INTERNATIONAL CONFERENCE AUTOMATICS'2021

3 - 7 September 2021

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Session Bioelectrical engineering

Application of volume of fluid method for the droplet modelling in microfluidic channels

E. Grigorov
TU Sofia

We used the volume-of-fluid (VOF) method to investigate the droplet formation regime and its transition in a square microfluidic flow-focusing device. Droplet shape, size, and its formation frequency were examined in a three-dimensional numerical simulation. The results were evaluated through examination of the regimes of droplet formation and the formation of droplet of given size as a function of different parameters. Comparison of the simulation results with preexisting experimental data from the literature showed good agreement, validating the VOF method.
Session Bioelectrical engineering

Bioengineering - current applications and future perspectives

B. Kirov1, S. Peykov2
1 TU-Sofia /FA/ANP
2 Sofia university "St. Kliment Ohridski"

The field of Bioengineering has provoked significant interest both as a theoretical approach towards better understanding of living systems and as compilation of applied methods for improved control over such systems. In the latter aspect significant success has been achieved in decoding biological information formatted as genes and genomes, modeling of biological processes such as metabolic conversion of matter and energy, design and engineering of novel biological parts like synthetic promoters and mutator devices and, finally, development of novel types of bioprocess systems with improved control capability like microfluidics devices. In this work we present the achievements of BioInfoTech Lab in all the above-mentioned applied areas and we elaborate on the future possibilities which the field of Bioengineering provides.
Session Electrical drives and machine automation

Study of Spindle Drives for Machining Centers with Computer Numerical Control

M. Zhilevski, M. Mikhov
Technical University of Sofia

This paper presents the features of spindle drives for machining centers with computer numerical control. Based on formulated requirements, taking into account the possible mechanical operations main drives with DC and AC motors are selected. Mathematical modeling and computer simulation offer effective ways to study the drive systems in different dynamic and static modes of operation, especially when it is not possible or inconvenient to perform such tests in laboratory or industrial conditions. Using the MATLAB/SIMULINK software package, two types of DC drives are studied, namely: a dual-zone electric drive without adaptation and with adaptive control one. An AC drive is implemented which satisfies the necessary requirements. Some experimental results from studies of spindle drives with DC and AC motors are shown and discussed. Practical implementations of spindle drives in different mechanical operations are illustrated. The research held and the results obtained can be used in th
Session Electrical drives and machine automation

Approach for control of a three phase AC-DC power converter without grounded conductor of capacitators

T. Jonkov, K. Hristov
TU-Sofia

AC/DC converters comprise of a transformer following the input filtering, which then passes onto a rectifier to produce DC. Many AC/DC converters use multi-stage conversion topologies due to advantages of smaller transformer requirements and lower noise referred back to the mains power supply. Converters steer an alternating current, as its voltage also alternates, into reactive impedance elements, such as inductors and capacitors, where it is stored and integrated. This process separates the power associated with the positive and negative potentials. Filters are used to smooth out the energy stored, resulting in creation of a DC source for other circuits.
Session Electrical drives and machine automation

Digital Twins as part of Building Automation Systems

D. Mankov1, D. Tsankov2
1 Faculty of Automatics
2 Department of Electrical Motion Automation Systems

In the context of industry 4.0 and the growing demand of digitization, this paper gives a representative view of the modern trends and correlations between the building automation systems and the digital twins, mainly keeping focus on the predictive maintenance and future deision making proceses. Different approaches and methods of clasification are included as main part of the defining proces of the Digital Twins technology, mainly in the area of Smart Buildings and occupants.
Session Electrical drives and machine automation

Software to Research the Static Mechanical Characteristic of DC Motors

v. hristov1, T. Jonkov2, R. Bashev2
1 Technical University of Sofia
2 TU-Sofia

The present work aims to create a modern software product that can run on modern operating systems on which to draw the static mechanical characteristics of direct current motors. This software product was developed thanks to the dynamically developing object-oriented programming language - C #, and the Windows Forms platform of Microsoft Corporation, which allows the construction of applications that run on Windows-based operating systems. Microsoft Visual Studio 2019, a product of the Microsoft Corporation range, was used as the code development environment. The creation of such a product will allow to study the characteristics of DC motors in different control modes, which will contribute to the improvement of software products in the department of electric drive, and from there students will have the opportunity to work and learn with it.
Session Industrial engineering and automation

Fractional control of а Model of the Current-Decoupled AC Motor

B. Grasiani1, N. Nikolova2
1 TU Sofia
2 TU-Sofia

This paper proposes an approach to oppose the parameters disturbances in control system. This control principle is applied in the present work to the Current-Decoupled AC Motor of a technological module.
Session Industrial engineering and automation

DRC-robust Systems

E. Nikolov
TU-Sofia

In this work are proposed, researched and analyzed structures, methods and algorithms for designing of fractional DRC-, DRC.Clegg-, DRC.Clegg.Inverse- robust systems. For their development, inverse solutions of the synthesis problem were used using rational fractional operators from the theory of generalized fractional calculus. Their potential advantages are proven. Results of perturbation analysis for numerical example are presented.
Session Industrial engineering and automation

Investigation of best practices in building of smart homes control systems

A. Georgieva
Technical University of Sofia

As energy used in a home is increasing and renewable energy systems are deployed, so home energy management system (HEMS) requires both energy consumption and generation simultaneously to reduce the energy cost. One of the major attributes of the smart grid is to integrate renewable and storage energy resources at the consumption premises. This article presents the methods used in smart home control systems in the integration of renewable energy sources (RES), battery storage, and other electricity sources. The work also investigates the methods for optimization of the house’s consumption in case of integration of heat and cold sources including renewable heat generation (RES). Smart homes save energy and heat, which is why they are eco-friendly and can even be cheaper to live in. In near future the smart houses will present a significant part of the participants at the energy markets, so the optimization methods investigation having economical parameters is also in the scope of this
Session Industrial engineering and automation

Operation with a Smart Manufacturing System

A. Taneva1, K. Kutryanski2, M. Petrov2
1 Technical University Sofia, Branch Plovdiv
2 Technical Univeristy Sofia, Branch Plovdiv

The aim of this paper is to present basic hardware components of a flexible assembly system (FAS) and discuss it characteristics, classify the systems and describe a real application. The FAS-200 system offers professional training according to the industrial reality, simulating a real assembly process and including different technologies from Industry 4.0. This system consists of an automated flexible assembly cell with five different stages: assembly, handling, quality inspection, transfer and warehouse. The FAS-200 system is the ideal answer to research and training in industrial automation. It is fully modular and flexible equipment and in keeping with industrial reality. The technologies included in its different assembly modules, as well as the assembly process with several variants, allow the user to develop the professional skills required by modern automated industry.
Session Information measurement technology

Enzyme Biosensor for Determination of Glucose in Honey Bee

A. Pandelova1, D. Dimitrov2, N. Stoyanov2
1 Technical University
2 TU-Sofia, Electrical Measurememt Systems Department, FA

An enzyme biosensor for determination of glucose in honey was developed by using enzyme glucose oxidase. The measuring range of the biosensor and its response are determined. A measurement with real samples was made
Session Information measurement technology

Development of a system for measurement of carbon monoxide and smoke detection

A. Pandelova1, T. Georgiev2, N. Stoyanov2, B. Dzhudzhev2
1 Technical University
2 TU-Sofia, Electrical Measurememt Systems Department, FA

The aim of the report is to develop a system for measuring the concentration of carbon monoxide and smoke. An electrochemical sensor MQ-2 and an Arduino platform were used for the development of the system. A series of experiments were performed to test the system.
Session Information measurement technology

Analysis of Load Profiles with Dynamic Loads, External Consumption and Added PV Generation

G. Milushev
рецензент

The Examination of Load Profiles is powerful method for specifying problematic loads in installations. The examiner experience plays a significant role in reaching the proper conclusions and deciding the next actions to mitigate negative effects, disconnection, replacing or removal of the problematic loads. Usually, an examiner gains experience over time as they encounter various cases throughout their career. A way expedite the process of obtaining better experience is by sharing and studying complex cases documented by other experts from the engineering community. The present paper aims to share an experience of analysis of load profiles of a client with very dynamic own loads, additional external consumption out of his own premises, and installed PV generation for internal needs only.
Session Robotics systems

Implementation of barcodes data transfer to MELFA Robots

B. Kostov
TU-Sofia

The current paper presents the implementation of barcode reader and human machine interface for loading data from printed on paper barcodes to MELFA Robot . The aim of the present development is to increase the efficiency of automated production. After the implementation of the functionality the productivity of the automated system has increased with 28%, because of the shortage of the time for inputting the data via barcodes, barcode reader and human machine interface.
Session Robotics systems

Machine vision algorithm for determining the orientation of nearly flip-invariant parts in vibratory feeding applications – low-cost implementation and experimental validation

A. Marinchev1, S. Enev2
1 Technical University of Sofia
2 TU of Sofia, FA, ANP

The paper presents a machine vision algorithm for determining the orientation of nearly flip-invariant parts in vibratory feeding applications. The algorithm is designed and implemented within a low-cost hardware configuration. Preliminary experimental results show excellent performance with perfect orientation classification in almost “real-world” operating conditions.
Session Robotics systems

Remote Wi-Fi Control of a Holonomic Mobile Robot

D. Slavov1, V. Hristov2
1 Technical University of Sofia
2 Technical University of Sofia, Bulgaria

This paper describes a mobile robotic system remotely controlled by a smartphone using Android app. The mobile robot platform has omnidirectional Mecanum wheels which enables movement in any direction and increases its agility. Data communication is accomplished using Wi-Fi connection between the smartphone and the robot. Amica NodeMCU integrating ESP8266 is used to set up the wireless server, and Arduino Mega 2560 to receive user's commands and apply motion control. Ten locomotion types are successfully performed, both rectilinear and rotational. Safety anti-collision function is implemented using ultrasonic distance sensor. It reliably stops the robot just before reaching an obstacle even at highest speed. Smoother motor rotation is achieved using different speed reduction coefficients, to overcome the unequal losses in the motors. The realized communication procedure allows fast transfer of larger data which can help improving the robot control and functionality.
Session Control systems engineering

SIL Simulation of Model-Free Method for Improving of Time Varying Dynamic Measurements

T. Slavov1, M. Baraharska1, I. Markovski2
1 TU-Sofia
2 free university of Bruxel

In this paper, a hil simulation of model-free method for improving of time varying dynamic measurements is presented. As an example, the dynamic mass-measurement process is examined. The method is based on the on-line estimation of time varying parameters of polynomial model by recursive least square method with constant trace of covariance matrix. The model order selection is performed by Akaike’s information criteria. The performance of method with respect to the variance of measurement noise is empirically tested by simulation experiments. For the aim of comparison, the Kalman filter for estimation of unknown measurement is designed. The simulation results show the advantage of model-free method.
Session Control systems engineering

Comparison of multivariable control algorithms for load-sensing electro-hydraulic servo system

T. Slavov, A. Mitov, J. Kralev, I. Angelov
TU-Sofia

Comparison of two embedded multivariable control algorithms based on advanced control techniques - LQG and H∞ is done. The controllers are designed to control a load-sensing electro-hydraulic system for driving the power steering of modern generation mobile machinery. The authors have developed the two controllers separately in previous works, where their theoretical and experimental research was performed. The purpose of the present article is to compare the two controllers in terms of physical experiment and numerical simulation, and on the basis of their comparison to be analyzed their workability and control performance. The comparison is made on the basis of several indices defined the control system performance in both the time domain and the frequency domain. Simulation and real time experiments show the advantages of H-infinity controller.
Session Control systems engineering

Mobile Spy Communications

V. Galabov1, V. Karlova Sergieva1, A. Marinchev1, T. Pavlov1, J. Ostreff2
1 TU-Sofia; FA; ANP
2 Vivacom Ltd. Bulgaria

Mobile Spy Communication The paper discusses and analyzes some possibilities for unregulated access to the classic mobile communications networks before the 5G generation. It will be shown by relatively trivial and free technical means and software can be realized: -algorithms for identification of participants in mobile communications, -View route (Google Map using) NMEA Some good practices to reduce the negative effects of these potential threats to personal data will be presented, such as: - GUI visualization and presentation of information for participants in mobile communications -prevention of unauthorized access
Session Control systems engineering

Modeling and simulation of technical support services using Arena

A. Yonchev
Assoc. prof. PhD

This paper considers the queuing processes modeling and validation simulated with the software package Arena. In the beginning we make an overview of the specialized Poisson queues models and their steady-state measures of performance. The applications of the program environment Arena in queuing process modelling and simulation will be discussed. The main goal of this paper is to create a model for simulation of entities entering the technical organization and their optimal distribution to proper team, which has to serve them. Arena software will be used to create a model of the entity distribution to the different teams trying to increase the service performance. The design structure will be formulated and the used software tools, design blocks and diagrams will be presented. Then, the performed experiments and the obtained results will be discussed.
Session Control systems engineering

Lyophilization Plant Control System

G. Ruzhekov
TU-Sofia

Lyophilization, or Freeze-drying is a low temperature dehydration process [1][2] that involves freezing the product, very low pressure by which the ice is removed by sublimation. The plant is designed for the production of vaccines and immunostimulants. The control system is realized with a Siemens controller, operator panel and SCADA system.
Session Control systems engineering

Design and implementation of a regional PACS

I. Ivanov1, V. Gueorguiev2, D. Georguieva3, B. Ivanov2
1 TUU Sofia
2 TU Sofia
3 NBU

For a period of 10-15 years (2005 - 2018), the number of PACS (Picture Archiving and Communication System) systems offered on the market has increased more than 10 times. Despite this growth, some of the main disadvantages of this class of systems persist: the systems are complex and expensive to acquire, replace, maintain, or repair and to connect them in a regional map. This paper aims to show an approach that allows us to build a regional PACS connecting several hospital and maintaining medical information exchange
Session Control systems engineering

Program Generation Approach for HIL Simulators Design

I. Ivanov1, V. Gueorguiev2, D. Georguieva3, E. Markov2
1 TUU Sofia
2 TU Sofia
3 NBU

This paper presents ideas for design, implementation and results of creation of computerised semi-natural simulators of the different heterogeneous objects. The presented approach extends well known solutions for object simulators creation using the program generation technique. Simultaneous co-design of the control system and the simulator is explained as well. Both stand-alone and distributed objects and control systems are included in the presented work. Examples of different implementation of the presented approach are presented
Session Control systems engineering

d-r

A. Markovski
d-r

Two approaches for synthesizing a robust regulator for a laboratory model of the servo system manufactured by Inteco are compared: mu synthesis using dksyn routine and H∞ design with regional pole placement constraints using h2hinfsyn, both from Robust Control Toolbox for MATLAB. Some of the inaccurate parameters are introduced as sources of structured uncertainty. Additionally, unstructured uncertainty has been introduced due to the presence of nonlinearity in the "gap" type object. Simulation experiments were performed with the model. The operability of the created regulator was tested on the experimental set-up.
Session Control systems engineering

Hardware versus analytical redundancy for fault detection. Application for a servo system.

A. Ichtev
TU-Sofia

In this paper two approaches for fault diagnosis are considered. The first investigated approach uses parity relations for fault detection and isolation. The second one is based only on the models. It relies only on an analytical redundancy. The problem is stated in its general formulation as well as for implementation – application to a servo system. From the system’s model, structured residuals for fault detection and fault isolation are obtained. The main emphasis is placed on the sensor fault. However, actuator fault can be considered as well. The results are compared to the second approach based on models. The advantages and disadvantages of the two approaches are discussed. Experiments with laboratory setup – servo system are carried out. The obtained results are discussed as well.
Session Theoretical electrical engineering

A Neural Network with HfO2 Memristors

S. Kirilov, I. Zaykov
Technical University of Sofia

In the last years, the neural networks are under intensive analyses. One of the main ideas of the scientists is to partially replace some of their CMOS-based elements by memristors. Memristors are preferred for application due to their memory effect, low power consumption and nano-size dimensions. The purpose of this paper is to propose an analysis of a feed-forward neural network with hafnium oxide memristor-based synapses for XOR logic function emulation. The considered network uses synaptic devices with a memristor, resistor and a differential amplifier. The proposed synaptic scheme can ensure positive, zero and negative synaptic weights. For the neural network analysis several classical and modified HfO2 memristor models are used. The network is successfully tested in LTSPICE. The occurrence of convergence problems is reduced by replacing the standard step function in the models by a smooth analogue. The capability of the modified models for operation in complex circuits is proven.
Session Theoretical electrical engineering

Application of Neural networks for time series electrical consumption forecasts

G. Tsenov, V. T Babamova, O. Andreev
TU-Sofia

With introduction of IoT there is possible to use nowadays cheap measurement devices that can store information form actuators and store it in databases locally or online. With the recent opening of the electrical distribution markets it will be possible to buy electrical energy on varying prices and from various suppliers. With big time intervals of data collection for the plant consumption and of the market price fluctuations done with IoT devices for a relatevley small time intervals on the recorded samples a user electrical power profile can be created by using neural networks as time series forecasts predictor. With such plant/user power profile the predicted production can be shifted towards the intervals with cheaper electricity prices leading to reduced production costs. This paper presents the results for creating an energy consumption profile with electrical loads forecasts, when they are presented as time series and by using the MATLAB’s Neural Networks Toolbox.
 


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