Roman MykhailyshynUniversity of Texas at Austin | UT · Department of Mechanical Engineering
Roman Mykhailyshyn
PhD
Since 2021-2022 Fulbright Visiting Scholar at the Department of Robotics Engineering, Worcester Polytechnic Institute US
About
41
Publications
6,561
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277
Citations
Citations since 2017
Introduction
Dr. Mykhailyshyn is an author of more than 30 articles, published in leading scholarly journals in robotics, computing, engineering, and manufacturing. His research focuses on robotics, motion planning and optimization, modeling of physical systems, additive manufacturing, minimization of energy costs for transport operations by industrial robots, and design of gripping devices for industrial robots.
Additional affiliations
September 2021 - May 2022
July 2019 - July 2020
November 2017 - June 2019
Education
September 2013 - June 2014
Publications
Publications (41)
This article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is the removal of redundant waypoints. The first modif...
The application of additive technologies, namely, fused deposition modeling, is a new reality for prototyping gripping devices of industrial robots. However, during 3D printing of holes and nozzle elements, difficulties arise with reducing their diameter. Therefore, this article conducts a comprehensive study of the Bernoulli gripping device protot...
The paper deals with the kinematic analysis of the robot model. The matrix method of kinematic analysis is used. The robot mechanism is an open kinematic chain. The position, velocity and acceleration vector of the end point of the robot arm is determined in the Matlab program. Computer simulation is also performed in the MSC Adams program.
This article deals with the modernization of an existing loading system for the analysis of elastic–plastic properties of sheet metals in plane stress. The identification of the beginning of plastic deformation of sheet metal in plane strain is important in the cold pressing of sheet metal and in the assessment of the load capacity of thin-walled s...
Based on the literature review, the article presents the analysis of approaches to classifying Gripping Devices (GDs) of Industrial Robots (IRs) and substantiates the need for systematising Pneumatic GDs (PGDs). The authors propose a classification of well-known PGDs, in which the holding force of the Manipulated Object (MO) is formed under the act...
The assessment of the viscous medium flow’s transformations under the influence of a component of the technological process and equipment during the redistribution of the formed local injection zones constantly requires the search for areas of improvement in both the process and the machine with rollers. Forecasting of structural and technological...
![Figure 1. Design of Festo Bernoulli gripping device [43]: the...](publication/361994556/figure/fig1/AS:1182042486259713@1658832298242/Design-of-Festo-Bernoulli-gripping-device-43-the-ring-shaped-spacers-1-are-made-from_Q320.jpg)
There is a wide variety of gripping devices with various parameters at the present stage of development of robotics. However, the existing literature about the power characteristics of pneumatic gripping devices does not provide any analysis of the different types of input parameters other than supply pressure and flow characteristics, whereas the...
Gripping and manipulating non-rigid and porous objects is an important challenge for manufacturing. Now there are many problems in handling textile materials from a stack or oriented in space. Therefore, the paper presents the design of an improved Bernoulli gripping device with an anti-vibration insert. The inventive gripper structure allows gripp...
The article provides a step-by-step justification of the parameters of the friction elements of the Bernoulli gripping devices with a cylindrical nozzle. The effect of friction element parameters on the lifting force of Bernoulli grippers with the classic design of the active surface and with the rounded-off nozzle and flat and toroidal surface is...
Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presente...
Ensuring the necessary accuracy of positioning the objects of manipulation of Bernoulli's grippers in robotic cells is an urgent task and can be achieved by choosing rational parameters of the gripping process. The article conducts experimental studies of the process of handling by Bernoulli grippers of objects of manipulation at different operatin...
The future power system must provide electricity that is reliable and affordable. To meet this goal, both the electricity grid and the existing control system must become smarter. In this paper, some of the major issues and challenges of smart grid’s development are discussed, and ongoing and future trends are presented with the aim to provide a re...
The advantages of application in the transport and loading systems of gripping devices with the integrated functions of control of parameters of objects of transportation were substantiated. Modeling of Bernoulli gripping devices with a possibility of dimensional check and weight objects of manipulation is offered. Modeling of dynamics of course of...
The advantages of application on production of radial flow gripping devices of industrial robots are justified. The mathematical model for numerical modeling of dynamics of air flow in nozzle of radial flow gripping devices and in radial interval between its active surface and surface of object of manipulation is presented. For this purpose it is u...
Functional application advantages of the contactless Bernoulli grippers with an annular nozzle at robotization of handling operations are presented in the current paper. The method of calculation of power characteristics of Bernoulli grippers is presented as well. Computational modeling of dynamics of air flow in the camera, an annular nozzle of Be...
Electric energy measurement errors depend on the design and algorithms used in electricity meters, as well as on the auxiliary and embedded sensors’ accuracy and bandwidth (or more precisely, maximum measurable frequency). Poor power quality may affect the electric energy meters accuracy, which will lead to the improper power accounting. In this ar...
![Fig. 12. Yaw transformation q Ψ [18]](profile/Frantisek-Duchon/publication/331977606/figure/fig5/AS:743511330660355@1554278323993/Yaw-transformation-q-PS-18_Q320.jpg)
Small quadrotors, or so-called nanoquads, are widely available, typically have small take-off mass (between 12–50 g), and a flight time of about 5–10 minutes. The aim of this article is the proposal of control and development of the basic infrastructure for controlling a swarm nanoquads from an external computer and obtaining measurements from an o...
The contactless transport of a flat object with a displaced center of mass by means of the Bernoulli gripper is considered. When shifting the center of mass of the object of manipulation relative to the axis of the Bernoulli gripping device, there is a deviation from the parallelism between their active surfaces in the static position. For this cas...
The contactless transport of a flat object with a displaced center of mass by means of the Bernoulli gripper is considered. When shifting the center of mass of the object of manipulation relative to the axis of the Bernoulli gripping device, there is a deviation from the parallelism between their active surfaces in the static position. For this cas...
The objective is to define optimal orientation of gripping device with minimal gripper energy consumption, having preset parameters of manipulator, Bernoulli device, object of manipulation and its path. The division of the arc into three sections—speed-up, steady motion, slowing-down—is presented. The optimal orientation is defined in any point of...
The article deals with the topical issue of reducing energy consumption for transportation of industrial objects. The energy efficiency of the process of objects manipulation with the use of the orientation optimization method while gripping with the help of different methods has been studied. The analysis of the influence of the constituent parts...
The dynamics of the air flow between interacting surfaces of Bernoulli–vacuum gripping device and object of manipulation is analysed. The methods of increasing lifting capacity in given devices are presented. The equation for defining pressure distribution in between interacting surfaces of gripping device and object of manipulation and equations f...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to t...
In order to reduce energy consumption while performing transport operations with the help of
industrial robots, the theoretical and practical experiments on the influence of movement parameters and the
object of manipulation on the optimal orientation of the bernoulli gripping device have been carried out. With its
constructive simplicity bernoulli...
The article presents the mathematical model for the calculation of the optimal orientation of the gripper device which provides minimal energy consumption for holding the object in the process of manipulation. The case of the transportation of the manipulating object with off-centered masses along the rectilinear trajectory taking into account fron...
Jedným z cieľov národného centra robotiky je spájať odborníkov v robotike v rám i riešenia inovačných vedeckých projektov. Tento cieľ sa darí napĺňať nielen s domácimi expertmi, ale v súčasnosti sú v rámci platformy NCR rozvíjané aj zahraničné spolupráce.
There was appointed the task to define the optimal orientation of bernoulli gripping device aiming to minimal consumption of compressed air under given parameters of bernoulli gripping device, manipulation object and trajectory. The author suggested splitting of rectilinear trajectory into 5 sections. These sections secure permanent transportation...
Projects
Projects (2)
Dear Colleagues,
https://www.mdpi.com/journal/robotics/special_issues/1G490RSDI8
Robotic systems are now present in all spheres of human life. Robots have shown great advantages for, and are used widely in, many controlled, simple, and repetitive applications such as grasping, pick-and-place operations, and manipulation tasks, including teleoperated systems. Applications for these types of systems have spanned medical, industrial, manufacturing, and autonomous exploration fields. However, the designed approaches for grasping and motion control in these diverse areas of robotics can vary greatly, which is attributed to that fact that specific robotic systems are typically designed for a very specific type of task. Although many universal grippers and control strategies have been developed for robotic systems, there remains, nonetheless, many applications for which highly specialized grippers or control techniques must be used. In addition, we are now beginning to see that in designing highly specialized grippers, novel control strategies can be enabled and vice versa. Intentionally co-designing both the grasping end-effector as well as the motion control strategy may enable new classes of highly specialized, yet also universal, robotic manipulation technologies. Highlighting the current research focused on issues of advanced robotic grasping and motion control solutions is important to foster further interdisciplinary connections between researchers for vast application domains, as well as sub-specialties in robot design and control.
This Special Issue invites the submission of papers that present new methods, approaches, designs, concepts, and software tools for advanced robotic grasping and motion control solutions. Important attention will be paid to solving grasping problems, modeling grippers, and robot motion control in various software environments, as well as improving the design of novel robotic solutions. Potential topics include, but are not limited to: design and prototyping grippers; motion planning and control; modeling/simulation of robotic applications; robotic grasping and dexterous manipulation; human–robot interaction; computation of robotic systems; and control systems in experiments.
Dr. Roman Mykhailyshyn
Dr. Ann Majewicz Fey
Guest Editors
Bring conditions to ensure continuous transportation of the manipulation object in view of frontal resistance forces and inertial forces for the case when its center of mass offset from the axis of symmetry of the gripping device and lies out of the plane of contact of gripping device and object manipulation. To find the optimal orientation gripping device for the straight-line trajectory from the condition of least energy consumption for the contents of the manipulation object.
