Olaru Adrian

• Full Prof.univ.Ph.D.Eng.
• Professor (Full) at Universitatea Națională de Știință și Tehnologie Politehnica București

Featured Application The procedure is applied to assemble mechanisms manufactured with carbon composite materials which have hydraulic actuation. Abstract Humanoid robots have rapidly become the focus of research in recent years, with the most impressive humanoids being hydraulically actuated. This is due to the capacity of hydraulic actuation to...

To make wind power more competitive, it is necessary to reduce turbine downtime and reduce costs associated with wind turbine operation and maintenance (O&M). Incorporating machine learning in the development of condition-based predictive maintenance methodologies for wind turbines can enhance their efficiency and reliability. This paper presents a...

To make wind power more competitive, it is necessary to reduce turbine downtime and reduce costs associated with wind turbine Operation and Maintenance (O&M). Incorporating machine learning in developing condition-based predictive maintenance methodologies for wind turbines can enhance their efficiency and reliability. This paper presents a monitor...

To make wind power more competitive, it is necessary to reduce turbine downtime and reduce costs associated with wind turbine Operation and Maintenance (O&M). Incorporating machine learning in developing condition-based predictive maintenance methodologies for wind turbines can enhance their efficiency and reliability. This paper presents a monitor...

When implementing SVMs, two major problems are encountered: (a) the number of local minima of dual-SVM increases exponentially with the number of samples and (b) the computer storage memory required for a regular quadratic programming solver increases exponentially as the problem size expands. The Kernel-Adatron family of algorithms, gaining attent...

When implementing SVMs, two major problems are encountered: (a) the number of local minima increases exponentially with the number of samples and (b) the quantity of required computer storage, required for a regular quadratic programming solver, increases by an exponential mag-nitude as the problem size expands. The Kernel-Adatron family of algorit...

To limit the adverse effects of diabetes, a personalized and long-term management strategy that includes appropriate medication, exercise and diet has become of paramount importance and necessity. Compartment-based mathematical control models for diabetes usually result in objective functions whose terms are conflicting, preventing the use of singl...

Daily activities are a source of fatigue and stress for people with lower extremity spasticity. The possible aids must be introduced while maintaining priority control by the patient. This work aims to develop such an application in the context of walking on the exoskeleton developed at the Systems Engineering Laboratory of Versailles (LISV). The a...

In the paper are shown one complex method of the control orientation with proper neural network and inertial mechanism of the small satellite by using the Forward Kinematics (FK), Inverse Kinematics (IK), the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with proper Bipolar Sigmoid Hiperbolic Tangent Neural Network with Time Dela...

In this paper is shown one proper assisted platform made under the LabVIEW kernel, version 14.0, for analyze of positions, velocities, accelerations, forces and moments in Robotics. The platform provides assisted research for the following robots types: Arm, Scale, Cartesian, Gun and Double Portal. In order to take over in the research the aspects...

The paper presents a software platform made with LabVIEWTM for the assisted research of the kinematic and dynamic behavior of industrial robots. The platform comprises a series of virtual instrumentation LabVIEWTM programs (subVI-s) with: the input data modules in the form of several clusters with the parameters of the trapezoidal velocity characte...

The research shown in this paper used the proper soft platform for assisted analyze of positions, velocities, accelerations, active forces and moments in Robotics. To simulate the real behavior on used, in the Inverse Dynamic behavior, the variable accelerations in all joints taken from trapezoidal characteristic and were shown the results characte...

This paper shown one matrix method for assisted analyze of the Kinematics in Robotics by using the Virtual LabVIEW instrumentation. This purpose offers the possibility for applicants to choose the best controlling algorithm of the movement after were analyzed the results of positions and velocities characteristics. The virtual simulation of them as...

In this paper is shown one proper assisted platform made under the LabVIEW kernel, version 14.0, for analyze of positions, velocities, accelerations, forces and moments in Robotics. The platform provides assisted research for the following robots types: Arm, Scale, Cartesian, Gun and Double Portal. In order to take over in the research the aspects...

The paper shown one new LabVIEW software platform for the Kinematics analyse in Robotics. This platform contents some more important type of robots and the positions, velocities and accelerations assisted analyse. The program contains a case-type structure with the various types of analysed robots, which also include related Cartesian systems appli...

This paper shown one matrix method for assisted analyze of the Kinematics in Robotics by using the Virtual LabVIEW instrumentation. This purpose offers the possibility for applicants to choose the best controlling algorithm of the movement after were analyzed the results of positions and velocities characteristics. The virtual simulation of them as...

The paper presents the assisted research of Forward Kinematics (FK) and Inverse Dynamics (ID) at a series of robotic structures with proper software platform OLROBOT. Arm, SCARA, Cartesian, Double Portal robots types were studied. The research focused on drawing 2D and 3D characteristics of positions, velocities, accelerations, forces and moments....

The paper presents a software platform made with LabVIEWTM for the assisted research of the kinematic and dynamic behavior of industrial robots. The platform comprises a series of virtual instrumentation LabVIEWTM programs (subVI-s) with: the input data modules in the form of several clusters with the parameters of the trapezoidal velocity characte...

Multi objectives optimization in Robotics is one of the most difficult problem to be solved. In the paper will be shown the matrix form of the resistive and active forces and the proper algorithm to establish the best case between all studied cases. The mathematical matrix form of the active forces equations was transposed to the virtual LabVIEW in...

One of the most important problem to solve in the robots Kinematics and Dynamics is analyze of the joint's angular and linear accelerations. Because the movements of the robot's bodies going in the 3D space, the mathematical algorithm must be written in the complex matrix form. The paper show how some cases of the trapezoidal relatives' velocities...

The paper shown one new LabVIEW software platform for the Kinematics analyse in Robotics. This platform contents some more important type of robots and the positions, velocities and accelerations assisted analyse. The program contains a case-type structure with the various types of analysed robots, which also include related Cartesian systems appli...

The paper shown one new LabVIEW software platform for the Kinematics analyse in Robotics. This platform contents some more important type of robots and the positions, velocities and accelerations assisted analyse. The program contains a case-type structure with the various types of analysed robots, which also include related Cartesian systems appli...

One of the most known method of the optimization of the dynamic behavior of the industrial robots is applying the magneto-rheological dampers in the robots joints. Among the priority directions that have been approached in this paper which resulted from the personal bibliographic research in this field are: choose one mathematical model of the magn...

Assisted research of the Magnetorheological damper applied in the robot dynamic behavior controlling...

One of the most important problem to solve in the robots Kinematics and Dynamics is analyze of the joint’s angular and linear accelerations. Because the movements of the robot’s bodies going in the 3D space, the mathematical algorithm must be written in the complex matrix form. The paper show how some cases of the trapezoidal relatives’ velocities...

Multi objectives optimisation in the dynamic behaviour of robots is one of the most difficult problem to be solved. In the paper will be shown the complex matrix form of the positions, velocities, accelerations, active forces and moments in the robot's joints, the mathematical models for the inertial tensors for different form of the robot's body a...

Assisted research in Robotics with LabVIEW proper instrumentation

Multi objectives optimisation in the dynamic behaviour of robots is one of the most difficult problem to be solved. In the paper will be shown the complex matrix form of the active forces and moments in the robot's joints, the mathematical models for the inertial tensors for different form of the robot's body and the proper algorithm to establish t...

Optimization in Robotics is one of the most important problem to be solved because for that will be possible to obtain the best results to control the space trajectory, to control the vibration with final goal to obtain the extreme precision and stability. In the paper are shown the research of some dynamic behavior parameters like global dynamic t...

Optimization in Robotics are applied to find the best solution for increasing the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robotsto minimizethe time of application, finding constructive or functional parameters that ensure reduced energy consumption, reduce the vibration and increase the stability of t...

In controlling the movements of the end-effector and joints of a manipulator in the workspace, an important problem is to identify the joints' best relative displacements to assure extreme precisions for the end-effector movements. Applications where multiple manipulators with a common controller are to be controlled in 3D space are more challengin...

The paper describe one assisted method for modeling and simulation of the parallel robot's structure. Was developed one complex matrix method for the forward and inverse kinematics and for the animation of parallel robot's structure. In this paper are established the matrix relations of calculus for the kinematics model of robot, represented by mul...

The paper contents the LabVIEW library with instruments designed for the theoretical and experimental assisted research in Robotics. The library have more than 350 virtual instrumentation for the assisted kinematics, dynamics for the assisted structural design of some more important types of robots, for the animation of the movements of all robot's...

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Animation in Robotics is one of the most important problem to be solved because with animation will be possible to obtain the best results to control the working space of robots in a space application, to control the Forward and Inverse Kinematics (FK, IK) algorithms, to control the singularity points in applications with one or multiple robots, in...

Optimization in Robotics are applied to find the best solution for increasing the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robotsto minimizethe time of application, finding constructive or functional parameters that ensure reduced energy consumption, reduce the vibration and increase the stability of t...

For the robot’s dynamic behaviour analyse will be necessary to know the positions, velocities, accelerations of all robot’s joints. For that firstly will be necessary to know the positions and secondary the angular and linear velocities in all robot’s joints. The LabVIEW software from National Instruments, USA, assures one easily way to obtain the...

Solving of the robots inverse kinematics problem by obtaining the minimum of the space trajectory errors, is very difficult because there are many variable parameters (internal robots coordinates) and many redundant solutions (difference between the number of degree of freedom and number of scalar equations). In the paper are show the state of art...

One of the most important thing in the controlling of the 3D space movement trajectory is the precision of solving the inverse kinematics problem by identifying the joints' best relative displacement. To achieve this task will need to know the matrix form of the forward and inverse kinematics of the multiple robots application. In this paper will b...

The optimization in Robotics are applied to increase the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robots to minimize the time of work, reduce electricity consumption, reduce the vibration and finally optimize the dynamic behavior. In the work was developed some proper algorithms to obtain, iteratively...

Scientific and professional activity 1. Generalities on modern methods of optimizing 3D precision in robotics 10 2. Optimizing the dynamic behavior in robotics by using the intelligent dampers 53 3. Assisted research of the neural network parameters 62 4. Some methods of the inverse kinematics in robotics 71 5. Proper method for increasing the 3D a...

Animation in Robotics is one of the most important problem to be solved because with animation will be possible to obtain the best results to control the working space of robots in a space application, to control the Forward and Inverse Kinematics (FK, IK) algorithms, to control the singularity points in applications with one or multiple robots, in...

International Journal of Modeling and Optimization (IJMO) Vol. 7, No. 5, October 2017 ISSN: 2010-3697 Chief Editor: Prof. Adrian Olaru

Generalities on modern methods of optimizing 3D precision in robotics 10 2. Optimizing the dynamic behavior in robotics by using the intelligent dampers 53 3. Assisted research of the neural network parameters 62 4. Some methods of the inverse kinematics in robotics 71 5. Proper method for increasing the 3D accuracy by using the Pseudo-Inverse Jaco...

The current situation of increasing European and global competition and the resulting downward pressure on prices and forcing at companies use modern automated and robotic manufacturing systems. After the state of the art analysis evaluation there were certain conclusions gained, showing lack of information from the field of robotics among graduate...

Solving of the robots is one of the base important problem in robotics. Forward and Inverse kinematics are the problem that without them not possible to control the movements of all joints in the robots workspace. Now, many applications need the multi robots with complex space movements that impose one complex control method. Solving the kinematics...

Solving of the robots is one of the base important problem in robotics. Forward and Inverse kinematics are the problem that without them not possible to control the movements of all joints in the robots workspace. Now, many applications need the multi robots with complex space movements that impose one complex control method. Solving the kinematics...

The optimization in mechatronics are applied for the increase the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robots to minimize the time of application, reduce electricity consumption, reduce the vibration and finally optimize the dynamic behavior. In the work was developed one proper algorithm to obtain...

Optimization in Robotics are applied to find the best solution for increasing the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robotsto minimizethe time of application, finding constructive or functional parameters that ensure reduced energy consumption, reduce the vibration and increase the stability of t...

In the assisted researching of the dynamic behavior of industrial robots an important role plays modeling, simulation and optimization with virtual LabVIEWTM instrumentation. Virtual instrumentation easy provides comparison of theoretical and experimental results and the conditions to adjust and validate the mathematical models. The paper shows num...

The optimization in mechatronics are applied for the increase the 3D space precision, reduce the vibrations, choose the optimal applied base point of the robots to minimize the time of application, reduce electricity consumption, reduce the vibration and finally optimize the dynamic behavior. In the work was developed one proper algorithm to obtain...

In the robotized production one of the more important think is to choose the optimal solution to use the robots with respect an objective function which represents, for example, minimum time of motion during a application, or minimum consumption of energy, or maximum precision, or combination of these. Some objective functions could results from th...

In controlling the movements of the end-effector and joints of a manipulator in the workspace, an important problem is to identify the joints' best relative displacements to assure extreme precisions for the end-effector movements. Applications where multiple manipulators with a common controller are to be controlled in 3D space are more challengin...

In many applications we used the multi robots with the central coordination of the 3D space trajectory. In the controlling of the space movement of the end effecter of the all robots from this type of applications and the robot’s joints one of the most important problem is to solve the forward and inverse kinematics, that is different from the sing...

Superfinishing is one of the techniques ensuring a very low value of surface roughness of the most common external assets. The roughness of the obtained surfaces depends on the proper selection of the abrasive material and processing parameters. Yield in superfinish machining with oscillating tool depends largely on the kinematics of the oscillatin...

2 S.C.ROMSYS S.R.L. Bucharest, Romania Abstract. Assisted analyze of the elements and systems with Extenics theory is necessary to choose the optimal value and the optimal minim field called the attraction field of the working point. With this study easily can be determined all influences to the current working point. The Extenics theory was define...

These in the controlling of the space movement of the end effecter and the robot�s joints one of the most important problem is to know with the extreme precision the joints relative displacement. Controlling this displacement must be done only by controlling with accuracy the movement of each motor in the joints by solving the forward and inverse k...

The effectiveness of rehabilitation is closely linked with suitably chosen therapy. The treatment can be performed only by specialized personnel or through the use of automated devices. One of the potential solution of this problem is exoskeleton. It is the kind of suit that allows the user assumed to support or even replace the human motor. The pa...

The most important in the study of the robots is the kinematic and dynamic analyze. Many researchers studied the kinematics or dynamics without simulation and assisted analyze that it is very heavy to understand the behavior and to show some characteristics. The paper shows one assisted method by using the virtual proper LabVIEW instrumentation (VI...

The effectiveness of rehabilitation is closely linked with suitably chosen therapy. The treatment can be performed only by specialized personnel or through the use of automated devices. One of the potential solution of this problem is exoskeleton. It is the kind of suit that allows the user assumed to support or even replace the human motor. The pa...

In controlling arobot's end-effector and joints movement space, one of the most important problems is to know the joints' relative displacements with extreme precision. The control of angular displacements in joints must be done by accurately commanding the movement of each motor in the joints after applying the forward and inverse kinematics probl...

Inverse kinematics model of the industrial robot is used in the control of the end-effecter trajectory. The solution of the inverse kinematics problem is very difficult to find, when the degree of freedom increase and in many cases this is impossible. In these cases is used the numerical approximation or other method with diffuse logic. The paper s...

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The paper presents compare methods of approximation results of studies using regression analysis and neural networks. As a research facility used theoretical values of surface roughness based on theoretical values of surface roughness calculated as kinematics-geometric projection of the cutting edge on finish surface. Pointed to the limitations of...

The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper...

One of the most precise method solving the inverse kinematics problem in the redundant cases of the robots is the coupled method. The proposed method use the Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) coupled with the proper Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL). One precis...

Usual the location of robot base with respect to positions (configurations) of an application that the robot must reach is choose in such a way that the application points to be into working space of robot by avoiding the obstacles. Or the application is build from the very first beginning in such a way that all application points to be in the work...

Solving of the robots inverse kinematics problem by obtaining the minimum of the space trajectory errors, is very difficult because there are many variable parameters (internal robots coordinates) and many redundant solutions (difference between the number of degree of freedom and number of scalar equations). The paper show the state of art in this...

This paper explains and demonstrates how can designed one multi robots application with many tasks and some different type of modular collaborative robots. Was described the general mathematical model for the direct and inverse kinematics to controlling the robots and how can solve the inverse kinematics of multiple tasks by using the priority of t...

The paper presents a model for the construction of an articulated manipulator with 3 degrees of freedom (DOF). It is made from lightweight metal. To drive was used the stepper motors. Manipulator control system was made using a ATMEGA16 microcontroller. The control software was elaborated in BASCOM. Manipulator were tested using a manually control...

Finding the better solution of the inverse kinematics problem, with the minimum of the trajectory errors, is very difficult because there are many variable parameters and many redundant solutions. The presented paper show the assisted solving of the inverse kinematics with the goal to minimize the final end-effector trajectory errors, by optimizing...

Solving of the robots inverse kinematics problem by obtaining the minimum of the space trajectory errors, is very difficult because there are many variable parameters (internal robots coordinates) and many redundant solutions (difference between the number of degree of freedom and number of scalar equations). The paper show the state of art in this...

The paper shows an adaptive system for drilling. To drill diameter measure video optical method with USB camera was used. Rotation of drill tool was controlled using an inverter. Adaptive system was controlled by PC using special software made in C++.

Vibrations due to mechanical defects,are transmitted within the entire structure of the equipment, are amplified during its dynamical operation, having a direct impact on the accuracy of the processed surfaces. Spectral components need vibration analysis is required. In order to determine the operation state and the vibration level caused by the me...

In the optimisation stage of the systems one of the more important step is the optimisation of the dynamic behavior of all elements of the system, with priority the elements what have the slow frequency, like motors. The paper try to show how will be possible to optimise very easily the dynamic behavior of elements and systems, using LabVIEW propre...

Vibration sources and types of defects that can be analyzed for equipment or working machine are numerous and depend on the type, mode and operating conditions, mechanical structure, such shareholders. In this paper, to determine the operating status and level of vibration (machinery due to mechanical faults) , the method uses FFT (Fast Fourier Tra...

Assisted analyze of the Extenics dependent functions theory is necessary to study easily all influences of the current point in to the space of nR dimensions. The Extenics theory was defined by prof. Cai Wen in 1983 and his collaborators in the mathematical, philosophy and logical models [1-. This paper inspired from the Extenics theory try to tran...

In the optimisation stage of the systems one of the more important step is the optimisation of the dynamic behavior of all elements of the system, with priority the elements what have the slow frequency, like motors. The paper try to show how will be possible to optimise very easily the dynamic behavior of elements and systems, using LabVIEW propre...

In the industrial robots research one of the most important problem is to know cinematic and dynamic behavior to use them in the optimization process of the 3D space trajectory. Now, in the world, the results of the dynamic behavior research where obtained by research without one complex matrix model and without LabVIEW virtual instrumentation. In...

The paper presents results of analysis of the dynamic behavior of rotating mechanisms and couplings of the main structure of a kinematic chain sharpening machine precision Cugir normal UAS 200. The ultimate goal is to establish diagnostic and maintenance program the car UAS 200. Diagnosis by measurement of vibration and noise, allow a company to mo...

Research team of Prof. Shigeki TOYAMA has developed at Tokyo University of A&T a new type of ultrasonic motor. Its spherical shape confer 2 or 3 degree of freedom in a single joint which makes it suitable for mechatronics field. In order to control the Spherical Ultrasonic Motor a new method by using Hall sensors and a residual magnetic field induc...