Inocenţiu Maniu - Academia.edu (original) (raw)

Papers by Inocenţiu Maniu

Applied Mechanics and Materials, 2015

This paper presents the development of a voice and gesture based interface (HMI – Human - Machine... more This paper presents the development of a voice and gesture based interface (HMI – Human - Machine Interface) for the human control of a mobile robot. The application utilizes the Microsoft Kinect sensor and its Visual Studio C# libraries for voice and gestures recognition. Once, the specific voice commands or gestures are recognized, the controller (a PC or Laptop) sends specific commands to a microcontroller (ATmega2560 on an Arduino Mega board). The microcontroller is mounted on the mobile robot and controls the robot’s motors. Also there are presented some limitations of the Kinect sensor to be taken into consideration when using it.

Kinematic analysis for the automatic gearboxes with four and seven gears reveal both the evolutio... more Kinematic analysis for the automatic gearboxes with four and seven gears reveal both the evolution and state of the elements of these types of automatic gearboxes in operation. Kinematics and dynamics are both dependent thus the analysis is very rigorous and complex. Dynamic performances and fuel consumption of an automobile depend on the engine that is used on it and the performance of its transmission. The dependency of the energy consumption and the value of the gearboxes final ratios it is also highlighted. Keywords—automatic gearbox, fuel, kinematics, transmission, energy.

Mechanisms and Machine Science, 2019

The window roofs are available in the variants top-hung and center pivot roof window with actuati... more The window roofs are available in the variants top-hung and center pivot roof window with actuation based on rack or chain mechanisms. The new solution proposed for center pivot roof windows is based on a geared linkage. Its scheme is explained and its analysis is performed in order to get functional parameters. The CAD model was generated and used to simulate the kinematic behavior, then a prototype was assembled to test the practical functioning. The mechanical system is actuated by an intelligent control system, which includes an Arduino board and sensors for light, temperature, pressure and humidity.

ITM Web of Conferences, 2019

This paper presents our work regarding two different applications that use the electromyography s... more This paper presents our work regarding two different applications that use the electromyography sensors incorporated in the Thalmic Labs Myo Armband. The first application is about the HumanMachine Interface (HMI) for controlling an industrial robot bycreating the environment for the user to control a robot’s gripper position just by moving his arm. The second application refers to the real time control of a tracked mobile robot that is built with the Arduino development board. For each application thesystem design and the experimental results are presented.

Mechanism and Machine Theory, 2017

Abstract The paper deals with design solutions for the elbow module of a haptic arm exoskeleton u... more Abstract The paper deals with design solutions for the elbow module of a haptic arm exoskeleton used for remote control of robots in space. The haptic elbow exoskeleton module should control the motion of the robot and have a haptic feedback from it. The design solutions for achieving the mechanical feedback can use controlled mechanism structures or direct actuators. Several proposed design solutions and a control strategy are shown in the paper.

The influence of vertical vibrations on the human body is analyzed on the basis of models, where ... more The influence of vertical vibrations on the human body is analyzed on the basis of models, where the main components and their characteristic properties are made evident. As a function of position of the body, there are considered models, having concentrated masses, elastic constraints and dampers. For a few models that are presented, the matrix differential equations of motion are written and the mathematical input-stateoutput model (M-ISO-M) is specified. On the basis of the adopted mathematical models, computer block diagrams are defined. Thus, for the study of behavior of the mechanical systems, calculus diagrams are elaborated, in order to make evident the connections between the blocks and the developments with the help of Math Lab simulation of the system response to a harmonic input signal. Also with the help of the AnyBody Modeling System software, a driving simulation had been made, resulting intense muscle activities by subjecting the human body to the vehicle vibrations and external forces. The concrete cases that are studied refer to real situations for which the system parameters are deduced by a methodology, previously specified. In each case, fixed by the program running, for each mass, the amplitude-pulsation characteristics are determined, making evident the resonance possibilities.

The spline joints transmit torque from shafts to rotors by multiple contact surfaces. The joint&#... more The spline joints transmit torque from shafts to rotors by multiple contact surfaces. The joint's mechanical system is, therefore, undetermined, i.e. the number of contact points is much larger than the number of restricted degrees of freedom. Thus, the actual load distribution is greatly influenced by the joint's elements elastic properties and their geometrical errors. In this paper, an analytic study, each variation cause influence on the load distribution in joint's length and on different contact surfaces is presented.

Mechanisms and Machine Science, 2011

ABSTRACT To improve the efficiency of printing or coating processes for paper products the veloci... more ABSTRACT To improve the efficiency of printing or coating processes for paper products the velocity of the web and the roller width can be increased. However, these measures cause deformations of the rollers, heating effects and streak print defects due to undesirable oscillations. The vibration characteristic is significant for the quality and efficiency of the printing or coating processes. Approved methods like balancing of the rollers and maximizing the bending stiffness have come to technical limits. This seems to be promising technology for further optimization of printing and coating machines. This paper describes an approach with piezoelectric actuators in a flexographic printing machine by introducing active elements in the bearings of a roller to compensate undesired bending vibrations. Similar active components for vibration damping have been introduced successfully in grinding and milling machines [1, 2]. KeywordsActive bearing-Piezoelectric actuator-Vibration damping-Roller system

Applied Mechanics and Materials, 2015

— This document contains experimental data regarding operational stats and thermal stats of an au... more — This document contains experimental data regarding operational stats and thermal stats of an automatic gearbox. Experimental data regarding the operating pressure and the command of the solenoid actuators is being expressed in percentage and current and is being recorded on the hydraulic test rig for establishment and optimization of the clutches and brakes operations from an automatic gearbox.

In order to ensure a uniform indexing of technical information and a coordinated search engine in... more In order to ensure a uniform indexing of technical information and a coordinated search engine in the field of mechanisms science, it is useful to develop a multilingual illustrated μ-thesaurus of “mechanism” indexing terms. This paper proposes a complete database of multilingual illustrated mechanisms science indexing terms, which will overcome the language barrier and will be integrated into technical macro-thesauri.

New Trends in Mechanism and Machine Science, 2012

ABSTRACT The paper proposes a numerical method for computation of the base circle radius of cam m... more ABSTRACT The paper proposes a numerical method for computation of the base circle radius of cam mechanisms with translating flat-face follower as alternative to the traditional graphic-analytical method. The base circle radius is a very important data in the synthesis of the cam profile. The method uses two conditions: to keep the curvature continuously positive in all points along the cam profile and to avoid inflection or singularity points.

History of Mechanism and Machine Science, 2014

Francisc Viliam Kovacs was an innovator in mechanism science and a pioneer in Romanian robotics. ... more Francisc Viliam Kovacs was an innovator in mechanism science and a pioneer in Romanian robotics. His contributions cover a wide theoretical and applicative area. Furthermore, he was a talented manager, who founded the robotics section within the higher education at the University “Politehnica” of Timisoara. He wrote original books and developed new laboratories. His outstanding academic personality facilitated the launching of numerous scientific collaborations worldwide.

Mechanisms and Machine Science, 2013

ABSTRACT The paper deals with the structural analysis of the mechanisms with elastic connections.... more ABSTRACT The paper deals with the structural analysis of the mechanisms with elastic connections. This study is based on the up-to-date development of the technologies in the field of smart compound materials with controlled elastic deformation and the nanotechnologies. The aim of the study is to define the elastic connections in the context of the classical mechanism theory and to develop the relationships in order to compute the mobility of the mechanisms with elastic connections. In order to illustrate the theoretical development, the authors present several numerical examples. All methods are based on preserving of the kinetostatic conditions in a movement cycle. The authors present the classification of elastic connections in correlation with the classical ones.

Solid State Phenomena, 2010

ABSTRACT The paper presents a scaled experimental stand for applying different algorithms onto a ... more ABSTRACT The paper presents a scaled experimental stand for applying different algorithms onto a braking system with anti-lock capability, in order to determine the best way to control the braking process. The stand consists of a test wheel with an electro-mechanic brake caliper rolling against a powered tambour track. The angular velocities of both rolling wheel and track are monitored by a PC using custom hardware and software. The functional parameters of the test stand can be modified, thus employing different approaches for the anti-lock function of the braking process.

Solid State Phenomena, 2010

With advances in science and technology, the interest to study the animals walking has developed ... more With advances in science and technology, the interest to study the animals walking has developed the demand for building the legged robots. Physics-based simulation and control of quadruped locomotion is difficult because quadrupeds are unstable, under actuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning). The application named JQuadRobot is developed in Java and Java3D API. A Graphical User Interface and a simulator for a custom quadruped leg's robot and the main features of the interface are presented in this paper. This application is developed in Java and is essential in a development motion for legged robot. The friendly interface, allows any user to define and test movements for this robot. The cross-platform capability was the first reason to choose Java language for developing this applica...

History of Mechanism and Machine Science, 2012

This paper presents a short biography and the academic career of Professor Francisc Viliam KOVÁCS... more This paper presents a short biography and the academic career of Professor Francisc Viliam KOVÁCS. During the academic carrier he occupied administrative leadership positions at the "Politehnica" University of Timisoara. Professor Francisc KOVÁCS is a road opener of the teaching and research field of Robotics in Romania and made several important contributions to the theory of the machines and mechanisms.

Solid State Phenomena, 2010

The manipulators, used to handling products or devices in industrial departments, needs to be sel... more The manipulators, used to handling products or devices in industrial departments, needs to be self-balanced in order to compensate the different weight of the load in its position in the workspace. The known technical solution for self-balancing with counterweight, springs and actuators can be substituted through a band mechanism. The paper proposed a new self-balancing solution for the conco-balancer manipulator with band mechanism and presents its synthesis approach. The non-circular profile of the band mechanism permits the variation of the compensated moment in order to be easy manipulated the load by the operator.

Solid State Phenomena, 2010

ABSTRACT In this paper is presented the 3D acquisition and reconstruction process of complex geom... more ABSTRACT In this paper is presented the 3D acquisition and reconstruction process of complex geometry objects: two types of hip and cervical-cephalic prosthesis. The reconstruction process is based on triangulation single camera solution method with a 3D optical non-contact scanner which uses an emitted laser beam to sweep the object surfaces.

Applied Mechanics and Materials, 2014

In this paper the authors present some considerations regarding the necessity and the methods to ... more In this paper the authors present some considerations regarding the necessity and the methods to calibrate an exoskeleton elbow module. Prior researches and studies are indicating that there is a difference between the haptic device force reaction and situation (position and orientation) and similar parameters at the level of the guided or slave robot. The authors are investigating the causes of the pose accuracy and force errors knowing the fact that for some space operations the fidelity of the teleoperation the geometric, kinematic and dynamic parameters are of great importance. The authors propose the measurement of the position accuracy, position repeatability, static relaxation under load, speed and acceleration, force and torque measurement in order to obtain a real correlation between the haptic device and the space robot parameters. Also the authors are considering the investigation of the unwanted vibration and the effect on the teleoperation parameters. Considering the im...

Applied Mechanics and Materials, 2015

This paper presents the development of a voice and gesture based interface (HMI – Human - Machine... more This paper presents the development of a voice and gesture based interface (HMI – Human - Machine Interface) for the human control of a mobile robot. The application utilizes the Microsoft Kinect sensor and its Visual Studio C# libraries for voice and gestures recognition. Once, the specific voice commands or gestures are recognized, the controller (a PC or Laptop) sends specific commands to a microcontroller (ATmega2560 on an Arduino Mega board). The microcontroller is mounted on the mobile robot and controls the robot’s motors. Also there are presented some limitations of the Kinect sensor to be taken into consideration when using it.

Kinematic analysis for the automatic gearboxes with four and seven gears reveal both the evolutio... more Kinematic analysis for the automatic gearboxes with four and seven gears reveal both the evolution and state of the elements of these types of automatic gearboxes in operation. Kinematics and dynamics are both dependent thus the analysis is very rigorous and complex. Dynamic performances and fuel consumption of an automobile depend on the engine that is used on it and the performance of its transmission. The dependency of the energy consumption and the value of the gearboxes final ratios it is also highlighted. Keywords—automatic gearbox, fuel, kinematics, transmission, energy.

Mechanisms and Machine Science, 2019

The window roofs are available in the variants top-hung and center pivot roof window with actuati... more The window roofs are available in the variants top-hung and center pivot roof window with actuation based on rack or chain mechanisms. The new solution proposed for center pivot roof windows is based on a geared linkage. Its scheme is explained and its analysis is performed in order to get functional parameters. The CAD model was generated and used to simulate the kinematic behavior, then a prototype was assembled to test the practical functioning. The mechanical system is actuated by an intelligent control system, which includes an Arduino board and sensors for light, temperature, pressure and humidity.

ITM Web of Conferences, 2019

This paper presents our work regarding two different applications that use the electromyography s... more This paper presents our work regarding two different applications that use the electromyography sensors incorporated in the Thalmic Labs Myo Armband. The first application is about the HumanMachine Interface (HMI) for controlling an industrial robot bycreating the environment for the user to control a robot’s gripper position just by moving his arm. The second application refers to the real time control of a tracked mobile robot that is built with the Arduino development board. For each application thesystem design and the experimental results are presented.

Mechanism and Machine Theory, 2017

Abstract The paper deals with design solutions for the elbow module of a haptic arm exoskeleton u... more Abstract The paper deals with design solutions for the elbow module of a haptic arm exoskeleton used for remote control of robots in space. The haptic elbow exoskeleton module should control the motion of the robot and have a haptic feedback from it. The design solutions for achieving the mechanical feedback can use controlled mechanism structures or direct actuators. Several proposed design solutions and a control strategy are shown in the paper.

The influence of vertical vibrations on the human body is analyzed on the basis of models, where ... more The influence of vertical vibrations on the human body is analyzed on the basis of models, where the main components and their characteristic properties are made evident. As a function of position of the body, there are considered models, having concentrated masses, elastic constraints and dampers. For a few models that are presented, the matrix differential equations of motion are written and the mathematical input-stateoutput model (M-ISO-M) is specified. On the basis of the adopted mathematical models, computer block diagrams are defined. Thus, for the study of behavior of the mechanical systems, calculus diagrams are elaborated, in order to make evident the connections between the blocks and the developments with the help of Math Lab simulation of the system response to a harmonic input signal. Also with the help of the AnyBody Modeling System software, a driving simulation had been made, resulting intense muscle activities by subjecting the human body to the vehicle vibrations and external forces. The concrete cases that are studied refer to real situations for which the system parameters are deduced by a methodology, previously specified. In each case, fixed by the program running, for each mass, the amplitude-pulsation characteristics are determined, making evident the resonance possibilities.

The spline joints transmit torque from shafts to rotors by multiple contact surfaces. The joint&#... more The spline joints transmit torque from shafts to rotors by multiple contact surfaces. The joint's mechanical system is, therefore, undetermined, i.e. the number of contact points is much larger than the number of restricted degrees of freedom. Thus, the actual load distribution is greatly influenced by the joint's elements elastic properties and their geometrical errors. In this paper, an analytic study, each variation cause influence on the load distribution in joint's length and on different contact surfaces is presented.

Mechanisms and Machine Science, 2011

ABSTRACT To improve the efficiency of printing or coating processes for paper products the veloci... more ABSTRACT To improve the efficiency of printing or coating processes for paper products the velocity of the web and the roller width can be increased. However, these measures cause deformations of the rollers, heating effects and streak print defects due to undesirable oscillations. The vibration characteristic is significant for the quality and efficiency of the printing or coating processes. Approved methods like balancing of the rollers and maximizing the bending stiffness have come to technical limits. This seems to be promising technology for further optimization of printing and coating machines. This paper describes an approach with piezoelectric actuators in a flexographic printing machine by introducing active elements in the bearings of a roller to compensate undesired bending vibrations. Similar active components for vibration damping have been introduced successfully in grinding and milling machines [1, 2]. KeywordsActive bearing-Piezoelectric actuator-Vibration damping-Roller system

Applied Mechanics and Materials, 2015

— This document contains experimental data regarding operational stats and thermal stats of an au... more — This document contains experimental data regarding operational stats and thermal stats of an automatic gearbox. Experimental data regarding the operating pressure and the command of the solenoid actuators is being expressed in percentage and current and is being recorded on the hydraulic test rig for establishment and optimization of the clutches and brakes operations from an automatic gearbox.

In order to ensure a uniform indexing of technical information and a coordinated search engine in... more In order to ensure a uniform indexing of technical information and a coordinated search engine in the field of mechanisms science, it is useful to develop a multilingual illustrated μ-thesaurus of “mechanism” indexing terms. This paper proposes a complete database of multilingual illustrated mechanisms science indexing terms, which will overcome the language barrier and will be integrated into technical macro-thesauri.

New Trends in Mechanism and Machine Science, 2012

ABSTRACT The paper proposes a numerical method for computation of the base circle radius of cam m... more ABSTRACT The paper proposes a numerical method for computation of the base circle radius of cam mechanisms with translating flat-face follower as alternative to the traditional graphic-analytical method. The base circle radius is a very important data in the synthesis of the cam profile. The method uses two conditions: to keep the curvature continuously positive in all points along the cam profile and to avoid inflection or singularity points.

History of Mechanism and Machine Science, 2014

Francisc Viliam Kovacs was an innovator in mechanism science and a pioneer in Romanian robotics. ... more Francisc Viliam Kovacs was an innovator in mechanism science and a pioneer in Romanian robotics. His contributions cover a wide theoretical and applicative area. Furthermore, he was a talented manager, who founded the robotics section within the higher education at the University “Politehnica” of Timisoara. He wrote original books and developed new laboratories. His outstanding academic personality facilitated the launching of numerous scientific collaborations worldwide.

Mechanisms and Machine Science, 2013

ABSTRACT The paper deals with the structural analysis of the mechanisms with elastic connections.... more ABSTRACT The paper deals with the structural analysis of the mechanisms with elastic connections. This study is based on the up-to-date development of the technologies in the field of smart compound materials with controlled elastic deformation and the nanotechnologies. The aim of the study is to define the elastic connections in the context of the classical mechanism theory and to develop the relationships in order to compute the mobility of the mechanisms with elastic connections. In order to illustrate the theoretical development, the authors present several numerical examples. All methods are based on preserving of the kinetostatic conditions in a movement cycle. The authors present the classification of elastic connections in correlation with the classical ones.

Solid State Phenomena, 2010

ABSTRACT The paper presents a scaled experimental stand for applying different algorithms onto a ... more ABSTRACT The paper presents a scaled experimental stand for applying different algorithms onto a braking system with anti-lock capability, in order to determine the best way to control the braking process. The stand consists of a test wheel with an electro-mechanic brake caliper rolling against a powered tambour track. The angular velocities of both rolling wheel and track are monitored by a PC using custom hardware and software. The functional parameters of the test stand can be modified, thus employing different approaches for the anti-lock function of the braking process.

Solid State Phenomena, 2010

With advances in science and technology, the interest to study the animals walking has developed ... more With advances in science and technology, the interest to study the animals walking has developed the demand for building the legged robots. Physics-based simulation and control of quadruped locomotion is difficult because quadrupeds are unstable, under actuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning). The application named JQuadRobot is developed in Java and Java3D API. A Graphical User Interface and a simulator for a custom quadruped leg's robot and the main features of the interface are presented in this paper. This application is developed in Java and is essential in a development motion for legged robot. The friendly interface, allows any user to define and test movements for this robot. The cross-platform capability was the first reason to choose Java language for developing this applica...

History of Mechanism and Machine Science, 2012

This paper presents a short biography and the academic career of Professor Francisc Viliam KOVÁCS... more This paper presents a short biography and the academic career of Professor Francisc Viliam KOVÁCS. During the academic carrier he occupied administrative leadership positions at the "Politehnica" University of Timisoara. Professor Francisc KOVÁCS is a road opener of the teaching and research field of Robotics in Romania and made several important contributions to the theory of the machines and mechanisms.

Solid State Phenomena, 2010

The manipulators, used to handling products or devices in industrial departments, needs to be sel... more The manipulators, used to handling products or devices in industrial departments, needs to be self-balanced in order to compensate the different weight of the load in its position in the workspace. The known technical solution for self-balancing with counterweight, springs and actuators can be substituted through a band mechanism. The paper proposed a new self-balancing solution for the conco-balancer manipulator with band mechanism and presents its synthesis approach. The non-circular profile of the band mechanism permits the variation of the compensated moment in order to be easy manipulated the load by the operator.

Solid State Phenomena, 2010

ABSTRACT In this paper is presented the 3D acquisition and reconstruction process of complex geom... more ABSTRACT In this paper is presented the 3D acquisition and reconstruction process of complex geometry objects: two types of hip and cervical-cephalic prosthesis. The reconstruction process is based on triangulation single camera solution method with a 3D optical non-contact scanner which uses an emitted laser beam to sweep the object surfaces.

Applied Mechanics and Materials, 2014

In this paper the authors present some considerations regarding the necessity and the methods to ... more In this paper the authors present some considerations regarding the necessity and the methods to calibrate an exoskeleton elbow module. Prior researches and studies are indicating that there is a difference between the haptic device force reaction and situation (position and orientation) and similar parameters at the level of the guided or slave robot. The authors are investigating the causes of the pose accuracy and force errors knowing the fact that for some space operations the fidelity of the teleoperation the geometric, kinematic and dynamic parameters are of great importance. The authors propose the measurement of the position accuracy, position repeatability, static relaxation under load, speed and acceleration, force and torque measurement in order to obtain a real correlation between the haptic device and the space robot parameters. Also the authors are considering the investigation of the unwanted vibration and the effect on the teleoperation parameters. Considering the im...