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Applied Sciences
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Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2
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Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 10 November 2024 | Viewed by 11444

Special Issue Editors

Prof. Dr. Pavol Božek

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Guest Editor
Slovak University of Technology in Bratislava, Faculty of Materials Science and Technology in Trnava, Institute of Production Technologies, 917 24 Trnava, Slovakia
Interests: robot technology; automation; production technology; navigation systems; control algorithms for manipulators and mobile robots; sensors for robot state sensing; part handling; navigation; sensors; machine vision
Special Issues, Collections and Topics in MDPI journals
Dr. Tibor Krenicky

E-Mail Website
Guest Editor
Department of Technical Systems Design and Monitoring, Faculty of Manufacturing Technologies with a Seat in Prešov, Technical University of Košice, Bayerova 1, 080 01 Prešov, Slovakia
Interests: technical diagnostics; virtual instrumentation; mechanical engineering; nanomaterials
Special Issues, Collections and Topics in MDPI journals
Dr. Yury Nikitin

E-Mail Website
Guest Editor
Department of Mechatronic Systems, Kalashnikov Izhevsk State Technical University, Izhevsk, Russia
Interests: mechatronic systems diagnosis; mechatronics; automation and robotics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Following the great success of the “Automation and Robotics: Latest Achievements, Challenges, and Prospects” Special Issue, which was published in August 2021, we have decided to launch a second edition, which will hopefully be as successful and provide as much insight as the first.

Automation, supported by robotics, is currently one of the necessary elements that can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage by modelling and simulation. This area of scientific research from the very beginning includes drives, process technology, actuators, sensors, control systems, and all connections in mechatronic systems.

Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision, holography, and other imaging tools to examine new physical contexts, dependencies, and connections. Therefore, I call on researchers and scientists who work on topics related to automation and robotics to contribute and offer the results of their works for professional publication. I call for the presentations of original results achieved using the latest methodologies for the production and implementation of new generation drives, flexible actuators, actuators with new control principles, and those based on navigation systems. All those who work with new approaches in the design of these parts and components for automated and robotic movements are welcome to join the call for the development of these systems and new applications for future generations.

This Special Issue welcomes the latest achievements, challenges, and prospects for drives, actuators, sensors, controls, robot navigation with reverse validation, and applications in the field of industrial automation and robotics. Its aim is to present contributions to shorten pre-production processes and simulate and design key elements and components, while achieving exceptional quality and minimizing costs.

Contributions should focus primarily on:

  • New approaches to the modelling and simulation of sensors and monitoring and control systems in automated systems;
  • Progressive methods of robot machine learning development;
  • Optimization approaches and learning control methods for robotics and automation;
  • Sensors in mobile robotics and manipulators (sensing the condition of robots, sensors for manipulating the parts, navigation sensors, machine vision sensors, etc.);
  • Actuators for robotic systems;
  • Navigation of mobile robots;
  • New fault detection and diagnostic solutions for robotics;
  • Progressive applications of robotics and automation for practice.

Prof. Dr. Pavol Božek
Dr. Tibor Krenicky
Dr. Yury Nikitin
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • automation
  • robotics
  • drives
  • actuators
  • sensors
  • diagnostics
  • holography
  • simulation
  • virtual instrumentation
  • control systems
  • robot navigation
  • reverse validation
  • trajectory control

Published Papers (7 papers)

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Research

19 pages, 6667 KiB  
Article
Analysis of the Methodology for Experimental Measuring of the Performance Criteria of the Laser-Using Collaborative Robot’s Path Accuracy
by Peter Marcinko, Ján Semjon, Rudolf Jánoš, Jozef Svetlík, Marek Sukop and Štefan Ondočko
Appl. Sci. 2024, 14(4), 1414; https://doi.org/10.3390/app14041414 - 08 Feb 2024
Viewed by 439
Abstract
This study describes the design of an experimental methodology developed to measure the working properties of the accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The [...] Read more.
This study describes the design of an experimental methodology developed to measure the working properties of the accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The main parts of the measuring chain and the ISO 9283 standard are described. The proposed experimental methodology should examine the working properties of industrial robots, such as position and path. The focus of this study lies in the path accuracy of robots. Currently, interest in this topic is on the rise, and the measuring systems capable of recording this parameter are too costly. This study focuses on the experimental measuring of the path properties, describing them in more detail. The measuring and results were processed in the software tool developed for Gepard. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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17 pages, 19159 KiB  
Article
Digital Induction Motor Model Based on the Finite Element Method
by Pavol Bozek, Tibor Krenicky and Vanessa Prajova
Appl. Sci. 2023, 13(8), 5124; https://doi.org/10.3390/app13085124 - 20 Apr 2023
Cited by 4 | Viewed by 1859
Abstract
This article presents the design of a drive system for robots and manipulators, which is based on the finite element method of an induction motor. The design process involves constructing a computer-aided design (CAD) model of the induction motor, which enables the generation [...] Read more.
This article presents the design of a drive system for robots and manipulators, which is based on the finite element method of an induction motor. The design process involves constructing a computer-aided design (CAD) model of the induction motor, which enables the generation of design documentation and control programs for computer numerical control (CNC) tools for manufacturing motor parts or conducting further research. A CAD model is developed for performing a finite element analysis of the motor in the SolidWorks software based on the popular AIR63V2 motor. The design of the motor’s housing, rotor, and stator is developed. Additionally, the electrical parameters of the motor are calculated using Ansys Electronic Suite—Maxwell RMxprt, utilizing the classical analytical theory of electrical machines and the equivalent magnetic circuit method. This takes into account such effects as the non-linearity of electrical steel, the non-sinusoidality of the magnetic flux in the gap, and the displacement of electric current in massive conductors. A complete model of an induction motor for research has been created, enabling the study of dependencies of speed and electromagnetic torque of an induction motor. The natural frequency of the rotor is calculated, which ranges from 922 Hz to 1015 Hz. The obtained values of calculations of natural oscillations of the CAD model of the motor can be used for motor diagnostics. Furthermore, the created project in the Ansys software can be utilized to design an induction motor with its own characteristics, optimized for specific tasks. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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19 pages, 10295 KiB  
Article
Improved Design of LNG Marine Loading Arm Docking Method Based on TRIZ Theory
by Jie Mei, Wuwei Feng and Zirong Liang
Appl. Sci. 2023, 13(7), 4525; https://doi.org/10.3390/app13074525 - 03 Apr 2023
Cited by 1 | Viewed by 2061
Abstract
The LNG marine loading arm is a critical component for transferring LNG from vessels to onshore receiving stations. However, currently, the operation of LNG marine loading arms is still faced with issues such as a slow docking speed and significant environmental impacts from [...] Read more.
The LNG marine loading arm is a critical component for transferring LNG from vessels to onshore receiving stations. However, currently, the operation of LNG marine loading arms is still faced with issues such as a slow docking speed and significant environmental impacts from waves and wind. In this paper, we propose a set of feasible improvement schemes for the traditional LNG marine loading arm based on the theory of inventive problem solving (TRIZ). We utilized tools such as functional models, causal chain analysis, contradiction analysis, and Su-Field model analysis to develop these schemes. Our proposed improvements include using machine vision and automatic control to replace manual work, conducting finite element analysis and topology optimization of the LNG marine loading arm to improve its structure, and innovating the design of the end structure of the LNG discharge arm. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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17 pages, 2655 KiB  
Article
Use of Spatio-Structural Parameters of the Multiscan Video Signal for Improving Accuracy of Control over Object Geometric Parameters
by Vladimír Tlach, Michael Yurievich Alies, Ivan Kuric, Milan Sága, Yuriy Konstantinovich Shelkovnikov, Igor Olegovic Arkhipov, Aleksandr Ivanovich Korshunov and Anastasia Alekseevna Meteleva
Appl. Sci. 2023, 13(5), 2994; https://doi.org/10.3390/app13052994 - 26 Feb 2023
Viewed by 999
Abstract
In the present paper, we consider the issue of improving the accuracy of measurements and the peculiar features of the measurements of the geometric parameters of objects by optoelectronic systems, based on a television multiscan in the analogue mode in scanistor enabling. It [...] Read more.
In the present paper, we consider the issue of improving the accuracy of measurements and the peculiar features of the measurements of the geometric parameters of objects by optoelectronic systems, based on a television multiscan in the analogue mode in scanistor enabling. It is shown that the convolution of the input signal of the rectangular profile of the light zone with the impulse response of the multiscan explains the smearing of video signal edges. The value of smearing is completely determined by impulse response and does not depend on the zone width. It is established that signals of the action from narrow light zones are smeared out substantially relative to their width, and in this case, the conventional method for determining the zone width by the video signal derivatives stops working. A method is proposed for a full reconstruction of the rectangular profile of a light zone (including a narrow one) in a developed noise-proof optoelectronic measuring device based on a multiscan with the use of spatio-structural parameters, where the width of a light zone corresponds to an extent, illumination of the zone—to brightness, and its coordinate—to centroid. It is shown that the subtraction of the dissipation of the impulse response from the video signal dissipation allows for accounting of the value of the video signal smearing out with high accuracy at the estimation of the width of a light zone, in accordance with the property of the additive accumulation of dissipation. It is established that the use of the spatio-structural video signal model permits the extension of the application of multiscan-based optoelectronic devices for the high-accuracy control and measurement of the geometric parameters of small objects. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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16 pages, 4617 KiB  
Article
Model-Based Design of Induction Motor Control System in MATLAB
by Tibor Krenicky, Yury Nikitin and Pavol Božek
Appl. Sci. 2022, 12(23), 11957; https://doi.org/10.3390/app122311957 - 23 Nov 2022
Cited by 5 | Viewed by 1920
Abstract
A mathematical model of induction motor (IM) based on the second Kirchhoff’s law with Maxwell’s equation taken into account has been developed. A mathematical model of a three-phase induction motor with a short-circuited rotor in phase axes without taking into account the saturation [...] Read more.
A mathematical model of induction motor (IM) based on the second Kirchhoff’s law with Maxwell’s equation taken into account has been developed. A mathematical model of a three-phase induction motor with a short-circuited rotor in phase axes without taking into account the saturation of the magnetic circuit and the losses in steel has been elaborated. A nonlinear model of asynchronous motor in the state space in the rotating system (d-q) of coordinates synchronized with the stator flux and a simulation model of IM in MatLab/Simulink software, with the possibility of setting angular velocity of rotation and resistance torque, have also been developed. The model-oriented design of the control program is performed on the example of digital signal processors from Texas Instruments on the LAUNCHXL-F28379D board. This description of the dynamics provides a direct insight into the physical processes in IMs. The advantage of the considered mathematical description of electromechanical energy conversion processes in three-phase IM is that it uses instantaneous values of currents and voltages of stator and rotor winding phases as variables. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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15 pages, 9186 KiB  
Article
Mapping Robot Singularities through the Monte Carlo Method
by Tomáš Stejskal, Jozef Svetlík and Štefan Ondočko
Appl. Sci. 2022, 12(16), 8330; https://doi.org/10.3390/app12168330 - 20 Aug 2022
Cited by 3 | Viewed by 1513
Abstract
In addition to other things, a robot’s design also determines its singularity configurations and points in the workspace. In designing the robot’s working trajectory, one of the main issues of robot steering is avoiding singularities. The article proposes a different approach to calculating [...] Read more.
In addition to other things, a robot’s design also determines its singularity configurations and points in the workspace. In designing the robot’s working trajectory, one of the main issues of robot steering is avoiding singularities. The article proposes a different approach to calculating the inverse task, which lies in the random mapping of the robot mechanism’s workspace through searching for points closest in proximity to the trajectory in question. The new methodology of mapping and detecting the states of singularity in the workspace is actually based on Monte Carlo analysis, since we were also interested in the number of occurrences. In terms of mathematical analysis, this method is less demanding, because in searching for joint variables suitable for the given trajectory, it does not use inverse calculation. It is important that the method is chosen appropriately. The method is sufficiently illustrative in the form of a graph, making, e.g., programming optimization simpler. The ultimate effect is the reduced time needed for computing joint variables and the availability of an option to select a robot configuration suitable for carrying out the required work. The paper offers an example of an analysis concerning three different robots. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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19 pages, 616 KiB  
Article
Discrete-Time System Conditional Optimization Based on Takagi–Sugeno Fuzzy Model Using the Full Transfer Function
by Radiša Jovanović, Vladimir Zarić, Zoran Bučevac and Uglješa Bugarić
Appl. Sci. 2022, 12(15), 7705; https://doi.org/10.3390/app12157705 - 31 Jul 2022
Cited by 2 | Viewed by 1332
Abstract
The study proposes a novel method for synthesis of a discrete-time parallel distributed compensation (PDC) controller for the nonlinear discrete-time Takagi–Sugeno (TS) fuzzy plant model. For each of the fuzzy plant model linear subsystems, a local linear first order proportional-sum (PS) controller is [...] Read more.
The study proposes a novel method for synthesis of a discrete-time parallel distributed compensation (PDC) controller for the nonlinear discrete-time Takagi–Sugeno (TS) fuzzy plant model. For each of the fuzzy plant model linear subsystems, a local linear first order proportional-sum (PS) controller is designed. The algebraic technique is used in two-dimensional parameter space, utilizing the characteristic polynomial of the row nondegenerate full transfer function matrix. Each system’s relative stability is accomplished in relation to the selected damping coefficient. The supplementary criterion is the minimal value of the performance index in the form of the sum of squared errors (SSE). However, unlike the traditional technique, output error is impacted by all simultaneous actions on the system: nonzero inputs and nonzero initial conditions. The full transfer function matrix of the system allows for the treatment of simultaneous actions of the input vector and unknown unpredictable initial conditions. In order to show the improvement caused by the application of a new optimization method that considers nonzero initial conditions, a comparison of PDC controllers designed under zero and nonzero initial conditions is given, where the system in both cases starts from the same nonzero initial conditions, which is often the case in practice. The simulation and experimental results on a DC servo motor are shown to demonstrate the suggested method efficiency. Full article
(This article belongs to the Special Issue Automation and Robotics: Latest Achievements, Challenges and Prospects, Volume 2)
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