Maciej Petko - Academia.edu (original) (raw)

Papers by Maciej Petko

Bio-Algorithms and Med-Systems, 2016

Urinary incontinence (UI) is a common condition, especially in women, and affects the quality of ... more Urinary incontinence (UI) is a common condition, especially in women, and affects the quality of life in a physical, social, and economic meaning. Despite improvements in surgical techniques and the implementation of minimally invasive procedures, male and female stress UI still affects their well-being. Treatment limitations have encouraged researchers to investigate new approaches, including those of tissue engineering. The injection of autologous mesenchymal-derived stem cells (AMDC) might rebuild the urethra sphincter function and minimize leakage symptoms. The treatment is carried out with a rigid endoscope. The aim of this study is to present a practical calibration procedure for an oblique-viewing endoscope imaging system. This article presents the results of an examination of the variability of the internal camera’s parameters with the angle of rotation of the endoscope’s cylinder. The research proves that the most variable parameters are the coordinates of the image plane’s...

Polish Gynaecology, 2016

ginekologia Regenerative medicine-techniques and methods of administering autologous derived stem... more ginekologia Regenerative medicine-techniques and methods of administering autologous derived stem cells in urinary incontinence Medycyna regeneracyjna w leczeniu nietrzymania moczu a technika i sposoby podania materiału komórkowego do zwieracza cewki moczowej

Proceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535), 2000

... Mickiewicza 30, 30-059 Krak6w, Poland, telephone +48(12) 6173510, email: mhl@ rob.wi bro.agh.... more ... Mickiewicza 30, 30-059 Krak6w, Poland, telephone +48(12) 6173510, email: mhl@ rob.wi bro.agh.edu.pl). Maciej Petko, Ph D, is with the Mechanical Engineering and Robotics Department University of Mining and Metallurgy, al. ...

Journal of Theoretical and Applied Mechanics, 2002

2013 18th International Conference on Methods Models in Automation Robotics, 2013

ABSTRACT A trajectory generator is one of the most important part of a CNC machine control system... more ABSTRACT A trajectory generator is one of the most important part of a CNC machine control system. It is required to ensure the smooth tool movement and feed rate changes, which can be done by limiting the jerk. The reason of developing the generator was the necessity of providing values of displacement, feed rate (velocity) and acceleration for all axes of milling machine with high sampling frequency required by the control system. The paper presents the generator of the trajectory from G code that can work with the 5 axes CNC milling robot.

4th IFAC Symposium on Mechatronic Systems (2006), 2006

ABSTRACT The paper presents design and implementation of neural controller for 3-DOF parallel rob... more ABSTRACT The paper presents design and implementation of neural controller for 3-DOF parallel robot for milling against a background of the developed mechatronic procedure of parallel robots design. The controller is based on neural model of the inverse dynamics of the manipulator, trained on data collected with the use of a computed torque stabilizing controller. After successful virtual and fast prototyping, the controller was implemented in a FPGA with a soft-processor. Hardware-Software Co-design allowed for exploration of possible control algorithm realisations.

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891), 2004

The paper presents a novel, versatile 3-RRPRR (Revolute-Revolute-Prismatic-Revolute-Revolute join... more The paper presents a novel, versatile 3-RRPRR (Revolute-Revolute-Prismatic-Revolute-Revolute joints), fully-parallel manipulator with three translational degrees of freedom for pick-and-place and machining applications, characterising in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, its kinematics and dynamics is analysed and modelled. A trajectory generator and a controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.

EFTA 2003. 2003 IEEE Conference on Emerging Technologies and Factory Automation. Proceedings (Cat. No.03TH8696), 2003

In the paper, a procedure of semi-automatic hardware implementation of control algorithms is pres... more In the paper, a procedure of semi-automatic hardware implementation of control algorithms is presented. Important role in this procedure plays generator of ASIC/FPGA synthesisable code from Simulink model. Virtual prototyping of entire mechatronic system is possible, including bit-and cycle-accurate simulation of hardware-implemented controller in Simulink. As a case study, nonlinear PID control of prismatic robot link with friction is described.

Automatyka/Automatics, 2013

2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR), 2013

The paper presents an idea of flutter margin detection algorithm which is based on identification... more The paper presents an idea of flutter margin detection algorithm which is based on identification of natural frequencies and modal damping ratio for airplane structure employing in-flight vibration measurements. The method is based on application of wavelets filtering for decomposition of measured system response into components related to particular vibration modes. In the second step classical Recursive Least Square (RLS) estimation methods is used to obtain ARMA model parameters. The hardware implementation of proposed algorithm is based on FPGA technology which allows implementing complex algorithm in a one chip. The results of modal parameters tracking using designed real-time embedded system are compared with more classical in-flight modal analysis at discrete flight points. .