The article presents the use of the Mamdani fuzzy reasoning model to develop a proposal of a system controlling partnering relations in construction projects. The system input variables include: current assessments of particular partnering relation parameters, the weights of these parameters’ impact on time, cost, quality and safety of implementation of construction projects, as well as the importance of these project assessment criteria for its manager. For each of the partnering relation parameters, the project’s manager will receive controlrecommendations. Moreover, the parameter to be improved first will be indicated. The article contains a calculation example of the system’s operations.

The paper presents application of guidance system for small, smart mortar missile. The presented control system is simple and inexpensive. It is based on a set of one time used impulse control engines and linear coordinator rotating with controlled object. Engines are mounted around the missile. There are no movable devices on the projectile board. The correcting impulses from rocket engines are perpendicular to main symmetry axis of the flying object and influence directly the centre of gravity of the guided missile. In the paper, authors describe the whole control system of the missile. Particular attention is focused on seeker and control devices. Numerical analysis presents some cases of the missile controlled flights.

In order for a quadruped robot to be able to move on wheels while keeping its platform in horizontal position, and to walk, the kinematic system of its limbs should be so designed that each of the wheels has at least four degrees of freedom. Consequently, the designed system will have many DOFs and many controlled drives. This paper presents a novel solution in which, thanks to a suitable limb kinematic system geometry, the number of drives for the robot travel function, i.e. travelling on an uneven surface with the robot platform kept horizontal, has been reduced by four which are used only for walking. The robot structure, the required geometry of the limb links and the driving torque characteristics are presented. Moreover, an idea of the control system is sketched. Finally, selected results of the tests carried out on the robot prototype are reported.

The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity.

The development of accurate computer control of a 3 MV Van de Graaff accelerator operation is described. The developed system comprises the accelerator turn-on and turn-off procedures during a normal run, which includes the setting of the terminal voltage, ion source light up, beam focusing and control of ion beam current and energy during operation. In addition, the computer monitors the vacuum and is able to make a detail register of the most important events during a normal run. The computer control system uses a LabVIEW application for interaction with the operator and an I/O board that interfaces the computer and the accelerator system. For everyday operating conditions the control implemented is able to turn-on and off the machine in about the same time as a specialized technician. In addition, today more users can make experiments in the accelerator without the help of a specialized operator, which in turns increases the number of hours during which the accelerator can be used.

The paper presents a solution of the control system for fatigue test stand MZGS-100 PL, comprising the integrated Real-Time controller based on FPGA (Field-Programmable Gate Array) technology with LabVIEW software. The described control system performs functions such as continuous regulation of speed induction motor, measuring strain of the lever machine and the test specimen, displacement of the polyharmonic vibrator, as well as the elimination of interferences, overload protection and emergency stop of the machine. The fatigue test stand also allows to set the pseudo-random history of energy parameter W(t).

In the paper, the authors present construction stages of simulation models worked out using SolidWorks and Matlab/Simulink environments. As examples of simulation models, a laboratory truck crane and a forest crane have been shown. These models allow for visualization of movements, tracking of the trajectory, velocity and acceleration of any point of the system.

The paper presents the mathematical model of an autonomous induction generator with the AC load circuit and the converter control system of the voltage magnitude at the terminals of stator generator. The control algorithm and the structure of the control system are described. The simulation results of the control system are presented and discussed.

This paper presents the results on the effects of die-casting process on the strength parameters of castings of the aluminium AlSi9Cu3 alloy

belonging to the group of EN AB-46000, made on renovated high pressure die-casting machine. Specimens for quality testing were taken

from the places of the casting most loaded during the service. The aim of a research was to prove how the new die-casting process control

capabilities influence on the tensile strength of the cast material defined as a value of the breaking force of the specimens. It has been

found that it is possible to specify a set of recommended settings valves of second (II) and third (III) phase, which are responsible for

filling the metal mould on die-casting pressure machine. From the point of view of the finished cast element, it was noticed that exceeding

the prescribed values of valve settings does not bring further benefits and even causes unnecessary overload and reduce the durability of

the mold. Moreover, it was noticed that reduction of the predetermined setting of the second phase (II) valve leads to the formation of

casting defects again.

In this paper precision of the system controlling delivery by a helicopter of a water capsule designed for extinguishing large scale fires is analysed. The analysis was performed using a numerical method of distribution propagation (the Monte Carlo method) supplemented with results of application of the uncertainty propagation method. In addition, the optimum conditions for the airdrop are determined to ensure achieving the maximum area covered by the water capsule with simultaneous preserving the precision level necessary for efficient fire extinguishing.

Vibration intensity in mobile machines depends on the road roughness profile, ride velocity and dissipative properties of machine components. To reduce vibrations of a mobile machine with a boom equipment one of the available passive methods, utilizing a hydropnematic system for boom support to improve flexibility, the system incorporating throttling valves. Energy dissipation in a hydropneumatic system controls the decay of vibrations of the machine body and equipment. In the range of large velocities, passive methods prove inadequate. When ride velocity is to be increased, at the same time the required safety features and stabilization of the position of machine equipment are to be provided, further dynamic analyses are fully merited to identify processes taking place in the driving system. The final result should be the synthesis of the LQR control system to modulate the loading characteristics of the motor and to control the flow in a hydraulic boom-support system.

Development of complex lubrication systems in the Oil&Gas industry has reached high levels of competitiveness in terms of requested performances and reliability. In particular, the use of HazOp (acronym of Hazard and Operability) analysis represents a decisive factor to evaluate safety and reliability of plants. The HazOp analysis is a structured and systematic examination of a planned or existing operation in order to identify and evaluate problems that may represent risks to personnel or equipment. In particular, P&ID schemes (acronym of Piping and Instrument Diagram according to regulation in force ISO 14617) are used to evaluate the design of the plant in order to increase its safety and reliability in different operating conditions. The use of a simulation tool can drastically increase speed, efficiency and reliability of the design process. In this work, a tool, called TTH lib (acronym of Transient Thermal Hydraulic Library) for the 1-D simulation of thermal hydraulic plants is presented. The proposed tool is applied to the analysis of safety relevant components of compressor and pumping units, such as lubrication circuits. Opposed to the known commercial products, TTH lib has been customized in order to ease simulation of complex interactions with digital logic components and plant controllers including their sensors and measurement systems. In particular, the proposed tool is optimized for fixed step execution and fast prototyping of Real Time code both for testing and production purposes. TTH lib can be used as a standard SimScape-Simulink library of components optimized and specifically designed in accordance with the P&ID definitions. Finally, an automatic code generation procedure has been developed, so TTH simulation models can be directly assembled from the P&ID schemes and technical documentation including detailed informations of sensor and measurement system.

A need to control our environment is apparent from an early age. Where does it stem from?

The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.

Passive noise reduction methods require thick and heavy barriers to be effective for low frequencies and those clasical ones are thus not suitable for reduction of low frequency noise generated by devices. Active noise-cancelling casings, where casing walls vibrations are actively controlled, are an interesting alternative that can provide much higher low-frequency noise reduction. Such systems, compared to classical ANC systems, can provide not only local, but also global noise reduction, which is highly expected for most applications. For effective control of casing vibrations a large number of actuators is required. Additionally, a high number of error sensors, usually microphones that measure noise emission from the device, is also required. All actuators have an effect on all error sensors, and the control system must take into account all paths, from each actuator to each error sensor. The Multiple Error FXLMS has very high computational requirements. To reduce it a Switched-Error FXLMS, where only one error signal is used at the given time, have been proposed. This, however, significantly reduces convergence rate. In this paper an algorithm that uses multiple errors at once, but not all, is proposed. The performance of various algorithm variants is compared using simulations with the models obtained from real active-noise cancelling casing.

In order to control joints of manipulators with high precision, a position tracking control strategy combining fractional calculus with iterative learning control and sliding mode control is proposed for the control of a single joint of manipulators. Considering the coupling between joints of manipulators, a fractional-order iterative sliding mode cross-coupling control strategy is proposed and the theoretical proof of its progressive stability is given. The paper takes a two-joint manipulator as the research object to verify the control strategy of a single-joint manipulator. The results show that the control strategy proposed in this paper makes the two-joint mechanical arm chatter less and the tracking more accurate. The synchronous control of the manipulator is verified by a three-joint manipulator. The results show that the angular displacement adjustment times of the three-joint manipulator are 0.11 s, 0.31 s and 0.24 s, respectively. 3.25 s > 5 s, 3.15 s of a PD cross-coupling control strategy; 2.85 s, 2.32 s, 4.22 s of a PD iterative cross-coupling control strategy; 0.14 s, 0.33 s, 0.28 s of a fractional-order sliding mode cross-coupling control strategy. The root mean square error of the position error of the designed control strategy is 6.47 × 10-6 rad, 3.69 × 10-4 rad, 6.91 × 10-3 rad, respectively. The root mean square error of the synchronization error is 3.96 × 10-4 rad, 1.36 × 10-3 rad, 7.81 × 10-3 rad, superior to the other three control strategies. The results illustrate the effectiveness of the proposed control method.

The paper presents a simulation analysis of four control systems of the raw coal feed to a jig: stabilization of the volumetric flow of the feed, stabilization of the feed tonnage, stabilization of the feed flow with the additional measurement of the feed bulk density or the additional measurement of ash content in the feed. Analysis has been performed for the first and second compartments of a jig. The aim of the feed control was to stabilize the mass of the bed in the zone where the material stratifies; the mass may change due to changes in the washability characteristics of the feed. Such control should result in stable conditions in which material loosens during subsequent media pulsation cycles; stabilizing conditions minimizes the dispersion of coal particles in the bed. The best results have been achieved for the system of feed control where the ash content was measured in the first compartment, and for feed tonnage control in the second compartment.