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Accuracy and Repeatability Tests on 6D Measurement Arm.
(Lodz University of Technology. Press - Faculty of Mechanical Engineering. Department Division of Dynamics., 2017) Rakowski, Piotr; Kobierska, Agnieszka; Podsędkowski, Leszek; Poryzała, Paweł
We present kinematic structure of measurement arm along with its construction restrainsoriginating from using only accelerometers for determining relative positions of links. Method of calculating position of arm's end in relation to its base basing on orientation of individual links is presented. Accuracy and repeatability tests were performed using custom made test stand. The description of test stand, measurements procedures for last link changing its position in Cartesian directions and orientation in vertical axis is also included in the paper. These changes were justified in context of links orientation in relations to global coordinate system. Obtained tests results are presented and analyzed.
Are the surgeon’s movements repeatable? An analysis of the feasibility and expediency of implementing support procedures guiding the surgical tools and increasing motion accuracy during the performance of stereotypical movements by the surgeon
(2014) Podsędkowski, Leszek; Moll, Jacek; Moll, Maciej; Frącczak, Łukasz
The developments in surgical robotics suggest that it will be possible to entrust surgical robots with a wider range of tasks. So far, it has not been possible to automate the surgery procedures related to soft tissue. Thus, the objective of the conducted studies was to confirm the hypothesis that the surgery telemanipulator can be equipped with certain routines supporting the surgeon in leading the surgical tools and increasing motion accuracy during stereotypical movements. As the first step in facilitating the surgery, an algorithm will be developed which will concurrently provide automation and allow the surgeon to maintain full control over the slave robot. The algorithm will assist the surgeon in performing typical movement sequences. This kind of support must, however, be preceded by determining the reference points for accurately defining the position of the stitched tissue. It is in relation to these points that the tool’s trajectory will be created, along which the master manipulator will guide the surgeon’s hand. The paper presents the first stage, concerning the selection of movements for which the support algorithm will be used. The work also contains an analysis of surgical movement repeatability. The suturing movement was investigated in detail by experimental research in order to determine motion repeatability and verify the position of the stitched tissue. Tool trajectory was determined by a motion capture stereovision system. The study has demonstrated that the suturing movement could be considered as repeatable; however, the trajectories performed by different surgeons exhibit some individual characteristics.
A Methodology of Orthopaedic Measurement Arm Workspace Determination.
(Lodz University of Technology. Faculty of Mechanical Engineering. Department Division of Dynamics., 2017) Kobierska, Agnieszka; Podsędkowski, Leszek; Rakowski, Piotr; Rejmonczyk, Szymon; Kaszowski, Jakub; Olejniczak, Kacper; Golasiński, Bartłomiej; Kaczmarek, Kamil
This paper outlines general assumptions of work principle of displacement measuring arm that bases on accelerometers. Symbolic representation of arm’s kinematic structure is shown. Also, an analysis of construction correctness has been verified in terms of the effectiveness of using accelerometers to measure individual links displacements. A method of acquiring information on workspace is presented. The workspace has been determined in two variants: without considering last link orientation and for given orientation of that link. Paper also describes a determination method of increments values of angular displacements for individual links of the arm in terms of obtained proper results and rational computation time of workspace scanning algorithm. Finally, there is a presentation of method for determining a cuboid space for arm accuracy and repeatability measurement in XYZ coordinate system.
Nowe mechaniczne rozwiązania systemu narzędziowego robota RobIn Heart.
(Stowarzyszenie Inżynierów i Techników Mechaników Polskich, 2012) Kobierska, Agnieszka; Wróblewski, Piotr; Podsędkowski, Leszek; Zawiasa, Piotr
Radial fan controlled with impeller movable blades - CFD investigations
(Wydawnictwo IMP PAN, 2016) Jóźwik, Krzysztof; Papierski, Adam; Sobczak, Krzysztof; Obidowski, Damian; Kryłłowicz, Władysław; Marciniak, Emil; Wróbel, Grzegorz; Marciniak, Adrian; Wróblewski, Piotr; Kobierska, Agnieszka; Frącczak, Łukasz; Podsędkowski, Leszek
Modern classical power generation systems, based on power plants in Poland, where coal (hard bituminous coal or lignite) is the primary energy source, operate under variable loading conditions. Thus, all machines working in the technological system of the power generation unit are required to be adapted to variable loading, and, consequently, to operate beyond the design point of their performance characteristics. High efficiency of the process requires the efficiency of individual devices to be high, beyond the design point, as well. For both air and exhaust gases fans, an effective control system is needed to attain a high level of efficiency. As a result of cooperation between two institutes from the Faculty of Mechanical Engineering, Lodz University of Technology, and the Vibroson company, a new design of the radial fan with impeller movable blades, which allows for controlling the device operation within a wide range, has been developed. This new design and determination the performance characteristics for two geometrical variants of blades with computational fluid dynamics methods are presented. The obtained results have been compared to the results of the measurements of fan performance curves conducted on the test stand.