of modelling and descriptions of the polymerization shrinkage will be described: the molecular approach based on chemical analysis, and the phenomenological approach based on investigation of density changes in polymer-monomer system. Because the polymerization is time dependent process, the rate of reaction and the course of reaction are important issues. The influence of viscosity and vitrification on the rate of polymerization and finally on the polymerization shrinkage will be described. [ABSTRACT FROM AUTHOR]

Recent advances in microelectronics have brought about the possibility to integrate powerful digital electronic, radio communication and sensors in one small package or simple and fast integration ready-to-use elements like controllers, radio modems and sensors in one advanced product. The new Digital Signal Controllers (DSC) make it possible to design the small smart sensors achieving computational power equal to Digital Signal Processors (DSP) but with lower requirements concerning peripheral devices like ADC, DAC, PWM, IO pins and memory. Wireless data transfer and DSC enhanced features enables to build advanced wireless sensors for many applications. Application of wireless sensor networks and distributed computing results in leads to new advances in measurement and monitoring applications of large scale structures like buildings and bridges. Small dimensions, low power consumption and digital signal processing functions are especially advantages in design of applications, where smart wireless sensors are distributed over the large civil engineering structures for monitoring and damage detection purposes. In the paper fast prototyping of the advanced smart wireless sensor based on DSC is presented. [ABSTRACT FROM AUTHOR]

The focus of this paper is on design and development of a miniaturized mechanical carrier of a mobile robot for inspecting ventilation ducts. Work environment of this robot are ducts made of steel sheet. To enable this robot to easy move in this environment several problems have to be considered and then solved. The authors considered several conceptions. They chose two of them for further research. One of them was a four-leg walking platform. The other was a wheeled platform. 3D CAD systems were used for simulation of kinematics and dynamic behavior. They chose wheeled platform and then developed a real model of this platform. The platform is equipped with four magnetic wheels. Every wheel is independently driven by a step motor. The platform and all elements of the mechanical carrier are made from aluminum alloys. This platform can move on floor, walls and ceilings of round and square ventilation ducts using magnetic forces. [ABSTRACT FROM AUTHOR]

This paper deals with the utilization possibility of kinematical couple screw-matrix in mechatronics concept of in-pipe minimachine which is assigned to move in the pipes with inner diameter less than 25 mm. We use the minimachine for inspection of inner surface defects. The motion principle is based on the transformation from the rotary to the linear motion by the screw and nut which creates a change of the distance between front and rear line of bristles. The motion of the minimachine insures the difference friction between the bristles and the pipe surface in the working stroke of minimachine. [ABSTRACT FROM AUTHOR]

In paper is outlined an application of PExSim - a package for simulation and research dynamic control systems, for investigation a solution of very fast, hydrostatic positioning of a form in high speed moulding machine (HSIM). This construction, based on new locking mechanism, shall attain a 1s dry cycle time for form mass of 3000 kg and 0.5m distance of positioning. Complex mechanism of highly nonlinear transmission ratio, is moved by a set of hydraulic plunger cylinders, that are supplied by a constant stroke, small inertia pump, driven by very dynamic electric motor. Different limitations of final construction have induced many constraints at control. The design of locking mechanism and final control program was developed by many experiments performed by SimulationX and PExSim. Some expected transients of the mould control will be presented. [ABSTRACT FROM AUTHOR]