https://oldena.lpnu.ua/handle/ntb/52430| Title: | Models of Magnetic Driver Interaction with Ferromagnetic Surface and Geometric Data Computing for Clamping Force Localization Patches |
| Authors: | Gerasin, Oleksandr Zaporozhets, Yuriy Kondratenko, Yuriy |
| Affiliation: | Admiral Makarov National University of Shipbuilding Petro Mohyla Black Sea National University |
| Bibliographic description (Ukraine): | Gerasin O. Models of Magnetic Driver Interaction with Ferromagnetic Surface and Geometric Data Computing for Clamping Force Localization Patches / Oleksandr Gerasin, Yuriy Zaporozhets, Yuriy Kondratenko // Data stream mining and processing : proceedings of the IEEE second international conference, 21-25 August 2018, Lviv. — Львів : Lviv Politechnic Publishing House, 2018. — P. 44–49. — (Big Data & Data Science Using Intelligent Approaches). |
| Bibliographic description (International): | Gerasin O. Models of Magnetic Driver Interaction with Ferromagnetic Surface and Geometric Data Computing for Clamping Force Localization Patches / Oleksandr Gerasin, Yuriy Zaporozhets, Yuriy Kondratenko // Data stream mining and processing : proceedings of the IEEE second international conference, 21-25 August 2018, Lviv. — Lviv Politechnic Publishing House, 2018. — P. 44–49. — (Big Data & Data Science Using Intelligent Approaches). |
| Is part of: | Data stream mining and processing : proceedings of the IEEE second international conference, 2018 |
| Conference/Event: | IEEE second international conference "Data stream mining and processing" |
| Issue Date: | 28-Feb-2018 |
| Publisher: | Lviv Politechnic Publishing House |
| Place of the edition/event: | Львів |
| Temporal Coverage: | 21-25 August 2018, Lviv |
| Keywords: | clamping device mobile robot clamping force simulation control system finite elements data processing |
| Number of pages: | 6 |
| Page range: | 44-49 |
| Start page: | 44 |
| End page: | 49 |
| Abstract: | This paper deals with the main features of electromagnetic interaction between the mobile robot’s (MR) electromagnetic driver and ferromagnetic surface. In particular, the problems of clamping force calculation are discussed for robotic applications. The main attention is paid to computing of geometrical parameters of clamping forces localization patches by proposed combination-generation method. Efficiency of the method is checked by computer simulation and shown for one arc of localization patch’s contour. Obtained results show rather high accuracy of this processing and its ability to be used in a functional structure of an experimental setup for fast Hall sensors’ data stream computing at clamping force calculation by computerized tools. |
| URI: | https://ena.lpnu.ua/handle/ntb/52430 |
| ISBN: | © Національний університет „Львівська політехніка“, 2018 © Національний університет „Львівська політехніка“, 2018 |
| Copyright owner: | © Національний університет “Львівська політехніка”, 2018 |
| URL for reference material: | http://www.computingonline.net/computing/article/view/947/812 http://www.computingonline.net/computing/article/viewFile/854/768 https://goo.gl/biytjI http://computingonline.net/computing/article/view/868 |
| References (Ukraine): | [1] Y.G. Kozyirev, Industrial Robots, Reference book, 2nd edition, revised and enlarged. Moscow: Publisher Mashinostroenie, 1988. [2] C. Blanes, M. Mellado, and P. Beltran, “Novel additive manufacturing pneumatic actuators and mechanisms for food handling grippers,” in Actuators, vol. 3, pp. 205–225, 2014. DOI:10.3390/act3030205 [3] M. Taranov, J. Rudolph, C. Wolf, Y. Kondratenko, and O. Gerasin, “Advanced approaches to reduce number of actors in a magneticallyoperated wheel-mover of a mobile robot,” 13th Int. Conf. Perspective Technologies and Methods in MEMS Design (MEMSTECH), Polyana, Ukraine, pp. 96–100, April 20 – 23, 2017. [4] B. Ross, J. Bares, and C. Fromme “A semi-autonomous robot for stripping paint from large vessels,” in International Journalof Robotics Research, pp. 617–626, July-August, 2008. [5] Y. Kondratenko, Y. Zaporozhets, J. Rudolph, O. Gerasin, A. Topalov, and O. Kozlov, “Modeling of clamping magnets ineraction with ferromagnetic surface for wheel mobile robots,” in International Journal of Computing,vol. 17, iss. 1, pp. 33–46, 2018. http://www.computingonline.net/computing/article/view/947/812 [6] D. Souto, A. Faiña, A. Deibe, F. Lopez-Peña, and R. J. Duro, “A Robot for the Unsupervised Grit-Blasting of Ship Hulls,” in International Journal of Advanced Robotic Systems, vol. 9, pp. 1–16, 2012. [7] D. Longo and G. Muscato,“A small low-cost low-weight inspection robot with passive-type locomotion,” inIntegrated Computer-Aided Engineering, vol. 11, pp. 339–348, 2004. [8] L. Christensen, N. Fischer, S. Kroffke, J. Lemburg, and R. Ahlers, “Cost-effective autonomous robots for ballast water tank inspection,” in J. of Ship Production and Design, August, vol. 27, no. 3, pp. 127–136, 2011. [9] D. Souto, A. Faiña, F. Lуpez-Peсa, and R. J. Duro, “Lappa: a new type of robot for underwater non-magnetic and complex hull cleaning,” IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, pp. 3394–3399, 6-10 May, 2013. [10] A. Ya. Vernikov, Magnetic and Electromagnetic Devices in Metalworking. Moscow: Publisher Mashinostroenie, 1984.(in Russian) [11] B. K. Bul, O. B. Bul, V. A. Azanov, and V. N. Shoffa, Electromechanical Apparatus of Automation: Proc. for universities on spec. “Electrical apparatus”. Moscow: Publisher Vyisshaya shkola, 1988. [12] Y. Kondratenko, O. Gerasin, and A. Topalov, “A simulation model for robot's slip displacement sensors,” in International Journal of Computing, vol. 15, Issue 4, pp. 224–236, 2016. http://www.computingonline.net/computing/article/viewFile/854/768 [13] Y. P. Kondratenko, Y. M. Zaporozhets, J. Rudolph, O. S. Gerasin, A. M. Topalov, and O. V. Kozlov, “Features of clamping electromagnets using in wheel mobile robots and modeling of their interaction with ferromagnetic plate,” 9th IEEE Int. Conf. on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Bucharest, Romania, Vol. 1, pp. 453-458, 21–23 September, 2017. [14] Y. P. Kondratenko, O. S. Gerasin, and A. M. Topalov, “Modern sensing systems of intelligent robots based on multi-component slip displacement sensors,” IEEE 8th Int. Conf. on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Warsaw, Poland, vol. 2, pp. 902–907, September 24 – 26, 2015. [15] Y. Kondratenko, A. Topalov, and O. Gerasin, “Analysis and modeling of the slip signals’ registration processes based on sensors with multicomponent sensing elements”, 13th Int. Conf. CADSM 2015, Lviv: Publisher National university "Lviv polіtehnіka", pp. 109–112, 2015. [16] Y. M. Zaporozhets, Y. P. Kondratenko, and O. S. Shyshkin, “Mathematical model of slip displacement sensor with registration of transversal constituents of magnetic field of sensing element”, in Technical Electrodynamics, no. 4, pp. 67–72, 2012. [17] L. A. Neyman, and V. Yu. Neyman, “Conductivities method application for accounting asymmetrical electromagnet single-side magnetic attraction force,” in Herald of IrGTU, no. 2 (97), pp.214-217, 2015. [18] E. T. Markov, Ship Electric Apparatus, 2nd ed. Leningrad: Publisher Shipbuilding, 1981. [19] B. I. Ogorelkov, A. S. Tatevosyan, U. V. Pimonova, and D. A. Polyakov, “Experimental research and mathematical modeling of dynamics of the electromagnet of the direct current,” in Electrical and Data Processing Facilities and Systems, vol. 11, no. 1, pp. 5–14, 2015. [20] O. A. Cherkasova, Research of the magnetic field of the permanent magnetby means of computer modeling. [Online]. Available: https://goo.gl/biytjI. [21] K. M. Polivanov, Theoretical Foundations of Electrical Engineering.. Moscow: Publisher Energiya, 1974. [22] I. E. Tamm, Foundations of the Theory of Electricity. Moscow: Publisher Nauka, 1976. [23] K. Bins, P. Laurenson, Analysis and Calculation of Electric and Magnetic Fields, Trans. from English, Moscow: Publisher Energiya, 1970. [24] Y. P. Kondratenko, J. Rudolph, O. V. Kozlov, Y. M. Zaporozhets, and O. S. Gerasin, “Neuro-fuzzy observers of clamping force for magnetically operated movers of mobile robots,” in Technical Electrodynamics, no. 5, pp. 53–61, 2017. [25] Y. P. Kondratenko, O. V. Kozlov, O. S. Gerasin, and Y. M. Zaporozhets, ”Synthesis and research of neuro-fuzzy observer of clamping force for mobile robot automatic control system,” IEEE First International Conference on Data Stream Mining & Processing (DSMP), Lviv, Ukraine, pp. 90–95, August 23 – 27, 2016. [26] M. Pasieka, N. Grzesik, and K. Kuźma, “Simulation modeling of fuzzy logic controller for aircraft engines,” in International Journal of Computing, vol. 16, Issue 1, pp. 27–33, 2017. http://computingonline.net/computing/article/view/868 [27] S. K. Oh and W. Pedrycz, “The design of hybrid fuzzy controllers based on genetic algorithms and estimation techniques,” in Journal Kybernetes, vol. 31, no. 6, pp. 909–917, 2002. [28] Q. Suna, R. Li and P. Zhang, “Stable and optimal adaptive fuzzy control of complex systems using fuzzy dynamic model,” in Journal Fuzzy Sets and Systems, vol. 133, pp. 1–17, 2003. [29] Y. Kondratenko, O. Korobko, O. Kozlov, O. Gerasin, and A. Topalov, “PLC based system for remote liquids level control with radar sensor,” IEEE 8th Int. Conf. on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Warsaw, Poland, vol. 1, pp. 47–52,Sept. 24 – 26, 2015. [30] S. V. Izmaylov, The Course of Electrodynamics,Textbook for physical and mathematical faculties of teacher training institutes. Moscow: Publisher of Gosudarstvennoe uchebno-pedagogicheskoe izdatelstvo ministerstva prosvescheniya RSFSR,1962. [31] Y. M. Zaporozhets, I. I. Chudaykin, and E. G. Amirshadov, “Combination-generation algorithm triangulation of the ship's surface in deviation tasks,” Proc. of the Jubilee Scientific and Technical Conf. dedicated to the 50th anniversary of the ship protection service, St.- Petersburg, 1994. [32] A. N. Tihonov, and A. A. Samarskiy, Equations of Mathematical Physics, Textbook for high schools, 5th ed. Moscow: Publisher Nauka, 1977. [33] P. Benerdzhi, and R. Batterfild, Boundary Element Methods in Applied Sciences,Trans. fromEnglish. Moscow:PublisherMir, 1984. [34] P. Silvester, R. Ferrari, The Finite Element Method for Radio Engineers and Electrical Engineers: Trans. from English, Moscow:PublisherMir, 1986.(in Russian) [35] N. S. Piskunov, Differential and Integral Calculus for Higher Technical Schools, Vol.1: Textbook for technical universities, 13-th ed. Moscow: Publisher Nauka, Glavnaya redaktsiya fizikomatematicheskoy literaturyi, 1985. |
| References (International): | [1] Y.G. Kozyirev, Industrial Robots, Reference book, 2nd edition, revised and enlarged. Moscow: Publisher Mashinostroenie, 1988. [2] C. Blanes, M. Mellado, and P. Beltran, "Novel additive manufacturing pneumatic actuators and mechanisms for food handling grippers," in Actuators, vol. 3, pp. 205–225, 2014. DOI:10.3390/act3030205 [3] M. Taranov, J. Rudolph, C. Wolf, Y. Kondratenko, and O. Gerasin, "Advanced approaches to reduce number of actors in a magneticallyoperated wheel-mover of a mobile robot," 13th Int. Conf. Perspective Technologies and Methods in MEMS Design (MEMSTECH), Polyana, Ukraine, pp. 96–100, April 20 – 23, 2017. [4] B. Ross, J. Bares, and C. Fromme "A semi-autonomous robot for stripping paint from large vessels," in International Journalof Robotics Research, pp. 617–626, July-August, 2008. [5] Y. Kondratenko, Y. Zaporozhets, J. Rudolph, O. Gerasin, A. Topalov, and O. Kozlov, "Modeling of clamping magnets ineraction with ferromagnetic surface for wheel mobile robots," in International Journal of Computing,vol. 17, iss. 1, pp. 33–46, 2018. http://www.computingonline.net/computing/article/view/947/812 [6] D. Souto, A. Faiña, A. Deibe, F. Lopez-Peña, and R. J. Duro, "A Robot for the Unsupervised Grit-Blasting of Ship Hulls," in International Journal of Advanced Robotic Systems, vol. 9, pp. 1–16, 2012. [7] D. Longo and G. Muscato,"A small low-cost low-weight inspection robot with passive-type locomotion," inIntegrated Computer-Aided Engineering, vol. 11, pp. 339–348, 2004. [8] L. Christensen, N. Fischer, S. Kroffke, J. Lemburg, and R. Ahlers, "Cost-effective autonomous robots for ballast water tank inspection," in J. of Ship Production and Design, August, vol. 27, no. 3, pp. 127–136, 2011. [9] D. Souto, A. Faiña, F. Lupez-Pesa, and R. J. Duro, "Lappa: a new type of robot for underwater non-magnetic and complex hull cleaning," IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, pp. 3394–3399, 6-10 May, 2013. [10] A. Ya. Vernikov, Magnetic and Electromagnetic Devices in Metalworking. Moscow: Publisher Mashinostroenie, 1984.(in Russian) [11] B. K. Bul, O. B. Bul, V. A. Azanov, and V. N. Shoffa, Electromechanical Apparatus of Automation: Proc. for universities on spec. "Electrical apparatus". Moscow: Publisher Vyisshaya shkola, 1988. [12] Y. Kondratenko, O. Gerasin, and A. Topalov, "A simulation model for robot's slip displacement sensors," in International Journal of Computing, vol. 15, Issue 4, pp. 224–236, 2016. http://www.computingonline.net/computing/article/viewFile/854/768 [13] Y. P. Kondratenko, Y. M. Zaporozhets, J. Rudolph, O. S. Gerasin, A. M. Topalov, and O. V. Kozlov, "Features of clamping electromagnets using in wheel mobile robots and modeling of their interaction with ferromagnetic plate," 9th IEEE Int. Conf. on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Bucharest, Romania, Vol. 1, pp. 453-458, 21–23 September, 2017. [14] Y. P. Kondratenko, O. S. Gerasin, and A. M. Topalov, "Modern sensing systems of intelligent robots based on multi-component slip displacement sensors," IEEE 8th Int. Conf. on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Warsaw, Poland, vol. 2, pp. 902–907, September 24 – 26, 2015. [15] Y. Kondratenko, A. Topalov, and O. Gerasin, "Analysis and modeling of the slip signals registration processes based on sensors with multicomponent sensing elements", 13th Int. Conf. CADSM 2015, Lviv: Publisher National university "Lviv politehnika", pp. 109–112, 2015. [16] Y. M. Zaporozhets, Y. P. Kondratenko, and O. S. Shyshkin, "Mathematical model of slip displacement sensor with registration of transversal constituents of magnetic field of sensing element", in Technical Electrodynamics, no. 4, pp. 67–72, 2012. [17] L. A. Neyman, and V. Yu. Neyman, "Conductivities method application for accounting asymmetrical electromagnet single-side magnetic attraction force," in Herald of IrGTU, no. 2 (97), pp.214-217, 2015. [18] E. T. Markov, Ship Electric Apparatus, 2nd ed. Leningrad: Publisher Shipbuilding, 1981. [19] B. I. Ogorelkov, A. S. Tatevosyan, U. V. Pimonova, and D. A. Polyakov, "Experimental research and mathematical modeling of dynamics of the electromagnet of the direct current," in Electrical and Data Processing Facilities and Systems, vol. 11, no. 1, pp. 5–14, 2015. [20] O. A. Cherkasova, Research of the magnetic field of the permanent magnetby means of computer modeling. [Online]. Available: https://goo.gl/biytjI. [21] K. M. Polivanov, Theoretical Foundations of Electrical Engineering.. Moscow: Publisher Energiya, 1974. [22] I. E. Tamm, Foundations of the Theory of Electricity. Moscow: Publisher Nauka, 1976. [23] K. Bins, P. Laurenson, Analysis and Calculation of Electric and Magnetic Fields, Trans. from English, Moscow: Publisher Energiya, 1970. [24] Y. P. Kondratenko, J. Rudolph, O. V. Kozlov, Y. M. Zaporozhets, and O. S. Gerasin, "Neuro-fuzzy observers of clamping force for magnetically operated movers of mobile robots," in Technical Electrodynamics, no. 5, pp. 53–61, 2017. [25] Y. P. Kondratenko, O. V. Kozlov, O. S. Gerasin, and Y. M. Zaporozhets, "Synthesis and research of neuro-fuzzy observer of clamping force for mobile robot automatic control system," IEEE First International Conference on Data Stream Mining & Processing (DSMP), Lviv, Ukraine, pp. 90–95, August 23 – 27, 2016. [26] M. Pasieka, N. Grzesik, and K. Kuźma, "Simulation modeling of fuzzy logic controller for aircraft engines," in International Journal of Computing, vol. 16, Issue 1, pp. 27–33, 2017. http://computingonline.net/computing/article/view/868 [27] S. K. Oh and W. Pedrycz, "The design of hybrid fuzzy controllers based on genetic algorithms and estimation techniques," in Journal Kybernetes, vol. 31, no. 6, pp. 909–917, 2002. [28] Q. Suna, R. Li and P. Zhang, "Stable and optimal adaptive fuzzy control of complex systems using fuzzy dynamic model," in Journal Fuzzy Sets and Systems, vol. 133, pp. 1–17, 2003. [29] Y. Kondratenko, O. Korobko, O. Kozlov, O. Gerasin, and A. Topalov, "PLC based system for remote liquids level control with radar sensor," IEEE 8th Int. Conf. on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS), Warsaw, Poland, vol. 1, pp. 47–52,Sept. 24 – 26, 2015. [30] S. V. Izmaylov, The Course of Electrodynamics,Textbook for physical and mathematical faculties of teacher training institutes. Moscow: Publisher of Gosudarstvennoe uchebno-pedagogicheskoe izdatelstvo ministerstva prosvescheniya RSFSR,1962. [31] Y. M. Zaporozhets, I. I. Chudaykin, and E. G. Amirshadov, "Combination-generation algorithm triangulation of the ship's surface in deviation tasks," Proc. of the Jubilee Scientific and Technical Conf. dedicated to the 50th anniversary of the ship protection service, St, Petersburg, 1994. [32] A. N. Tihonov, and A. A. Samarskiy, Equations of Mathematical Physics, Textbook for high schools, 5th ed. Moscow: Publisher Nauka, 1977. [33] P. Benerdzhi, and R. Batterfild, Boundary Element Methods in Applied Sciences,Trans. fromEnglish. Moscow:PublisherMir, 1984. [34] P. Silvester, R. Ferrari, The Finite Element Method for Radio Engineers and Electrical Engineers: Trans. from English, Moscow:PublisherMir, 1986.(in Russian) [35] N. S. Piskunov, Differential and Integral Calculus for Higher Technical Schools, Vol.1: Textbook for technical universities, 13-th ed. Moscow: Publisher Nauka, Glavnaya redaktsiya fizikomatematicheskoy literaturyi, 1985. |
| Content type: | Conference Abstract |
| Appears in Collections: | Data stream mining and processing : proceedings of the IEEE second international conference |
| File | Description | Size | Format | |
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| 2018_Gerasin_O-Models_of_Magnetic_Driver_44-49.pdf | 564.63 kB | Adobe PDF | View/Open | |
| 2018_Gerasin_O-Models_of_Magnetic_Driver_44-49__COVER.png | 566.33 kB | image/png | View/Open |
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