Head of Department: Prof. Zdzisław Gosiewski, DSc, PhD, Eng
Phone: +48 85 746 92 04
www.wm.kair.pb.edu.pl
E-mail: z.gosiewski@pb.edu.pl

Research topics

1. Unmanned Aerial Vehicles (UAVs)
   ■ Formation flight of UAVs
   ■ Autonomous control systems of UAVs
   ■ Autonomous take-off and take-on of UAVs
   ■ Electromagnetic launchers for UAVs
2. Human gait biometrics, systems with biological feedback, pneumatic artificial muscles
3. Passive, active and hybrid magnetic bearings
4. Vibration control methods for mechanical structures
5. Flywheel energy storage systems
6. Application of piezo elements in dynamical systems
7. Diagnostics of rotor shafts and turbine blades failures
8. Leak detection in transmission pipelines and water networks
9. Control systems on time scales
10. Advanced robust and nonlinear control systems

Selected publications

1. Gosiewski Z., Koszewnik A. (2011), Fast prototyping method for the active vibration damping system of mechanical structures, Mechanical Systems and Signal Processing, 36(1), 136-151.
2. Kootstra G., Popović M., Jørgensen J.A., Kukliński K., Miatliuk K., Kragic D., Krüger N. (2012), Enabling grasping of unknown objects through a synergistic use of edge and surface information, International Journal of Robotics Research, 31(10), 1190-1213.
3. Jastrzebski R. P., Smirnov A., Mystkowski A., Pyrhonen O. (2014), Cascaded position-flux controller for an AMB system operating at zero bias, Energies, 7, 3561-3575.
4. Kownacki C., A concept of laser scanner designed to realize 3D obstacle avoidance for a fixed-wing UAV, Robotica, June 2014, 1-15.
5. Kulesza Z. (2014), Dynamic behavior of cracked rotor subjected to multisine excitation. Journal of Sound and Vibration, 333, 1369-1378.
6. Kulesza Z., Sawicki J. T., Gyekenyesi A. L. (2013), Robust fault detection filter using linear matrix inequalities’ approach for shaft crack diagnosis, Journal of Vibration and Control, 19(9), 1421-1440.
7. Mozyrska D., Pawłuszewicz E. (2012), Fractional discrete-time linear control systems with initialisation, International Journal of Control, 85(2) , 213-219.
8. Mozyrska D., Pawłuszewicz E. (2013), Controllability of h-difference linear control systems with two fractional orders, International Journal of Systems Science, 9, 1-8.
9. Pawłuszewicz E. (2012), Observability of nonlinear control systems on time scales, International Journal of Systems Science, 43(12), 2268-2274.
10. Mystkowski A. (2014), Implementation and investigation of a robust control algorithm for an unmanned micro-aerial vehicle, Robotics and Autonomous Systems, 62, 1187–1196.

Test equipment

Planar aerostatic two-coordinate relative base with haptic Novint Falcon device

• haptic device for simulation of forces and vibrations generated during interaction with virtual reality systems;
• various control applications, e.g. position control of mobile robots, control of industrial manipulators, position control of aerostatic relative base;
• modelling of virtual systems with force interaction.

High-speed flywheel energy storage system

• nominal stored energy up to 7.2 MJ at rotor speed of 20,000 rpm;
• rotor diameter 0.47 m;
• shaft length 1.12 m;
• total rotor mass 195 kg;
• two 3-phase synchronous electric motors/generators, each of 50 kW;
• FPGA-hardware controller for PWM control of motors/generators.

LM90/204/90 active magnetic bearings (AMBs) test rig

• 5-DOF full AMBs rotor position control;
• measurement of rotor displacements with eddy-current sensors of resolution up to 0.001 mm;
• maximum rotor speed 24,000 rpm;
• PWM power amplifiers for magnetic bearings supply;
• DSP-base controller for 5-DOF active magnetic bearings system.

Schenck HE2BK horizontal balancing machine for rigid shafts

• universal balancing machine for rotors of mass up to 40 kg;
• maximum rotor diameter 800 mm;
• unbalance correction in two planes;
• separate correction of static and coupled unbalance;
• strong bearing pedestals for shafts of 8-50 mm diameter;
• min. distance between roller supports without drive: 50 mm;
• min. distance between roller supports with drive: 110 mm;
• accuracy up to 0.1 gmm/1 kg;
• measurement range 100-5000 rpm.

Schenck HS40 horizontal balancing machine for flexible shafts

• universal balancing machine for rotors of mass up to 3000 kg;
• unbalance correction in two planes;
• separate correction of static and coupled unbalance;
• unbalance correction of self-driven machines or rotors without drives;
• accuracy (ISO 2953) up to 0.05 gmm/1 kg for each shaft plane;
• measurement range 120-65,000 rpm.

Kawasaki FS003N industrial robot

• six joints, 3 kg payload, +/- 0.05 mm repeatability, 620 mm;
• FD70-hardware controller (32 I/O, Ethernet, RS-232C, 2 MB RAM, multi-tasking);
• portable teach pendant with 6.4” screen and touch panel function;
• KCWin communication software;
• vacuum gripper.

Festo MPS 500-FMS modular production system

• distributing station with a stacking magazine and a rotary actuator;
• testing station with optical, capacitive, inductive and magnetic sensors, a linear cylinder, and an air transporting slide;
• handling station with a flexible two-axis handling manipulator and a pneumatic gripper, transporting slides, and a work piece recognition system;
• sorting station with transporting slides and a sorting module;
• assembly station with a 5-axis industrial robot, and a separating module;
• MPS PA filtering, mixing, reactor and bottling process automation stations.

Other laboratory equipment

• dynamical system analysers: PULSE Bruel & Kjear with VibDQA4+ module, National Instruments cDAQ-9174, Agilent HP35670A;
• oscilloscopes: Agilent 54624A, Tektronix, Tektronix with current probes; Agilent 33220A signal generator; Tektronix TLA 5202B logic analyser;
• dSpace real time controller: DS1006/DS1005 processor boards with DS2001 A/D board and DS2103 D/A board;
• Xilinx FPGA prototype boards for real time control algorithms implementation;
• test equipment for industrial networks: Simatic S7-200 and S7-300 PLC controllers with simulators;
• optoelectronic SMART system with two Kistler’s force plates and bioengineering and therapeutic (BTS) electromyography (EMG) system;
• Kimla BFN1006 CNC machine tool;
• test rig for leak detection in long transmission pipelines.