Modelling, Analysis, and Visualization of Hydraulic Systems Operation

V okviru diplomske naloge smo preučili možnosti vizualizacije rezultatov modeliranja hidravličnih dinamičnih sistemov v okviru programa Matlab. Ker smo vizualizacijo želeli dopolniti tudi z video posnetki, smo kot ustrezno orodje izbrali program VEGAS Movie Studio. V uvodnem poglavju diplome smo najprej opisali naloge, ki so motivirali delo. Sledi opis pomembnejših značilnosti programa VEGAS Movie Studio. Nato smo podali podrobnejšo predstavitev štirih hidravličnih sistemov. Posebej natančno smo opisali prvega med njimi. Gre za hidravlično pilotno napravo, ki se nahaja v Laboratoriju za avtomatiko in kibernetiko Fakultete za elektrotehniko Univerze v Ljubljani. Za to napravo smo podrobno opisali izvedene korake kombiniranega pristopa k modeliranju. Sledi opis realizacije animacije ter razširitev ilustracije delovanja, ki je podprta z ustrezno pripravljenimi video posnetki. Poglavja 3 do 5 slonijo na predstavitvi različnih načinov delovanja hidravlične pilotne naprave AMIRA 200 DTS. V omenjenih poglavjih smo najprej opisali že nasvete uravnotežene modele izbranih načinov delovanja, nato pa smo predstavili tudi razvoj funkcij za animacijo izbranih sistemov. Razvite datoteke smo uredili s pomočjo grafičnega vmesnika tako, da lahko uporabnik na preprost način opazuje učinke modeliranja in vizualizacijo, hkrati pa tudi najde datoteke, ki so poskrbele za izbran prikaz.In this diploma thesis, we examined the possibilities of visualizing of modelling results regarding hydraulic dynamic systems in the programme Matlab. We investigated also the options of combination of animation results with video presentation of the real system. For this goal also the programme VEGAS Movie Studio was used as a suitable tool for needed operations. In the introductory chapter the tasks that motivated this work are presented. This is followed by a description of the most important features of the programme VEGAS Movie Studio. Then four hydraulic systems are introduced. Very detailed description of the first one is given in the Chapter 3. This is a hydraulic pilot device located at the Laboratory of Control Systems and Cybernetics at the Faculty of Electrical Engineering, University of Ljubljana. For this device all needed design steps are described when using combined modelling approach. This is followed by a description of the developed animation results and also by the illustration how combined presentation is possible taking into account both developed animation results and video presentations of the real system operation. Chapters 3 to 5 present different operation modes of the AMIRA 200 DTS hydraulic pilot device. In these chapters first corresponding mathematical models are described, while later on also all developed programmes are given and illustrated with corresponding animation results. To enable user friendly observation of the operation of all developed programme files graphical user interface was generated. The user can observe all the features of developed modelling results and corresponding visualization by simply pushing the prepared buttons in the suitable level of this interface

Measurement system for sheet metal deformation compensation in robotic welding

V industriji se pogosto pojavlja problematika doseganja hitrih in kvalitetnih meritev, ki predstavljajo povratne informacije o kvaliteti izdelka. Pri zelo kompleksnih izdelkih, kjer se zahtevajo ozka tolerančna območja zaradi ustrezne montabilnosti, je zelo pomembna zanesljivost pridobljenih meritev. Geometrijske lastnosti takšnih končnih izdelkov, kjer je pri sestavljanju prisotno varjenje, je odvisna tudi od deformacije materiala pri termični obdelavi spajanja manjših kosov. Oblika zvarjenih kosov je zato na končnem izdelku drugačne oblike, kot jo imajo nezvarjeni kosi, kar lahko predstavlja težavo pri montaži. S pomočjo skenirne naprave smo zato zgradili in ustvarili merilni sistem takšnega kompleksnega izdelka, kot je nosilec kolesa, kjer smo v okviru magistrske naloge analizirali kvaliteto pridobljenih meritev. Merilni sistem je sestavljen iz merilnega in skenirnega programa, ki smo ju podrobneje opisali. Predstavili smo tudi rezultate analize merilnega sistema po metodah MSA procedure 1 in 3 z dodatno analizo primerjave dveh merilnih naprav. Opisali smo tudi izboljšave, ki smo jih naredili za doseganje stabilnejšega in robustnejšega merilnega sistema z izboljšano točnostjo in natančnostjo meritev. Predstavili smo tudi metodologijo definiranja novih odpreškov za namen kompenzacije deformacije pločevine pri varjenju. Metodologijo smo preverili z enostavnim modelom varjenja dveh enakih ploščic. Naredili smo podrobno analizo pridobljenih rezultatov in ugotavljali uporabnost metodologije. Princip definiranja novega odpreška smo tudi uporabili na enem izmed odpreškov nosilca kolesa in oblikovali predlog nove oblike odpreška v obliki CAD modela. S temeljitim razmislekom smo metodologijo tudi nadgradili v računalniško generiranje novega odpreška. Naloga je opremljena z opisnim in slikovnim gradivom. V uvodnem poglavju smo najprej predstavili tematiko zaključnega dela. Nato smo podali podrobnejšo predstavitev uporabljene strojne in programske opreme. V poglavju Metodologija smo predstavili delovanje skenirne naprave, princip skeniranja in način generiranja poligoniziranega objekta. Opisali smo tudi koncepte merilnega programa in v splošnem predstavili načine analize merilnega sistema. V tem poglavju smo opisali tudi idejne koncepte in enačbe za definicijo novega odpreška. V poglavju Rezultati smo predstavili skenirni in merilni program nosilca kolesa, ter vse rezultate in opise analize zgrajenega merilnega sistema. Dodani so tudi rezultati enostavnega modela varjenja dveh ploščic s podrobnimi opisi in analizami. Predstavljeni so tudi rezultati koncepta uporabljenega na realnem odprešku ter rezultati in analize računalniškega generiranja oblike novih odpreškov.The problem of achieving fast and high-quality measurements that provide feedback on product quality in industries is very common. In the case of extremely complex products, where a narrow tolerance is required for proper assembly, the reliability of the obtained measurements is very important. The geometric properties of such finished products, where welding is part of the assembly, also depend on the deformation of the material during the thermal treatment of joining smaller pieces. The shape of the welded pieces on the final product is therefore different from the shape of the welded pieces, which can pose a problem during assembly. Therefore, we built and created a measurement system for complex products, such as a wheel carrier, with the help of a scanning device, where we analyzed the quality of the obtained measurements. The measuring system consists of a measuring and scanning program, which we have described in more detail. We also presented the results of the analysis of the measuring system according to MSA procedures 1 and 3, along with an additional analysis comparing the two measuring devices. We also described the improvements that we made to achieve a more stable and robust measuring system with improved accuracy and precision of the measurement results. Furthermore, we also presented a methodology for defining new stamping parts for the purpose of compensating the deformation of sheet metal during welding. We verified the methodology with a simple model of welding two identical plates. We conducted a detailed analysis of the obtained results and determined the methodology’s applicability. We also applied the principle of defining a new stamping part to one of the wheel carrier stamping parts and created a proposal for a new stamping part shape in the form of a CAD model. After careful consideration, we also upgraded the methodology for the new computer-generated stamping part. The thesis is equipped with descriptive and pictorial material. In the first chapter, we started by presenting the topic of the final work. Then we provided a more detailed presentation of the hardware and software that we used. In the Methodology chapter, we presented the operation of the scanning device, the scanning principle and the method of generating a mesh. We also described the concepts of the measuring program and presented the general methods of analysis of the measuring system. In this chapter, we also described the concepts and equations for the definition of a new stamping part. In the Results chapter, we presented the scanning and measuring program for the wheel carrier, as well as all the results and descriptions of the analysis of the built measuring system. In addition, the results of a simple two-plate welding model with detailed descriptions and analyses are included. The results of the concept used on a real stamping part and the results of the analysis of the new computer-generated stamping part shape are also presented

Adipose triglyceride lipase plays a key role in the supply of the working muscle with fatty acids

FAs are mobilized from triglyceride (TG) stores during exercise to supply the working muscle with energy. Mice deficient for adipose triglyceride lipase (ATGL-ko) exhibit defective lipolysis and accumulate TG in adipose tissue and muscle, suggesting that ATGL deficiency affects energy availability and substrate utilization in working muscle. In this study, we investigated the effect of moderate treadmill exercise on blood energy metabolites and liver glycogen stores in mice lacking ATGL. Because ATGL-ko mice exhibit massive accumulation of TG in the heart and cardiomyopathy, we also investigated a mouse model lacking ATGL in all tissues except cardiac muscle (ATGL-ko/CM). In contrast to ATGL-ko mice, these mice did not accumulate TG in the heart and had normal life expectancy. Exercise experiments revealed that ATGL-ko and ATGL-ko/CM mice are unable to increase circulating FA levels during exercise. The reduced availability of FA for energy conversion led to rapid depletion of liver glycogen stores and hypoglycemia. Together, our studies suggest that ATGL-ko mice cannot adjust circulating FA levels to the increased energy requirements of the working muscle, resulting in an increased use of carbohydrates for energy conversion. Thus, ATGL activity is required for proper energy supply of the skeletal muscle during exercise