Tomáˇs Bˇrezina Ryszard Jablonski ´ Editors Mechatronics 2013 RECENT TECHNOLOGICAL AND SCIENTIFIC ADVANCES 123 Mechatronics 2013 Tomáš Bˇrezina · Ryszard Jablo´nski Editors Mechatronics 2013 Recent Technological and Scientific Advances ABC Editors Tomáš Bˇrezina Faculty of Mechanical Engineering Institute of Automation and Computer Science Brno University of Technology Brno Czech Republic ISBN 978-3-319-02293-2 DOI 10.1007/978-3-319-02294-9 Ryszard Jablo´nski Institute of Metrology and Biomedical Engineering Warszaw University of Technology Warszaw Poland ISBN 978-3-319-02294-9 (eBook) Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: 2013947579 c Springer International Publishing Switzerland 2014 This work is subject to copyright All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer Permissions for use may be obtained through RightsLink at the Copyright Clearance Center Violations are liable to prosecution under the respective Copyright Law The use of general descriptive names, registered names, trademarks, service marks, etc in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made The publisher makes no warranty, express or implied, with respect to the material contained herein Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Preface This book is the fourth volume in series Recent Advances in Mechatronics, following the editions in 2007, 2009 and 2011 It comprises carefully selected contributions presented at the 10th International Conference Mechatronics 2013, organized by Brno University of Technology on October 7–9, 2013 in Brno, Czech Republic The selection of the contributions for this book was based on thorough reviews of full length papers, concentrating on originality and quality of the work Finally 113 papers were selected for publishing in this book The book covers the areas design, modeling and simulation of mechatronic systems, in particular the r&d of mechatronic systems, model-based design, virtual prototyping, electrical machines, drives & power electronics, actuators and sensors, automotive and aerospace systems, measurement and diagnostics, signal processing, pattern recognition, wireless sensing, nanometrology, industrial and mobile robotics, microrobotics, unmanned vehicles, control and automation, industrial applications, vibration and noise control, the list of topics could go on and on We hope that the volume can serve as useful reference source in mechatronics not just among academics, but also in development departments in industry, as the mechatronics as a subject should be closely related with the rapid transfer of new ideas to products we can meet in our daily lives We would like to thank all authors for their contribution to this book Tom´aˇs Bˇrezina Conference Chairman Brno University of Technology Contents Design, Modeling and Simulation of Mechatronic Systems Monitoring of Energy Flows in the Production Machines J Augste, M Holub, R Knofl´ıˇcek, T Novotn´y, J Vyroubal Off- Road Vehicle with Controlled Suspension in Soft Unprepared Terrain ˇ A B´ılkovsk´y, Z Sika The Manipulator of the Passive Optoelectronic Rangefinder as a Controlled System of Servomechanisms V Cech, M Cervenka 17 Energy Management System Algorithms for the Electric Vehicle Applications J Danko, L Magdolen, M Masaryk, J Madaras, M Bugar 25 Virtual Commissioning of Mechatronic Systems with the Use of Simulation J Hloska, M Kub´ın 33 Prediction of Machining Accuracy for Vertical Lathes M Holub, M Michal´ıˇcek, J Vetiˇska, J Marek 41 Towards to Haptic Keyboard: Modeling the Piano Action P Horv´ ath 49 Gubanov Model for Vacuum Packed Particles R Zalewski, P Chodkiewicz 57 Eco-design of Mechatronic Systems M Iskandirova, P Blecha, M Holub, F Brad´ aˇc 65 VIII Contents Thick Film Polymer Composites with Graphene Nanoplatelets for Use in Printed Electronics D Janczak, M Sloma, G Wr´ oblewski, A Mlo˙zniak, M Jakubowska Safety Module for the System of Verticalization and Aiding Motion of the Disabled D Jasi´ nska-Choroma´ nska, B Kabzi´ nski, M Matyjewicz-Maciejewicz, D Kolodziej Electromagnetic Coil Gun – Construction and Basic Simulation B Skala, V Kindl Generating Code Consistent with Simulink Simulation for Aperiodic Execution on a Target Hardware Powered by a Free RTOS V Lambersk´y, J Kriˇzan, A Andreev 73 79 87 95 A New Approximation of the Storage Efficiency for the Lean NOx Trap Model 103 B Lee, R Grepl, M Han Overview of Computational Models Used for Mixed Lubrication 111 O Marˇs´ alek, P Novotn´y, P Raffai, L Dr´ apal, V P´ıˇstˇek Heating of Mould in Manufacture of Artificial Leathers in Automotive Industry 119 J Mlynek, T Martinec, R Srb Influence of Underpressure on Acoustic Properties of Semi-intelligent Vacuum Packed Particles 127 M Rutkowski Hardware in the Loop Simulation Model of BLDC Motor Taking Advantage of FPGA and CPU Simultaneous Implementation 135 V Sova, R Grepl Using PSO Method for System Identification 143 M Dub, A Stefek Damping of Machine Frame Vibrations by an Electromagnetic Actuator 151 G.J Stein, R Chm´ urny Contents IX Determination of Parameters of Second Order Integration Model for Weighing Scales 161 R Ugodzi´ nski, R Szewczyk Feed-Rate Control along Multi-axis Toolpaths 169 P Vavruska Model Based Design of Power HIL System for Aerospace Applications 177 J Vejlupek, J Chalupa, R Grepl Visualization of Energy Flows Using a Particle System 185 I Dudarev, V Wittstok, F Pă urzel, P Blecha Parameter Identication of Rheological Models Using Optimization Algorithms 193 V P´ıˇstˇek, P Novotn´y, T Mauder, L Klimeˇs Cam Ring Force Simulation for Variable Roller Pump 199 P Zavadinka, R Grepl Benefits of a Parallelization of a Stand-Alone Desktop NET Application Threaded Instance Methods 207 I Koˇst’´ al Morphing Structure with a Magnetorheological Material – Preliminary Approach 219 P Skalski Evaluation of Possibilities of Electroactive Polymers Application in Bio-inspired Adaptronic System 227 J Kaleta, K Kot, D Lewandowski, K Niemiec, P Wiewiorski Transport Duty Cycle Simulation of Electro-hydromechanical Drive Unit for Mixing Drum 235 P Kriˇsˇs´ ak, J Jakuboviˇc, P Zavadinka Investigation on the Jump Phenomenon of Linear Compressor 243 H.M Zou, M.S Tang, Sh.Q Shao, Ch.Q Tian, Y.Y Yan Software Tool for Calibration of Hydraulic Models of Water-Supply Networks 253 J Kovar, J Rucka Practical Problems during Fuel Pump Development for Aerospace Industry 259 P Axman, R Kr´ al, V Axman, J Berjak X Contents Simulation Modelling of MEMS Thermoelectric Generators for Mechatronic Applications 265 L Janak, Z Ancik, Z Hadas Simulation Assessment of Suspension of Tool Vibrations during Machining 273 T Bˇrezina, L Bˇrezina, J Marek, Z Hadas, J Vetiˇska Electrical Machines, Drives and Power Electronics The Comparison of the Permanent Magnet Position in Synchronous Machine 283 P Svetlik Air Gap Heat Transmission and Its Consideration in FEM Analyses 291 R Pechanek, V Kindl, K Hruska Problems of FEM Analysis of Magnetic Circuit 299 J Roupec, M Kubik, I Maz˚ urek, Z Strecker FEM Model of Induction Machine’s Air Gap Force Distribution 307 J Sobra, V Kindl Current-Voltage Characteristics and IR Imaging of Organic Light-Emitting Diodes 315 G Koziol, J Gromek, A Arazna, K Janeczek, K Futera, W Steplewski Complex Model of Asynchronous Machine as Traction Machine in Mining 323 R Vlach Energetic Properties of a New, Iron Powder Based Switched Reluctance Motor Drive 331 B Fabianski Switched Reluctance Motor Drive Embedded Control System 339 B Fabianski, K Zawirski Design and Implementation of A Single-Stage Full-Bridge DC/DC Converter with ZVS Mode 347 ă A Diker, D Korkmaz, O.F Alácin, U Budak, M Gedikpınar Sensitivity Analysis of the Induction Machine Torque to the Substituting Circuit Elements 355 M Patocka, R Belousek Contents XI Fractional-Order Model of DC Motor 363 R Cipin, C Ondrusek, R Huzl´ık FEM Model of Electro-magnetic Vibration Energy Harvester 371 Z Hadas, R Huzl´ık Measurement and Diagnostics Contribution to Determination of Target Angular Position by Single Visual Camera at Indoor Close Environs 379 R Doskocil, V Krivanek, A Stefek A Simple Acoustic Generator for Boiler Cleaning Applications 387 A Jedrusyna, A Noga Effects of Misalignments of MEMS Accelerometers in Tilt Measurements 393 S Luczak Method for Determining Direction, Velocity and Position of a Flying Ball 401 A Nagy Silicon PIN Photodiode-Based Radiation Detector for Mobile Robots 409 O Petruk, R Szewczyk A Method for Measuring Size and Form Deviations of Rotary Components with Variable Curvature on FMM 417 ˙ M Sienilo, S Zebrowska-Lucyk Three-Dimensional Meshless Modelling of Functionally Graded Piezoelectric Sensor 425 P Stanak, J Sladek, V Sladek, A Tadeu Diagnostics of Mechatronic Systems on the Basis of Neural Networks with High-Performance Data Collection 433 P Stepanov, Yu Nikitin Signal Processing in DiaSter System for Simulation and Diagnostic Purposes 441 M Syfert, P Wnuk System for Multipoint Measurements of Slowly Varying Magnetic Fields 449 ´ M Szumilas, E Slubowska, K Lewenstein 886 G Gaspar et al reduce complexity for implementation on small microcontrollers and the modified protocol is known as uBUS Complete implementation of the uBUS protocol state diagram on 8-bit CY8C29466 processor occupies about 700 bytes Fig Communication for stationary and mobile applications Program Requirements • • • beginner friendly compact graphical environment that eliminates the risk of syntax errors in programming libraries for advanced users to interact with a process-board for standard programming languages and operating systems using the standard compilers or interpreters all program interfaces are defined as open formats Jasper – Graphical Programming Environment Block-oriented graphical programming environment is important for beginners, because at the appropriate elemental design it eliminates programming errors (syntax, brackets, etc.) and allows focusing on the semantic part of the work For implementing a functional prototype of the graphical programming environment we used a basic idea of Scratch programming environment [2], which involves the use of block of defined shape, while the shape of the blocks defines their mutual use Scratch is developed by MIT and is primarily focused on teaching programming for children (at primary level) and has only limited support of selected hardware Further development of this environment is heading to crossplatform web application, which simplifies deployment of this program in the teaching environment (does not require installation, etc.) On the other hand, it complicates possible integration of the hardware into the environment Jasper – A Platform for Teaching Mechatronics 887 In Jasper was the idea of blocks from Scratch environment re-implemented in Java language with respect to the maximum process-board integration directly into the programming environment The basic block corresponds to one command in a standard programming language Block has a defined input and output terminal, using terminals blocks are classified to the program structures Whenever moving block, the corresponding closest target terminal of another block is activated When the block is released and the target terminal is activated, blocks are automatically arranged and/or regrouped An example of a simple program and its output is shown in Fig Fig A simple program and its graphical output Basic blocks are depending on their function color coded, which enhances the clarity of the resulting program In addition to basic blocks are in an environment defined shape different block for variables, numeric and relational operators These blocks can be nested, and compatibility rules are determined by their shape Blocks are arranged in library groups according to their meaning On the desktop of the editor program are moved using drag-and-drop Library of RobotBoard control blocks is shown in Fig In terms of expression means, Jasper environment corresponds to the level of BASIC programming language, but without using jump instruction From a programming standpoint is the area of the visibility of variables bounded to use in a single editor space program, but the program may consist of multiple edit windows Each block structure is interpreted at runtime as a separate thread Jasper environment therefore enables parallel operation of several programs simultaneously Programs can share system resources, therefore locks are implemented in the environment that allow access to shared resources (e.g communication interface) always only for one thread 888 G Gaspar et al Fig Component library for RobotBoard Library of blocks contains a set of basic blocks to control run-time, operators and variables, blocks for drawing on the graphics board, blocks representing virtual devices and a set of blocks for control of process-board Jasper programming environment in the current stage of development is in the state of functional prototype to validate used technology Current project status is given in [3] Conclusion This paper describes the features of the proposed open-source platform for teaching robotics, mechatronics, control experiments and data collection Platform allows wide use in teaching robotics and mechatronics in high schools It can also be applied in designing of physical experiments and teaching programming in elementary schools The limited extent of the contribution does not allow a detailed description of all features, readers will recommend to the source [3] References [1] The Lego Group Lego.com MINDSTORMS (2013), http://mindstorms.lego.com/en-us/default.aspx (cit May 12, 2013) Jasper – A Platform for Teaching Mechatronics 889 [2] MIT Media Lab Scratch (2013), http://scratch.mit.edu/ (cit May 12, 2013) [3] TNTECH Jasper-EN (2012), http://wiki.tntech.eu/index.php?title=Jasper_-_EN (cit June 12, 2013) [4] Svoboda, J., Simak, B., Zeman, T., Hrad, J.: Educational activities of the CTU Prague team in EMC and support of the EMC development problems in the Czech Republic In: Electromagnetic Compatibility 1996 – 13th International Wroclaw Symposium, pp 208–211 Institute of Telecommunications, Wroclaw (1996) ISBN 83-901999-4-7 [5] Dudak, J., Gaspar, G., Maga, D., Pavlikova, S.: Kiwiki: Open-Source Portal for Education in Mechatronics In: MECHATRONICS: Recent Technological and Scientific Advances, pp 499–505 (2011) ISBN 978-3-642-23243-5 [6] Maga, D., Hartansky, R.: Numericke metody riesenia elektromechanickych uloh, 113 p Trencianska univerzita Alexandra Dubceka v Trencíne, Trencin (2001) ISBN 8088914-29-9 [7] Hrad, J., Zeman, T., Hajek, J.: Multilanguage e-learning course for industrial automation In: Learning to Live in the Knowledge Society, pp 371–372 Springer, New York (2008) ISBN 978-0-387-09728-2 Model-Based Design of Mobile Platform with Integrated Actuator – Design with Respect to Mechatronic Education O Andrs, Z Hadas, J Kovar, J Vetiška, and V Singule Faculty of Mechanical Engineering, Brno University of Technology, Technicka 2896/2, 616 69, Brno, Czech Republic {andrs,hadas,kovar,vetiska,singule}@fme.vutbr.cz Abstract This paper deals with a model-based design of an actuator for a mobile platform This paper presents way how to use model-based design of this mechatronic system with respect to mechatronic education The presented mobile platform is used for shifting of a load in defined linear trajectory Platform speed, maximal weight of the load and capacity of battery are used for the optimal actuator design The actuator has to be integrated inside platform housing and it is limiting factor for design of this system Several steps of model-based design are presented with respect of mechatronic approach and these steps are well known for our mechatronic students The presented approach provides way how to develop such mechatronic system based on the model Introduction This paper deals with a model-based design of an integrated actuator for a mobile platform The presented mobile platform is used for shifting of a load in defined linear trajectory Platform speed, maximal weight of load and capacity of batteries are used for the optimal actuator design The actuator has to be integrated inside platform housing and it is limiting factor for design of this system These requirements of presented mechatronic system provides very interesting task for mechatronic students at Brno University of Technology The main aim of our paper is presentation of mechatronic approach and using of model-based design in development cycle of this mechatronic system Model-Based Design in Mechatronic Education Model-based design is a method of systems development associated with design of complex mechatronic systems [1] This method is used in many applications like motion control, industrial equipment, aerospace and automotive applications T Březina and R Jabloński (eds.), Mechatronics 2013, DOI: 10.1007/978-3-319-02294-9_113, © Springer International Publishing Switzerland 2014 891 892 O Andrs et al Therefore the using of model-based design is very important in education process of mechatronic students in our University The model-based design here described is based on a simulation modeling of mechatronic systems due to very high flexibility in education process The students have to describe inputs and outputs and establishing a common framework inside the development process Students design simulation model and they improve it during this development process The schematic diagram of the model-based design is shown in Fig Fig Model-based Design of Mechatronic System Development Model based design is usually substituted for a model-based control design method which provides an efficient approach for establishing a common framework for communication inside the design process of hardware and software implementation Here considered method describes the whole development process of mechatronic system design The design of new mechatronic systems starts with supporting of a development cycle which can be described as V-model with frameworks of mechatronic approach [2] The used V-model in our development cycle is shown in Fig This model fits in with model-based design and it provides very useful tool for mechatronic education [3] Model-Based Design of Mobile Platform with Integrated Actuator 893 Fig V-model - Mechatronic Approach of System Development Mobile Platform with Integrated Actuator The aim of this paper is presenting of model-based design method, which is used for education of mechatronic students in our University This method is presented on the development of a mobile platform with integrated actuator The requirements for this task is using of integrated actuator inside platform housing A power supply for actuator is batteries, which can be charged from solar panel These batteries and electronics have to be integrated in platform housing too 3.1 Model of Mobile Platform The mobile platform consists of a platform, actuated and supported wheels, actuators, control, power electronics and batteries The mobile platform is actuated by Fig Schematic diagram of mobile platform and proposal of integrated wheel actuator 894 O Andrs et al pair of wheels and assumed weight is around 200 kg The wheel actuator has to be integrated inside platform housing The wheel motion is provided by 24 Volts DC motor with gearbox (planar or worm) and transmit of torque from DC motor to wheel is provided by a synchronous belt The schematic diagram is shown in Fig 3.2 Multi-body Model of Platform Actuator The mechanical design is very important for development of actuator [4] The simulation model was designed in multi body system ADAMS, which can be used for dynamic analyses of electro-mechanical systems This model consists of DC motor, gearbox, belt, wheel and platform and the model was realized with simple geometry at the first step of V-model iteration and final mechanical design is shown in Fig This model contains electromechanical equation of DC motor and the system behavior is observed [5] The results of ideal DC motor start were analyzed and a current of DC motor are presented in Fig This model can be analyzed in co-simulation strategy together with model of electronics in Simulink and electrical parts is simulated and controlled in Simulink model and mechanical part is solved in multi-body system ADAMS as was presented in paper [6] Fig Multi-body Model of DC Motor of Mobile Platform Fig Results of Dynamic Analyses - Current of DC motor – Weight of Platform 120 kg Model-Based Design of Mobile Platform with Integrated Actuator 3.3 895 CAD Model The simulation results are a good starting point for virtual design finishing Completion of the main actuator functional units including integration into the machine frame was resolved During the creation of a virtual model was also considered and integrated the possibility of placing the sensors and the control electronics with batteries The used sensors are placed outside the machine frame due to the requirement of easy accessibility Virtual design assumes a couple of sensors pair with optical and inductive sensors The electric control unit with batteries and charger are integrated together in one box inside the machine frame Details of virtual design are presented in Fig Fig CAD Model of Platform and Detail of CAD model of Actuator with DC motor 3.4 Control and Sensors The proposed platform is remotely operated by wireless remote controller The direction of platform movement (forward and backward) can be selected by wireless controller and also the stop of platform can be indicated A switching of the motor direction is carried out by an implemented relay Starting and braking of platform is realized by variable duty cycle of power signal with PWM modulation, which controls the electromotor [7] Switching frequency of power signal is 20 kHz Resolution of PWM is about bits (it is sufficient for this type of task) For purpose of detecting end of moving track as well of detecting a foreign object in workspace the movable platform is equipped by suitable sensors The first type of sensors are inductive sensors E2A-M12KN08-WP-B1 2M, whose are able to detecting end of a moving track For purpose of detection of foreign objects (obstacles) the optical distance sensors S15-PA-2-C00-PK are implemented The 896 O Andrs et al control unit is equipped with a measurement of over-current, supply voltage and temperature for protective purposes 3.5 Electronics and Batteries The operational and technical requirements implied the need to design control and power electronics which generates output signals for controlling of the actuators [8] Designed electronics is powered by LiPo Battery Pack 3300 mAh 4S 16.8V which supplies enough energy for maximal 20 minutes of continuous operation The battery pack is then continuously fed from a solar panel Ueff = 18.5 V, Pmax 35W through four channels Li-Po charger The schematic diagram of electronic system is shown in Fig Fig Diagram of Electronics System The main part of the control unit represents microcontroller PIC16F887 which processes signals from the sensors and generates control signals for controlling the power components (transistors and relays) An integrated AD converter is used to measure supply voltage and current of driven actuators The developed control unit is shown in Fig Fig Control and Power Electronics Board 3.6 Test The final development phase included developing a testing device that had undergone series of tests It is shown in Fig This process was accompanied by Model-Based Design of Mobile Platform with Integrated Actuator 897 controlling of the integration and interaction between the different systems A series of tests was carried out consisting of two way movement to the selected track These tests verified the correct operation of the control system and actuators themselves Gradually, there were simulated all combinations of states corresponding to different information from the sensors Average power supply current drawn by actuators during the experiments was approximately A (8 A peaks) with platform load about 80 kg The load is lower than was simulated in the first development cycle of simulation modeling The real movement speed was affected by surface undulations to range mm per meter Fig Mobile Platform under Test Load Conclusions The aim of this paper is presenting of model-based design and mechatronics approach, which was used for development of the mobile platform with integrated actuator This task was prepared by our graduated Ph.D students and it will be used for education of mechatronic students in our University This task is based on multi-body model of this mechatronic system which consists of mechanical assembly, actuator with gearbox, power supply, electronics and sensors The appropriate model of this system is created and simulated and the optimal parameters are designed This mechatronic system was realized on the base of simulation results Electronics and power supply was created and this mechatronic system was tested The whole presented concept of the mobile platform with integrated actuator presents simple interdisciplinary task and it is very useful for mechatronic education 898 O Andrs et al Acknowledgments The present work has been supported by European Regional Development Fund in the framework of the research project NETME Centre under the Operational Programme Research and Development for Innovation Reg Nr CZ.1.05/2.1.00/01.0002, id code: ED0002/01/01, project name: NETME Centre – New Technologies for Mechanical Engineering References [1] HUMUSOFT s.r.o., http://www.humusoft.cz/produkty/matlab/mbd [2] VDI 2206 Design methodology for mechatronic systems (2002) [3] Kovar, J., Andrs, O., Brezina, L., Singule, V.: Laboratory Delta Robot For Mechatronic Education Purposes In: Proceedings of International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2012, pp 1209–1212 (2012) [4] Brezina, T., Andrs, O., Brezina, L., Hadas, Z., Houska, P., Kovar, J., Vetiska, J.: Virtual Design of Industrial Manipulator Using Mechatronic Approach In: Proceedings of the International Conference on Advances in Mechatronics 2011 (AIM 2011), pp 105–110 (2011) [5] Hadas, Z., Brezina, T., Andrs, O., Vetiska, J., Brezina, L.: Simulation Modeling of Mechatronic System with Flexible Parts In: 15th International Power Electronics and Motion Control Conference and Exposition, EPE- PEMC 2012 ECCE Europe, LS2e.1/1-7 (2012) [6] Brezina, T., Vetiska, J., Hadas, Z., Brezina, L.: Simulation, Modelling and Control of Mechatronic Systems with Flexible Parts In: Jablonski, R., Brezina, T (eds.) Proc 9th Int Conf Mechatronics 2011, pp 569–578 Springer, Berlin (2011) [7] Andrs, O., Brezina, T., Kovar, J.: Design of fuzzy logic controller for DC motor In: Mechatronics Recent Technological and Scientific Advances pp 9–18 (2011) [8] Andrs, O., Kovar, J.: Forward Kinematics Modelling of a Parallel Device for Cord Implants Tuning In: Proceedings of 19th International Conference on Soft Computing Mendel Journal series, pp 283–288 (2013) Author Index Abramov, A.I 685 Abramov, I.V 685 ă Alácin, O.F 347 Ancik, Z 265 Andreev, A 95 Andrs, O 891 Arazna, A 315 Augste, J Axman, P 259 Axman, V 259 Bagi´ nski, K 511, 607 Baranek, R 519 Belousek, R 355 Berjak, J 259 Bie´ nkowski, A 479 B´ılkovsk´ y, A Blecha, P 65, 185, 503 Bodnicki, M 527 Boˇzek, P 653 Brad´ aˇc, F 65 Bˇrezina, L 273 Bˇrezina, T 273 Brock, S 741 Budak, U 347 Bugar, M 25 Bujko, G 551 Cech, V 17 ˇ Cekan, M 779 Cervenka, M 17 Chalupa, J 177 Chen, K.S 567, 575 Chm´ urny, R 151 Chodkiewicz, P 57 Cie´slicki, K 809 Cipin, R 363 Collier, G 535, 633 Cybulski, G 763 Cygan, S 793, 833 Danko, J 25 Diker, A 347 Doskocil, R 379 Dovica, M 543 Dr´ apal, L 111 Drazan, L 457 Drossel, W.-G 709, 717 Dub, M 143 Dudarev, I 185 Enikov, E.T 847 Ertl, L 757 Etz, P 551 Fabianski, B 331, 339 Fabo, P 883 Fotowicz, Pawel 463 Fu, Y.T 567 Fuis, V 855 Futera, K 315 Gallo, J 863 Gaspar, G 749, 883 Gawlikowski, M 825 Gedikpınar, M 347 Godziejewski, L 551 Grepl, R 103, 135, 177, 199, 669, 869 900 Author Index Grobelski, B 833 Gromek, J 315 Hadas, Z 265, 273, 371, 891 Hammerschmiedt, M 725 Han, M 103 Harasymowicz-Boggio, B 559 Hartl, M 863 Hassan, A 535 Hawlas, H.J 771 Hloska, J 33 Hoffmann, M 641 Holub, M 1, 41, 65, 503 Horv´ at, F 779 Horv´ ath, P 49 Houˇska, P 503 Hrb´ aˇcek, J 817 Hruska, K 291 Huˇcko, B 779 Huˇsek, P 641 Huzl´ık, R 363, 371, 503 Iskandirova, M 65 Jablonski, Ryszard 463 Jackiewicz, D 479 Jakuboviˇc, J 235 Jakubowska, M 73 Jamrozy, M 785 Janak, L 265 Janˇco, R 847 Janczak, D 73 Janeczek, K 315 Janicek, P 855 Janiszowski, K 825 Jasansky, M 757 Jasi´ nska-Choroma´ nska, D Jedrusyna, A 387 Kabzi´ nski, B 79 Kaleta, J 227 Kalu˙zy´ nski, K 793 Kami´ nski, D 527 Kapli´ nska, J 551 Kawecki, M 471 Kelemen, M 543 Kelemenov´ a, T 543 Kicman, P 551 Kindl, V 87, 291, 307 Klimes, D 877 Klimeˇs, L 193 Knofl´ıˇcek, R Kolodziej, D 79 Kolomazn´ık, J 725 Koriath, H.-J 641 Korkmaz, D 347 Koˇst’´ al, I 207 Kot, K 227 Kovar, J 253, 891 Koziol, G 315 Kr´ al, R 259 Krejci, P 487 Krejsa, J 575, 599, 817 Kriˇsˇs´ ak, P 235 Krivanek, V 379 Kriˇzan, J 95 Krizan, R 457 Kˇrupka, I 863 Kubik, M 299 Kubik, T 793 Kub´ın, M 33 Kuˇcera, V 641 Kurek, J.E 663 Kutilek, P 801 Lady˙zy´ nska-Kozdra´s, E 627 Lambersk´ y, V 95, 669 Laˇst˚ uvka, J 863 Lee, B 103 Lewandowski, D 227 Lewenstein, K 449, 771, 785 Leyko, T 785 Luczak, S 393 Lukac, T 543 79, 607 Madaras, J 25 Madar´ asz, M 847 Magdolen, L 25 Malinowski, K 677 Marek, J 41, 273 Marˇsa ´lek, O 111 Martinec, T 119 Masarova, R 749 Masaryk, M 25 Maˇsek, P 583, 591 Matyjewicz-Maciejewicz, M Mauder, T 193 Maz˚ urek, I 299 Michal´ıˇcek, M 41 79 Author Index 901 Mikolajczyk, K 793 Minh, Vu Trieu 615 Mlo˙zniak, A 73 Mlynek, J 119 Mo˙zaryn, J 677 Nagy, A 401 N´ avrat, T 863 Niemiec, K 227 Niewiadomski, W 763 Nikitin, Yu 433 Noga, A 387 Novotn´ y, P 111, 193 Novotn´ y, T Ondrouˇsek, V 725 Ondrusek, C 363 Ordys, A 633 Pajchrowski, T 693 Palko, T 833 Pa´sniczek, R 839 Patocka, M 355 Pavl´ık, P 883 Pavlikova, S 749, 883 Pawelczak, D 833 Pechanek, R 291 Petrovas, A 701 Petruk, O 409 Pieniak, M 809 Piskulak, P 763 P´ıˇstˇek, V 111, 193 Pokorn´ y, P 653 Polyv´ as, P.P 847 Priber, U 641 Pă urzel, F 185 Putz, B 471 Quellmalz, J 709, 717 Salach, J 479 Schlegel, H 709, 717 Shakouri, P 633 Shao, Sh.Q 243 Siemiatkowska, B 559 Sienilo, M 417 Siewnicka, A 825 ˇ Sika, Z Singule, V 891 Sinitsyn, A.N 685 Sinitsyna, V.V 685 Skala, B 87 Skalski, P 219 Sladek, J 425 Sladek, V 425 Sloma, M 73 ´ Slubowska, E 449 Smrcka, P 801 Sobra, J 307 Solc, F 519 ˇ es, L 779 Solt´ Sova, V 135 Srb, R 119 Stanak, P 425 Stefek, A 143, 379 Stein, G.J 151 Stepanov, P 433 Steplewski, W 315 Strecker, Z 299 Strojnowski, T 607 Suransky, M 877 Svetlik, P 283 Svoboda, Z 801 Syfert, M 441 Szewczyk, R 161, 409, 479 Szumilas, M 449 Tadeu, A 425 Tang, M.S 243 Tian, Ch.Q 243 Ugodzi´ nski, R Raffai, P 111 Rehm, M 709, 717 Rinkeviˇciene, R 701 Ripel, T 817, 877 Roupec, J 299 Rucka, J 253 Rutkowski, M 127 R˚ uˇziˇcka, M 583, 591 161 Vaˇs´ıˇcek, A 503 Vavruska, P 169 Vechet, S 575, 599 Vejlupek, J 177, 877 Vetiˇska, J 41, 273, 891 Vlach, R 323, 495 Votrubec, R 733 .. .Mechatronics 2013 Tomáš Bˇrezina · Ryszard Jablo´nski Editors Mechatronics 2013 Recent Technological and Scientific Advances ABC Editors Tomáš Bˇrezina Faculty... series Recent Advances in Mechatronics, following the editions in 2007, 2009 and 2011 It comprises carefully selected contributions presented at the 10th International Conference Mechatronics 2013, ... Loam 1.02 66.0 4486 3.1 29.8 0.038 Upland Sandy Loam (type 1) 1.1 74.6 2080 3.3 33.7 0.093 Upland Sandy Loam (type 2) 0.85 3.3 2529 2.5 28.2 0.041 Upland Sandy Loam (type 3) 1.74 259 1643 3.3