Zastosowanie pakietu PExSim do modelowania oraz symulacji ruchu manipulatorów

The paper presents the Robotic Elements plugin for the PExSim which provides many functions that are required in robotics, and addresses areas such as kinematics, dynamics, and trajectory generation. The plugin is useful for research, modelling and simulation of robot manipulators. It can also be a powerful tool for education. A short presentation of blocks that are the part of the plugin, is included. Also a simple example of application is presented.W niniejszym opracowaniu przedstawiony jest plugin Robotic Elements dla pakietu PExSim, który dostarcza wiele funkcji niezbędnych w dziedzinie robotyki oraz nauk z nią związanych takich jak kinematyka, dynamika oraz planowanie trajektorii. Przygotowany zestaw bloków stanowi użyteczne narzędzie do badań, modelowania oraz symulowania manipulatorów. Może zostać także wykorzystany do celów edukacyjnych z dziedziny robotyki. W referacie zawarty jest opis poszczególnych bloków, które wchodzą w skład plugin-u. Ponadto przedstawiono przykład praktycznego zastosowania

Modeling of circulatory system with coronary circulation and the POLVAD ventricular assist device

This paper presents an application of a numerical package for modeling and simulation of human circulatory system. The model includes a coronary circulation and the parallel heart assistance. The cases of the simulation of the proper and the pathology circulation conditions, such as left or right heart failure are shown. A description of the coronary circulation system is presented and obtained coronary sinus occlusion simulation results are included. An implementation of the whole package as a part of PExSim application is contained. The identification experiment for the ventricular assist device has been described and different methods of the artificial ventricle modeling are presented. An example of use of a fuzzy logic to presentation the dynamics of the POLVAD device is also included. Advantages of developed simulation platform are discussed

Modeling of circulatory system with parallel assist device using PExSim software platform

Niniejszy artykuł zawiera opis modelu układu krążenia wykonany w pakiecie programowym PExSim. Pozwala on na przeprowadzenie symulacji numerycznych pracy układu krążenia. Jest to celowe w wielu zagadnieniach badawczych, może być przydatne do celów testowania urządzeń wspomagających, jak i użyteczne w zastosowaniach edukacyjnych. Opisane zostały modele urządzenia wspomagającego pracę serca oraz poszczególnych elementów układu krążenia. Przedstawiono wyniki symulacji pracy układu krążenia dla stanów: fizjologicznego prawidłowego, patologicznego oraz przy wspomaganiu lewokomorowym.The paper presents a numerical model of human circulatory system implemented as a part of PExSim application. Individual components of the human circulatory system and ventricular assist device are described. The examples of typical application are presented and the results of simulations for healthy, pathological and pathological with heart support conditions are included

Diagnosis of the POLVAD artificial assist device filling state

Niniejszy artykuł zawiera opis przeprowadzonego eksperymentu identyfikacyjnego dla sztucznej komory serca POLVAD-MEV oraz opracowanych algorytmów wykrywania stanu całkowitego napełnienia oraz wyrzutu z komory krwistej tego urządzenia. Przedstawiono metody diagnostyczne bazujące na różnych sygnałach wejściowych oraz ich implementację w programie symulacyjnym PExSim. Zawarto oraz omówiono uzyskane wyniki oraz opracowano wnioski dotyczące poszczególnych metod wyznaczania stanów granicznych napełnienia komory.The paper presents an identification experiment for the POLVAD-MEV artificial heart and the developed detection algorithms for complete filling and full emptying the device blood chamber. In Section 1 the subject is presented and the problem of thrombus formation, as a result of incomplete range of the assist device membrane motion, is discussed. Section 2 presents the research methodology. In Subsection 2.1 the ventricle assist device construc-tion (Fig. 1) and the test bench are described. The stand consists of a hybrid model of the circulatory system [10] with attached POLVAD device and the following measuring equipment: ultrasonic flow measurements at the inlet and outlet cannula, pressure sensors at the inlet and outlet of the blood chamber and the air pressure in pneumatic drain. In Subsection 2.2 the impact of complete filling and full ejection on the transients of the measured values is dis-cussed (Fig. 2). Two algorithms for detection of complete filling and full ejection are presented. One of them is based on the analysis of pressure changes in the cannulas and pneumatic drain, the second one is based only on the pneumatic pressure variation. Section 3 presents the results of the diagnostic algorithm examination. The effectiveness of the proposed methods is compared. In the last section the obtained results are summarized and some proposals for further improvements are given when focusing on the development of diagnostic features based on analysis of the pneumatic pressure variation only

The Ti-MWW catalyst - its characteristic and catalytic properties in the epoxidation of allyl alcohol by hydrogen peroxide

Ti-MWW, one of the latest titanium-silicalite catalysts, has been prepared by direct hydrothermal synthesis using hexamethyleneimine as a structure-directing agent. The characteristic of the catalyst was performed by means of the following methods: XRD, SEM, IR, UV-vis and X'Ray microanalysis. The catalytic properties of Ti-MWW have been compared with those of the conventional titanium-silicalites TS-1 and TS-2 in the epoxidation of allyl alcohol with hydrogen peroxide. The process has been described by the following main functions: the selectivity of the transformation to glycidol in relation to allyl alcohol consumed, the conversions of the substrates (allyl alcohol and hydrogen peroxide) and the selectivity of the transformation to organic compounds in relation to hydrogen peroxide consumed

Remote monitoring sytem for artificial heart

This paper presents a general description of the platform for remote monitoring and supervision of heart assist devices (POLPDU). To facilitate a more in-depth understanding of this system and its development, firstly, a brief discussion on severe heart failure problem are given. Then, the short description of the core modules of the system is included. The main emphasis is placed on the communication between the heart assist devices and the central platform server. Finally, the directions of development of the system are discussed