18th IFAC Conference on Technology, Culture and International

18th IFAC
18th IFAC Conference on Technology, Culture and International
Stability Conference on Technology, Culture and International
Stability
18th
Baku,IFAC
Stability Conference Sept
Azerbaidschan, on Technology, Culture and
Available
13-15, 2018 International
online at www.sciencedirect.com
Baku,
18th Azerbaidschan,
Baku,IFAC
Stability Conference Sept
Azerbaidschan, 13-15,
13-15, 2018
on Technology,
Sept 2018Culture and International
Stability
Baku, Azerbaidschan, Sept 13-15, 2018
Baku, Azerbaidschan, Sept 13-15, 2018 ScienceDirect
IFAC PapersOnLine 51-30 (2018) 598–603
Original
Original Concepts and Achievements for Designing of Smart Mechatronics and
Original Concepts
Concepts and
and Achievements
Achievements for for Designing
Designing of of Smart
Smart Mechatronics
Mechatronics and
and
Cyber-MixMechatronics
Original Concepts and
Cyber-MixMechatronics Systems
Achievements
Systems Used
for
Used in Laboratories
Designing
in of
Laboratories and
Smart
and in the Industry
Mechatronics
in the and
Industry
Cyber-MixMechatronics
Original Systems Used
Concepts and Achievements in Laboratories
for Designing andMechatronics
of Smart in the Industry
and
Cyber-MixMechatronics Systems Used in Laboratories and in the Industry
Cyber-MixMechatronics
Prof.
Prof. Univ. Dr.
Prof. Univ.
Univ. Dr.
Systems
Eng.
Dr. Eng.
EurEng.Used
Eng. EurEng.
Dr. h.c.
EurEng. Dr.
Dr. h.c.
in Laboratories
Gheorghe
h.c. Gheorghe
and in the Industry
GHEORGHE*
Gheorghe GHEORGHE*
GHEORGHE*
Prof. Univ. Dr. Eng. EurEng. Dr. h.c. Gheorghe GHEORGHE*
*National
*National Prof. Univ.
Institute
Institute of
of Dr. Eng.
Research EurEng.
and Dr. h.c.
Development in Gheorghe
Mechatronics GHEORGHE*
and Measurement Technique,
*National Institute
Bucharest,of Research
Research
Romania
and
and
(Tel:
Development
Development
+40212523068;
in
in Mechatronics
Mechatronics
e-mail:
and
and Measurement
Measurement Technique,
[email protected]). Technique,
Bucharest,
*National Institute
Bucharest, Romania
of Research
Romania and (Tel: +40212523068;
(Tel:Development
+40212523068; e-mail:
in Mechatronics [email protected]).
e-mail: [email protected]). and Measurement Technique,
*National Institute
Bucharest,of Research
Romania and (Tel:Development
+40212523068; in Mechatronics
e-mail: [email protected]). and Measurement Technique,
Bucharest, Romania (Tel: +40212523068; e-mail: [email protected]).
Abstract: This
Abstract:
Abstract: This scientific
This scientific paper
scientific paper shows
paper shows the
shows the structural
the structural and
structural and modular
and modular architectures
modular architectures for
architectures for the
for the design
the design of
design of smart
of smart
smart
mechatronic
mechatronic
Abstract: and
and
This cyber-mixmechatronics
cyber-mixmechatronics
scientific paper shows systems
systems
the used
used
structural in
in
and laboratories
laboratories
modular and
and in
in
architecturesthe
the industry.
industry.
for the design of smart
mechatronic and cyber-mixmechatronics systems used in laboratories and in the industry.
Abstract:
From the
mechatronic This
point
and scientific
of view paper
of shows the
immediate
cyber-mixmechatronics structural
industrial
systems used and modular architectures
applications,
in laboratories these
and new
in the for the design
mechatronic
industry. and of cyber-
smart
From
From the point
the
mechatronic point
and of view
of view of of immediate
immediatesystems
cyber-mixmechatronics industrial
industrial
used applications,
applications,
in laboratories these
these
and new
new
in the mechatronic
mechatronic
industry. and cyber-
and cyber-
mixmechronic
the pointconcepts
mixmechronic
From of viewand
concepts and achievements
achievements
of immediate are
are part
industrial of
of the
the "Industry
partapplications, "Industry
these new 4.0
4.0 digitalization",
mechatronic andfor
digitalization", their
forcyber-
their
mixmechronic
integration into concepts
industrial and achievements
enterprises, as are
follows: part
for of the
intelligent "Industry
measurement 4.0 digitalization",
and control for
processes; their
for
From the
integration
mixmechronic point
into of view
industrial
concepts of
and immediate
enterprises, as
achievements industrial
follows:
are for applications,
partintelligent
of the these
measurement
"Industry new
4.0 mechatronic
and control
digitalization", and
processes;
forcyber-
for
their
integration into
technological andindustrial
laboratoryenterprises,
processes; asfor
follows: for intelligent
significant contributions measurement
on "industrialanddigitization";
control processes;
etc. for
mixmechronic
technological
integration and
into concepts
laboratory
industrial and achievements
processes;asfor
enterprises, for are
significant
follows: part of the
contributions
for intelligent "Industry 4.0
on "industrial
"industrial
measurement digitalization",
digitization";
anddigitization"; for their
etc. for
control processes;
technological and laboratory processes; significant contributions on etc.
integration
Compared into
to industrial enterprises, asfor
follows: for intelligent measurement and control processes;
etc. foraa
technological
Compared
Compared
technological to other
to
and
other
other
international
laboratory
international
andproperty
laboratory
scientific
processes;
international scientific
scientific
processes;
papers,
significant
papers,
papers,
forplus
significant
the
the
new
new presented
the contributions
new presentedon
presented
contributions
concepts
"industrial
concepts
onconcepts
"industrial
and
and
solutions
solutions constitute
anddigitization";
solutions
digitization"; constitute
constitute
etc. a
new
new
Comparedintellectual
intellectual
to other property of
international the
of the author,
the scientific
author, plusplus a significant
a significant
papers, significant technical
technical concepts
the new presented and technological
and technological
technological
and solutions value,
value, but
but also
constitute alsoa
new intellectual
economic, when property
they are of author, a technical and value, but also
Compared
economic,
new to other
when
intellectual
economic, when they are integrated
international
property
they are integrated
integrated
into
into the
of the scientific
author,
into the
the
intelligent
papers,
intelligent
plus
intelligent
manufacturing
the new technical 4.0.
presented
manufacturing
a significant
manufacturing
concepts
4.0. and solutions
and technological
4.0.
constitute
value, but alsoa
new intellectual property of the author, plus a significant technical
© 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
economic, when they are integrated into the intelligent manufacturing and
4.0. technological value, but also
economic, when they are integrated into the intelligent manufacturing 4.0.
Keywords: Structural
Structural and
Keywords: Structural and Modular
and Modular Architecture,
Modular Architecture,
Architecture, Smart Smart Mechatronic
Smart Mechatronic
Mechatronic Systems; Systems; Cyber-Mixmechatronics
Systems; Cyber-Mixmechatronics
Cyber-Mixmechatronics
Keywords:
Systems.
Systems.
Keywords:
Systems. Structural and Modular Architecture, Smart Mechatronic Systems; Cyber-Mixmechatronics
Systems. Structural and Modular Architecture, Smart Mechatronic Systems; Cyber-Mixmechatronics
Keywords:
Systems. 
1. INTRODUCTION 
1.
1. INTRODUCTION
INTRODUCTION 
The design of 1. INTRODUCTION
structural and modular architectures is based
The
The design
design of structural
1.of
of structural and modular
INTRODUCTION
and modular architectures
architectures is based
is cyber-
based
The on
on the
the
design paradigm
paradigm
of structuralof smart
smart
and mechatronic
mechatronic
modular architectures and
and is cyber-
based
on the
mixmechatronic paradigm of
systems smart
with mechatronic
functions of and
measuring cyber-
and
The design
mixmechatronic of structural
systems and
with modular
functions architectures
of measuring is cyber-
based
on
integrated
the
mixmechatronic paradigm of
systems
control,
smart mechatronic
with functions
handling, etc. in measuring and
and
of automated and
and
on
integrated the
mixmechatronic paradigm
control, of
systems smart
handling, mechatronic
etc.
with functions in and
of automated
measuring and cyber-
integrated
cybernation control,
industrial handling,
processes. etc. in automated and
mixmechatronic
cybernation systems with functions of measuring and
cybernation industrial
integrated control, processes.
industrial handling, etc. in automated and
processes.
integrated
cybernation
In the control,
industrial
synthesis of the handling,
processes.
scientific etc. is in
work automated
presented the and
design
In
In the
cybernation
the synthesis of the
industrial
synthesis of the scientific
processes.
scientific work
work is
is presented
presented the
the design
design
of
of informatic
synthesismodels
informatic models for
for different
work industrial applications,
In
of
economic
the
informaticand models
societal for different
of the scientific
ones. different industrial
is presented
industrial applications,
the design
applications,
In
economic
of the synthesis
informaticand of the
societal
models scientific
ones.
for work
different is presented
industrial the design
applications,
economic and societal ones.
of
economic informatic models
and societal for
ones. different industrial applications, Legend: 1. Industrial
Legend:
2. Cyber space 3. Centre of
From
From the
the point
point of
of view
view of
of immediate
immediate industrial
industrial applications,
applications, Legend: 1.1.robot Industrial
Industrial 2.
2. Cyber space
21 Cyber space
Industrial
3.
3. Centre of
Centrecontrol
Remote of
economic
From
these the
new and
point societal
of view
mechatronic ones.
of immediate
and industrial
cyber-mixmechronic applications,
concepts robot
Legend: 1.robot Industrial 21
2. Industrial
21 Cyber space
Industrial Remote
3. Centrecontrol
Remote of
control
these
From new
the mechatronic
point of view ofand cyber-mixmechronic
immediate industrial concepts
applications, 1.
these new mechatronic and cyber-mixmechronic concepts Legend: 1.robot 1.
and
From achievements
the point of are
viewpart
of of the "Industry
immediate 4.0
industrial digitalization",
applications, 1 Industrial
1. Universal 2.
21 Cyber
communicationspacebus
Industrial 3.
andCentre
Remote
remote of
control
and
these
and achievements
new mechatronic
achievements are
are part
part of
and
of the
the "Industry
"Industry 4.0
cyber-mixmechronic
4.0 digitalization",
concepts
digitalization", 111.
robot
robotic
Universal
Universal
arm
communication
21 Industrial
communication
2.2 Industrial
bus
bus and remote
remote
Remote
and
monitoringcontrol
for
these
for their
new integration
mechatronicinto industrial
and enterprises,4.0 as
cyber-mixmechronic follows:
concepts robotic
1. arm 2.2 Industrial monitoring
for their
and their integration
achievements
integrationare into
into industrial
part of the
industrial enterprises,
"Industry
enterprises, as
as follows:
digitalization",
follows: 1robotic
(with
1(with
Universal
arm /
gripper
gripper /
communication
2.2 bus
Industrialnetwork
ETHERNET
ETHERNET network
and
3.1 remote
monitoring
Router
3.1 remote
Router
and
for
-- For achievements
their integration
intelligent are part of the
into industrial
measurement and"Industry
enterprises,
control 4.0 digitalization",
as follows:
processes; robotic
(with
3D probe)
Universal
arm
gripper / communication
2.2
ETHERNET bus
network and
2.3 Programmable PLC monitoring
Industrial 3.1
linkingRouter
to WAN
3D probe) 2.3 Programmable PLC linking to
to WAN
- For
for For intelligent
their integration
intelligent measurement and
and control
into industrial
measurement processes;
enterprises,
control as follows:
processes; robotic
3D
1. probe)
(with
1.
arm /
gripper 2.2
2.3 Industrial
Programmable
ETHERNET networkPLC monitoring
linkingRouter
3.1 WAN
- For intelligent measurement and control processes; (with
1.
3D gripper /
probe) ETHERNET
2.3 network
Programmable PLC 3.1
linkingRouter
to WAN
technological and laboratory processes; 2 Interface with ROBOT software Internet
-- For
For intelligent
technological
technological and laboratory
laboratory
measurement
and processes;
and control
processes; processes; 2
23D
1.
between
Interface
probe)the
Interface with
2.3
with ROBOT
2.4 Programmable
ROBOT
Smart
software
software
devices for
Internet
PLC Internet
linking
3.2 PC to monitor
WAN
-- For technological
significant and laboratory
contributions on processes;digitization";
"industrial 2between
1.
between
robot and
the
Interface
the
the
2.4
with
2.4
remote
Smart
ROBOT
Smart devices
devices
control and
for
software
for 3.2
3.2
3.3
PC
Internet
PC monitor
monitor
Central unit
- For
For significant
technological
significant contributions
and laboratory
contributions on
on "industrial
processes;digitization";
"industrial digitization"; 2robot
between
robot
informatic
and the
Interface
andthe
the remote
with
2.4
remote
remote
control
ROBOT
Smart and
software
devices
control andfor
communication
3.3
3.2
3.4 PC
3.3 Central
Internet unit
UPCmonitor
Central unit
with
- For
Etc. significant contributions on "industrial digitization"; informatic
between
robot
informatic andthe
the remote
2.4
remote communication
Smart devices
control andfor
communication 3.4 PC
3.2
3.3
3.4 UPCmonitor
Central
UPC with
unit
with
-- Etc. environment 2.5 2.5 4D GPRS ROBOT remote
For
Etc. significant contributions on "industrial digitization"; environment
robot
informatic
environment
1.
and the 2.5
2.5 2.5
remote
mode 2.5 4D GPRS
control and
communication
4D GPRS ROBOT
3.3
3.4
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with
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1.
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mode
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controlUPC with
remote
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paperitmeets
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scope of
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the IFAC
IFAC 2018 2018 3environment
Command m
2.5 control
conference because addresses the
the newest
3tools
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m
mode 2.6 4D GPRS WAN ROBOTsoftware remote
control
conference
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conference because
because itmeets
paperit addresses
the scope
addresses the of the industry
newest
newest industry
IFAC 2018
industry
4.0
4.0
4.0 tools
1.
3toolsCommand 2.6
mode
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2.6 2.6
2.6
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Internet WAN
WAN software
control
software
specific
This
specific
conference products
scientific
products
becauseand
and technologies.
paper itmeets the scope
technologies.
addresses of the industry
the newest IFAC 2018 4.0 3tools
Command m
specific products and technologies. 2.6 2.6 Internet WAN control software
conference
specific productsbecause it addresses the newest industry 4.0
and technologies. tools 2.6 2.6 Internet WAN software
specific products and technologies. Fig. 1.
Fig. 1. The
1. The
The smart smart industrial
smart industrial robot
industrial robot
robot
Fig.
2.
2. EXPERIMENTAL
EXPERIMENTAL MODELS
MODELS IN
IN ORIGINAL
ORIGINAL The
The smart
Fig. 1. The smart
smart industrial robot
industrial
industrial robot (Fig.
robot
(Fig. 1) has a complex structure
2. EXPERIMENTAL MODELS IN ORIGINAL
CONCEPTION The smart
Fig. 1. Theof:
consisting industrial
smart (Fig. 1)
robotrobot
industrial 1) has
has aa complex
complex structure
structure
2. EXPERIMENTAL CONCEPTION
MODELS
CONCEPTION IN ORIGINAL consisting
The smart
consisting of:
industrial
of: robot (Fig. 1) has a complex structure
2. EXPERIMENTAL MODELS IN ORIGINAL The smart
The robot industrial
itself robota (Fig.
with 1) has a arm
complex aa structure
2.1
2.1 The
2.1 The design
The design of
design
CONCEPTION
the
the informatic
of CONCEPTION
of the informatic model
informatic model ––– cyber-
model
consisting
cyber- consisting
cyber-
 The robot
The
of:
robot
of: itself
itself with
with aa smart
smart
smart
gripper
gripper
gripper arm
arm
and
and
and
3D
a 3D
3D
mixmechatronic robot system with remote monitoring and Probe;

Probe; The robot itself with a smart gripper arm and a 3D
mixmechatronic
2.1 The designrobot
mixmechatronic of system
robot system with
the informatic
with remote
remote monitoring
model – cyber-
monitoring and
and Probe;
 Robot- Computing environment interface;
remote
2.1 Thecontrol (Fig.
design 1).
of the informatic model – cyber-  The

Robot- robot itself withenvironment
Computing a smart gripper arm and a 3D
interface;
remote
remote control
mixmechatronic control (Fig.
(Fig. 1). system with remote monitoring and Probe;
1).
robot  Robot- Computing environment interface;
Probe;
 Control unit with PC.
mixmechatronic
remote control (Fig. 1). robot system with remote monitoring and ControlComputing
 Robot- unit with PC. environment interface;
 Control unit with PC.
remote control (Fig. 1).  Robot- Computing environment interface;

Control unit with PC.
Control unit with PC.
2405-8963 ©
Copyright © 2018, IFAC (International Federation of Automatic Control)
2018 IFAC 598Hosting by Elsevier Ltd. All rights reserved.
Copyright
Peer review©
Copyright 2018
©under IFAC
2018 responsibility
IFAC 598
598Control.
of International Federation of Automatic
Copyright © 2018 IFAC
10.1016/j.ifacol.2018.11.219 598
Copyright © 2018 IFAC 598
 IFAC TECIS 2018
Baku, Azerbaidschan, Sept 13-15, 2018
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• The robot through the interface makes the connection to

the PLC and communications systems.

• Cyberspace, that is a complex structure consisting of:

➢
Industrial communication bus;
➢
Industrial Ethernet network;
➢
PLC programmed with robot software;
➢
Smart remote control and remote
communications equipment;
➢
4G GPRS MODEM;
➢
Antenna
➢
WAN Internet.
The cyberspace makes connection with the Robot via
the robot interface and with the remote control centre via the
centre router.

• The remote control and maintenance centre has a Legend: 1. Industrial 2. Human 3. 4. Remote
structure formed of: manufacturing operator with Cyber control
line smart space and
➢ WAN Internet connection router; 1.1 instruments 3.1 remote
Workstation 2.1 Human Internet monitoring
➢ PC monitor; on the operator WAN centre
➢ PC central unit; fabrication 2.2 Unique 4.1
➢ UPC with robot remote control software. line identification Antenna
1.2 Product system with 4.2 PC
➢ The link of the centre with the cyberspace is made for RFID with
via the router. technological 2.3 Smart software
applications communication for
1.3 Unique and warning complex
As an architectural ensemble, the information flow of identification bracelet analysis
the "cyber-mixmechatronic system with remote monitoring system with 2.4 Unit with
and remote control" derives from the nonelectrical "input RFID system for data
variables", which are converted into electrical quantities, then acquisition and
communication
amplified, split and displaying, resulting in "the output 2.5 Antenna
variables" in the form of product, service and technology", a
result that can be taken into account as such, or may be
controlled, monitored or configured from the distance via the Fig. 2. The design of the informatic model –technological
interconnections of cyberspace and of the remote control and cyber mix-mechatronics remote monitoring and remote
remote monitoring centre. control mix-mechatronics instrument system
The remote control and remote monitoring cyber- The design of the technological cyber-
mixmechatronics robot system is used in any industrial mixmechatronic remote monitoring and remote control
process or company based on its constructive and functional mixmechatronic technological instrument system (Fig. 2)
integration, in smart manufacturing processes, either its own comprises a multi-complex structure consisting of:
or as control and remote maintenance manufacture system,
assembly lines or lines of quality assurance. ➢ Industrial robot manufacturing line;
➢ Human operator with integrated smart tool;
The actual robot is architecture structurally and ➢ Cyberspace;
functionally depending on process requirements where it is ➢ Remote control and remote monitoring centre.
integrated, and especially on the gripper's architecture, so that
the robot becomes a "smart control equipment" or a • The industrial robot manufacturing line (Fig. 2)
"technological and/or industrial services equipment". has a technological structure specific to the cybernation,
comprising the following:
In this regard, gripper can be interchangeable, so it can
have integrated the "3D probe" for entering into contact with ➢ Technological work station in the production
the surfaces of the work piece / part that needs to be line;
controlled or the integration of the gripper with “gripping, ➢ Related product and its specific technological
application, sales, transportation or handling" devices in operations;
processes related to technological applications. ➢ Unique identification system with RFID.
The link between the robotized industrial fabrication
2.2 The design of the informatic model –technological line and the human operator is made wirelessly, for data
cyber mix-mechatronics remote monitoring and remote collection and communication.
control mix-mechatronics instrument system (Fig. 2).

599
IFAC TECIS 2018
600 h.c. Gheorghe Gheorghe et al. / IFAC PapersOnLine 51-30 (2018) 598–603
Baku, Azerbaidschan, Sept 13-15, 2018

• The human operator has integrated smart the orthogonal projection of the experimental model with the
technology tools (Fig. 2), including: unique RFID component structure of the X, Y, Z and Φ subsystems.
identification tool, smart communication and warning
bracelet, unit with a system of data collection and
communication and antenna. The link between the human
operator equipped with smart technology tools and the
production line, is made wirelessly, and the cyberspace is
made via the antenna and WAN Internet.
• The cyberspace is characterized by the WAN
Internet (Fig. 2), and linked to the human operator via the
smart communication equipment (for the human operator)
and is connected to the central remote control and remote
monitoring centre via the link to the communication
equipment of the centre.
• The remote control and remote monitoring centre
(Fig. 2) has the following structure: Antenna, and PC
equipped with analysis software and decision-making
capabilities.
• Remote control and telemonitoring centre
➢ Antenna
➢ PC equipped with analysis software and decision Legend: 1. 3 D cyber-mix-mechatronic system:
making capabilities 1.1 Ultra-precise 3D measuring system / measuring robot /
As a whole. the "technological cyber- ultra-precise control robot (x-300mm; y=200mm; z=250mm;
mixmechatronic remote monitoring and remote control accuracy:0.1-1nm);
mixmechatronic instrument system" ensuring the 1.2 3D ultra-precise probe (accuracy: 0.1 nm);
performance of operational phases and technological 1.3 Control / measurement part;
activities, based on the smart technology related to the 1.4 PC local host;
process or to manufacturing processes through the integration 1.5 Display and local user interface;
and connection with "human operator endowed with a smart 1.6 Laser protection barrier
tool" that assists and intervenes in the process of technical 1.7 Unit with command system, driving system and
and technological assembling, through his or her inter- telecommunications system; 2. Auxiliary equipment:
connection and decision, depending on the actual unfolding 2.1 PLC (Programmable Logic Controller);
of the process and that part of a dialogue with the other 2.2 Smart controller with software for communication
virtual communication systems in order to optimize the interface;
automated processes and to ensure their quality. 2.3 4G communication modem; 3. Industrial BUS; 4.
Industrial ETHERNET point; 5. WAN INTERNET CLOUD
Communication and information transfer required access; 6. 802,1 lb/g router; 7. Control Centre;
for the cybernetic automated process is done through wireless 7.2 PC Display;
cybernetic components, facilitating the smooth integration of 7.3 PC Remote monitoring software.
the human operator with the automated cybernetic systems
and subsystems. Fig. 3. Logic scheme – Mechatronics and adaptronics &
Moreover, the human operator equipped with a cyber-mechatronics and cyber-adaptronics system
"smart communication and warning bracelet" can be replaced
right now or in the very near future by a "humanoid robot"
that can be integrated into the cybernation of the industrial
process.

3. PHYSICAL REALIZATION
3.1 The conception and physical realization of the
experimental model: "mechatronics and adaptronics &
cybermechatronics & cyber-adaptronics system", (Fig. 3)
At the basis of the execution of the experimental
model "mechatronics and adaptronics & cyber-mechatronics
& cyber-adaptronics system" was the original conception of
the logic scheme - mechatronics and adaptronics &
cybermechatronics & cyber-adaptronics system (Fig. 4) and

600
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Fig. 4 Mechatronics and adaptronics & cyber-mechatronics & • horizontal electric axis X: carried out in a structure defined
cyber-adaptronics system by the nominal stroke (measuring range) of 200 mm and the
Following is presented the experimental model Mechatronic gauge of the axis 510 mm by the nominal force of 205 N (and
and adaptronics & cyber-mechatronics and cyber-adaptronics the maximum permissible force of 500 N), by 1 linear motor,
system in 4D coordinates (Fig. 5). 1 absolute encoded transducer with high precision and
repeatability, 1 controller;
• horizontal electric axis Y: carried out in a structure defined
by the nominal stroke (measuring range) of 100 mm and a
gauge length of 310 mm, by a nominal force of 120 N (and
the maximum permissible force of 250 N) by 1 linear motor,
1 absolute encoded transducer with high precision and
repeatability, 1 controller;
• vertical Z axis: made in a structure defined by the nominal
stroke (measuring range) of 100 mm, a nominal force of
115N (max.), 1 linear motor, 1 brake, 1 encoded absolute
encoder, with high precision and repeatability, 1 controller;
• the rotary (miniaturized) electric axis and 1 controller, made
in a structure defined by:
> torque: 0.4 / 1.2 (Nm);
Legend: > maximum rotation speed: 600 (1 / min.);
1 - Anti-vibration table > moment of inertia: 500 (Kgmm2);
2 – Smart system (in 4D) > repeatability accuracy: 0.01 (°);
3 – Smart (ultra precise) 3D probe > operating pressure: 6 (bar);
4 – Adjustable support > meat: 1.2 (Kg);
Fig. 5 Mechatronic and adaptronics & cyber-mechatronics > temperature: 10/40 (° C);
and cyber-adaptronics system in 4D > circuit voltage: 530 (V);
> power supply: 1 (A);
Following is presented the experimental model – > electronic control: external;
"Mechatronic and adaptronic & cyber-mechatronic and > encoder system: absolute encoder.
cyber-adaptronic system in 4D coordinates" below (Fig. 6):
3.2 The conception and physical realization of the "Smart 4D
Smart System Interface - Cyber Space, based on special
electronic components and appropriate to the links and
connections between the smart 4D system and the cyber
space.

3.3 The conception and physical realization of the

configuration of the "cyber space" based on the following
special components:
> the industrial communications bus;
> the industrial ETHERNET network (at the industrial
application site and with the beneficiary's agreement);
> control panel with PLC and 4D system software, structured
on PLCs and special software;
> smart telecontrol and telecommunication equipment,
structured on specific communication modules (WIFI,
ETHERNET, ZEEGBEE);
> GPRS 4G modem, (data transmission over the mobile
network);
> antenna;
> WAN Internet, (the global Internet network);
Fig. 6 Experimental model – "Mechatronic and adaptronics &
cyber-mechatronics and cyber-adaptronics system in 4D 3.4 The conception and physical realization of the
coordinates" (without the anti-vibration table and the smart configuration of the “telecontrol and telemonitoring centre”
3D probe) based on the special electronic and computing components:
According to this figure, the experimental model made
consists of:

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(3.4.1) the anti-vibration table subsystem shall be fed to an the final measurement report in numerical and graphic form,
instrument mass pressure of not more than 4 bar through the on screen and on paper.
associated pneumatic installation (see Fig. 1, Fig. 2); • Fig. 7 a), b) c): the user interface - monitoring software
(3.4.2) the work table (position 1, Fig. 1) is positioned and subsystem, presents the "frame window" with the display
balanced, the self-levelling mechanism is activated (Fig. 4), data as follows (Fig. 7 a):
the whole subsystem is correctly positioned;
(3.4.3) the smart 4D system (Fig. 6) is positioned on the anti-
vibration table (Fig. 6);
(3.4.4) the 3D (ultra precise) smart gripper is engaged in the
parallel gripper (Fig. 6) on the z axis (Fig. 5) and is
electrically coupled through its microcontroller smart 4D
(Fig. 6);
(3.4.5) the 4D smart experimental model is powered at 380 V
(industry specific);
(3.4.6) is powered by the control and control module (Fig. 5)
through the 4D system - cybernetic space (Fig.5);
(3.4.7) the measurement data is collected by the 3D smart
touch probe and processed by the measuring software itself,
in the control and control module (Fig. 5); Fig. 7 a) "Frame window" with the display data
User interface during operation subsystem, presents the "4D
(3.4.8) the data of the measurement process is transmitted via
Smart System Monitoring and Remote-Control Program
the 4D system - cybernetic space (Fig.5) to the bus (Fig.5) via
Window" with digital display parameters for telemonitoring
industrial Ethernet (Fig. 5) and control panel with PLC and
and telecontrol (Fig. 7 b):
specialized software (Fig.5), via GPRS modem 4G (Fig. 5),
via an antenna (Fig. 5) and via WAN Internet (Fig. 5).
(3.4.9) by the telecontrol and the telemaintenance centre (Fig.
5), is ensured the visible connection on the PC monitor (Fig.
5) via the router (Fig.5) and of the telecontrol and
telemonitoring software (Fig.5) with the smart 4D system,
through the Internet-Ethernet or telephony network,
performing in real time all the activities specific to the
measurement / control process, respectively telemetering /
telecontrol and monitoring process, respectively
telemonitoring with the operator smart 4D system to fit it into
the real-time measurement / control / telemetry / telecontrol
system.
(3.4.10) the whole procedure was enforced for the process of
measuring / controlling cybernetics, experimenting with the Fig. 7 b) Digital display parameters
telecontrol and telemaintenance process and extracting image
The user interface during the entry of commands subsystem,
capture, referring to the smart 4D system in operation, to the
displays the "command entry window", as follows: ➢ Entry
values and data collected by the system's sensory
architecture, user mode - telecontrol and telemonitoring of command 1; ➢ Entry of command 2; ➢ Entry of
software, how to enter orders, etc. command 3; (Fig. 7 c):
Here is an example:
• "the Interface" subsystem, contains other subsystems for
analogue inputs, analogue outputs, numeric inputs / outputs,
time interval generators, Sensory acquisition board 626
model, etc.
• the data measurement and processing software subsystem
performs the following functions: provides a graphical
interface for inputting and extracting measurement specific
data; allows configuration specific to each measurement
(input parameters, working speed, rated values, tolerance
limits, numerical and graphical display, etc.); purchase of
data from electric axes x, y, z and φ and from digital sensors,
automated measurement; processes the data received during
processing and issues the verdict / process decision; issues Fig. 7 c) "Command entry window"

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9 - Entry of command 1; 10 - Entry of command 2; model with a miniaturized, fully automated and cybernetics
11 - Entry of command 3; structure with broad applicability in various smart industrial
Fig. 7 a), b) c): The user interfaces environments such as the automotive industry electronics and
mechatronics, aerospace, etc.
In the tests of the component subsystems and the mechatronic The realization and testing of the 4D Smart Model
and adaptronics & cyber-mechatronics and cyber-adaptronics Experimental Model ensures the follow-up of the project,
systems, the following were used: namely:
(a) components, subsystem and smart 4G system testing • dissemination of new knowledge and information on the
program, which includes: project and the experimental mechatronics and adaptronics
(a1) methods of measurement and verification of and cyber-mechatronics and cyber-adaptronics model;
metrological parameters present; • experimental model preparation for demonstration at the
(a2) smart mechatronic metrological metrology systems and beneficiary;
equipment equipped with accredited RENAR (at national The realization and testing of the 4D Smart Model
level) LAMs (MEMS & NEMS): Experimental Model represents for INCDMTM, but also for
• OPTIMAHR - Germany, for measuring and checking the Romanian Research System, the development of new
dimensions, with nanometric precision (≤ 1nm); automated and cybernetic smart products on scientific and
academic levels first approached in Romania in original
• 3D precision measuring machine (0.1μm);
solutions and concepts and products high competitiveness.
• Smart system with incremental rotating photoelectric
transducer and digital block with digital display, in high
angle and length units (≤ ± 1 second); 5. CONCLUSIONS
• Tensiometric marker system with digital display for high This scientific work is dedicated to phase 2 of Nucleu
precision forces and moments (Class 0.1); programme focusing on the modular design and simulation of
• High-precision digital type (≤ 0.01mm); various organizational schemes of mechatronics, adaptronics
and cyber-mechatronics and cyber-adaptronics systems and
• Analytical balance system with high precision (≤ ± 0.02
equipments and focus on their industrial and societal
grams);
applications as answers to major societal challenges.
• etc.
From the point of view of immediate industrial applications,
(a3) software programs for dimensional, angular these new mechatronic and cyber-mixmechronic concepts
measurements, etc.; and achievements are part of the "Industry 4.0 digitalization",
(a4) software programs for data analysis and interpretation for their integration into industrial enterprises, as follows:
(Siemens SIMATIC Panel PC 577 computing system, - For intelligent measurement and control processes;
specialized software, etc.).
- For technological and laboratory processes;
(b) documents in international catalogues relating to smart
mechatronic systems and equipment for comparison and - For significant contributions on "industrial digitization";
definition of metrological parameters (measuring range, - Etc.
precision, repeatability, fidelity, etc.); Compared to other international scientific papers, the new
(c) metrological documents such as histograms, diagrams, presented concepts and solutions constitute a new intellectual
graphs and value matrices. For parametric and metrological property of the author, plus a significant technical and
tests, metrological standards corresponding to the equipment technological value, but also economic, when they are
of the laboratories, ISO EN SR standards related to the integrated into the intelligent manufacturing 4.0.
measurement, verification and control methodologies and This scientific paper meets the scope of the IFAC 2018
procedures were used. conference because it addresses the newest industry 4.0
specific products and technologies.
4. SUCCESS INDICATORS
Success indicators includes: the high-precision physical REFERENCES
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