ScienceDirect. Nonlinear Adaptive Correction of Continuous Path Speed of the Tool for High Efficiency Robotic Machining

Transcription

1 Avalable nlne at ScenceDrect Prceda Engneerng 100 (015 ) th DAAAM Internatnal Sympsum n Intellgent Manufacturng and Autmatn DAAAM 014 Nnlnear Adaptve Crrectn f Cntnuus Path Speed f the Tl fr Hgh Effcency Rbtc Machnng Yu.V. Ilyuhn* Yu.V. Pduraev A.V. Tatarntseva Mscw State Unversty f Technlgy «STANKIN» Vadvsy per. Mscw Russan Federatn Abstract The prpsed new structure f the cntrl system fr a rbt that perfrms hgh-perfrmance machnng fr example mllng deburrng grndng and plshng parts. Ths structure s based n the deas f mechatrncs and cntans nnlnear adjustmentregulatng feedbac. The algrthm f generatn f cntrl actns prvdng adaptve crrectn f cntnuus path speed f tl mvement and the absence f verdrvng the serv drves. The crrected value f the path velcty s calculated based n the change varables tang nt accunt the currents n the wndngs f all f the mtrs f the rbt and f the tl. Cmputer smulatn results have cnfrmed the cnclusn that when usng the prpsed algrthms lgcal sgnal prcessng flters and relay cntrl law ensurng cnsstent peratn f the drves the reured accuracy f the mvements f tl and hgh perfrmance. 015 The The Authrs. Authrs. Publshed Publshed by Elsever by Elsever Ltd. Ths Ltd. s an pen access artcle under the CC BY-NC-ND lcense ( Peer-revew under respnsblty f DAAAM Internatnal Venna. Peer-revew under respnsblty f DAAAM Internatnal Venna Keywrds: Rbt; adaptve cntrl; mechatrnc; drves 1. Intrductn It s well nwn that n the wrld f manufacturng machne-tls have held the dmnant pstn as prcess eupment fr decades [1]. But nw there are enugh arguments [1] fr a number f specalsts t cncentrate ther research n ntegratng ndustral rbtc systems n machnng prcesses whch ffer a cst-effectve and flexble * Tel.: ; E-mal address: lyv_178@mal.ru The Authrs. Publshed by Elsever Ltd. Ths s an pen access artcle under the CC BY-NC-ND lcense ( Peer-revew under respnsblty f DAAAM Internatnal Venna d: /j.preng

2 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) slutn []. Flexble autmatn based n Rbtcs s cnsdered as an deal slutn fr ts prgrammablty adaptvty flexblty and relatvely lw cst [3] especally fr the fact that prcessng rbts are wdely appled fr machnng parts frm plastcs and lght allys. Frst f all mllng fettlng remvng burrs frm cast bllets grndng and plshng shuld be allcated amng the manufacturng peratns perfrmed by rbts. Cuttng frce affects n the tls durng machnng parts and t depends n many factrs such as cuttng depth and cntnuus path speed [4 5 6]. The mre these values can be the mre cuttng frce wll be. It lads n the tl drve f rbt and leads t mments f reactn frces actng n the serv drves f the rbt. Increasng f rbtc machnng effcency can be acheved by rasng the cntnuus path speed. The rbt mves the tl n a gven prgram path wth ths speed. Hwever we have t face a number f challenges. Changes f the cuttng depth are due t dmensnal devatns parts frm nmnal dmensns. The cuttng frce varatns can be sgnfcant and ften unpredctable fr rbt cntrl system. It s essental that drve f tl and serv drves f rbts are able t develp lmted mments f frces. T prtect verheatng the serv mtrs currents f phase wndngs s autmatcally lmted t an acceptable level. Fr example t can be acheved f the nput sgnal currents f cntrl lps are lmted [7]. Current cntrl lps nclude f PI cntrllers. Therefre the cuttng frce can be ncreased and reactns t drves f the tl and f the rbt wll exceed the pwer capacty f sme f them. It causes a brang mvement whle the ther drves are stll able t mantan the desred speed. The danger f ths phenmenn s that the crdnatn f mvements s dsturbed n dfferent degrees f mblty f the rbt. It leads t dstrtn the sze and shape dstrtn f the part the appearance f defectve parts and functnal falure f prcess eupments. If the lngtudnal mtn f the tl cntnues the reductn n the freuency f the tl drve wll lead t further ncreasng f the cuttng frce and t can cause f tl damagng. We need t slve the prblem f autmatc cntrl f cntnuus path speed f the tl. It helps t mplement a hgh-perfrmance machnng prcess usng rbts and prevent verladng drves and the dsturbance crdnatn f mvements. Feature ths challenge s that the rbt has t ensure mvement f the tl wth the cntnuus path speed. Ths speed shuld be the maxmum pssble n the current stuatn and nne f the drves culd be verladed. It means that the value f the cntnuus path speed shuld adjust autmatcally s that t wuld the greatest but the wndngs currents n the mtr drves d nt exceed the permtted levels. In machne cntrl a smlar prblem s successfully slved as a result f the cntrl f the cuttng frce [8] ncludng the use f specal sensrs [9]. Tang nt accunt nly values f the cuttng frce cntnuus path speed s smetmes regulated n rbtc machnng. But t s nt enugh because drves are laded dfferently n dfferent cnfguratns f the manpulatr. T realze adaptve cntrl we need t cnsder the wndngs currents fr all the drves f the rbt system. It s necessary t nte that these researches were fnanced by Mnstry f Scence f Russa Federatn wthn the state tas n the sphere f scentfc actvty.. The structure f the prcessng rbts system f drve and adaptve crrectn algrthm f cntnuus path speed f tl T slve ths prblem we prpse t ntrduce nnlnear crrectve lns t the system. They carry autmatc adaptve eualzatn f cntnuus path speed. Eualzatn depends f cntrlled mtr currents and prevents mtr verladng. Ths system ncludes a pluralty f cmpnents f dfferent physcal nature and t nvlves the actve use f cntrl cmputers. Cnseuently ths nd f systems crrespnds t the deas f mechatrncs and cmputer systems cntrl mvement f cmplex dynamc systems [7 10]. It gves us pprtunty t acheve cnsstent crdnated mvements f all parts f the manpulatr and t mprve the perfrmance f machnng parts n fulfllng the reurements fr the accuracy f the tl relatve t the prgrammed trajectry. The man dea f the crrectn s t transfer system t hgh-freuency swtchng mde f at least ne f the sgnals that are functnally related t mtr currents exceeds the permssble level f restrctn. In ths mde each tme t avd verladng the drves t s frmed maxmum pssble value fr the average cmpnent f cntnuus path speed autmatcally and wth hgh accuracy. In ths case frm a practcal pnt f vew the varable cmpnent f the cntnuus path speed tl mvement has small the ampltude f the scllatns. And t desn t have negatve nfluence t the ualty f the machnng and peratng capacty f the manpulatr. Due t ths thess all serv drves mvements reman cnsstent. It cntrbutes t get the reured tl pstn accuracy. Cntnuus path speed meets the reurements f hgh effcency rbtc machnng.

3 996 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) Nnlnear crrectve lns depends n vectr currents I n mtr f rbt drves and depends n current I U n mtr f tl drve (fg.1). Ln s ntrduced t the structure f the cntrl system f the rbt tl mvement prcess. These currents react t mments f reactn frces M due t mment appled t the arm f the manpulatr M. By-turn these mments have cmpnents caused by the vectr F cmpnents f the cuttng frce and caused mments f frces actng n the tl. Nte that the vectr f mment f frces M s determned by the matrx euatn R M Т J ( ) F (1) where J Т () Jacb s transpsed matrx. It depends n vectr f generalzed crdnates f manpulatr. It characterzes the prpertes f the manpulatr wth fxed tl n t n the current cnfguratn. Unversal prcessng rbts usually have 6 degrees f mblty and are always used fr machnng prcess. Vectrs F and fr ths type f rbts have the dmensn (6х1). The sgnal prcessng unt f sensr current generates crrectn sgnal nfluences the calculatn f the current value f V К the reured cntnuus path speed. Frmatn f the crrectn sgnal s based n a lgc varable and the use f addtnal crrectve flters. Blean varables characterze the cmplex status f all mtrs f the whle system. Crrectn flters affect the freuency and ampltude f the fluctuatns f the tl pstn n the mde f adaptatn cntnuus path speed and lmt f mtr currents. Calculatn s dne tang nt accunt the maxmum pssble value V0 f cntnuus path speed. The essental feature f ths cntrl system f rbt tl mtn s that the change f desred pstn values f tl crdnates s descrbed by plynmal mdels. They are presented as a functn f the tl path alng a desred path. It s necessary fr the effectve regulatn f the cntur speed and t prvde hgh accuracy tl mtn t the desred trajectry. In ths case the cntrl respnse passes vectr f sgnals t cmplex f rbt serv drves these sgnals carry nfrmatn abut the desred pstns f the manpulatr arms. These sgnals generate angles f rtatn vectr f drve utput ln and cause the reured values f the cmpnents f the vectr f generalzed crdnates f the rbt. V F V 0 Calculatr f cntnuus path speed Calculatr f cntrl respnse System f drves Manpulatve mechansm Tl M R M Current sensr prcessng blc I Fg. 1. Structural scheme the cntrl system f prcessng rbts tl mvement. Arrays f the tl crdnate values are the bass f the rbt mtn prgram. In the future they can be specfed n the rbt learnng prcess. They are gven fr cntrl pnts f the desred path f tl mvement durng the technlgcal peratns plannng. It based n the machnng parts drawng. In the future they may be specfed n rbt tranng. The desred generalzed crdnates f the manpulatr are calculated and saved n the rbt cntrl unt n the bass f the tl crdnate.

4 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) Fr machnng rbts there shuld be sme mdels f cntrl respnse that meet tw reurements. Frstly they must be resstant t nse ntrduced by the peratr when he s prgrammng tranng methd. Secndly they must allw dfferentally tae nt accunt the nfrmatn abut the gemetry f the desred mtn and prcess nfrmatn abut law f the desred cntnuus path speed n dfferent parts f the mtn path. Therefre t frm a mdel f defnng effects n the rbt serv drves fr example t shuld be used cubc plynmals as a functn f the path traversed by the tl t the desred trajectry. It lets nteractvely cntrl rbt mtn f all the degrees f mblty and tl wth just ne value - the cntnuus path speed. And t s fundamentally mprtant t prvde accurate mtn f the tl as a result f avdance drve verladng due t adaptve update f cntnuus path speed. In ths case prblem f cntrl rbt mtn s slved n tw stages. When we prgram nfrmatn abut the cntrl pnts f the trajectry s cnverted t values f the ceffcents f the plynmals. They apprxmate the generalzed crdnates f the manpulatr dependence n the path between the cntrl pnts. These ceffcents are saved. T mplement f the mtn saved values f the ceffcents are extracted frm the devce cntrl rbt memry. S n real-tme cntrl respnse n the drves cmplex s calculated. At each step f cntrl desred cntnuus path speed value s calculated tang nt accunt the state f cntrl prcess. The desred value f the path traversed by the tl alng the trajectry s calculated by ntegratn f the speed. Mdel f changes generalzed crdnates f the manpulatr ( 1... N ) s taen as a plynmal frm a l 6 3 b l c l d () where l path alng the segment cnsdered part f the trajectry measured frm the reference pnt t pnt ( + 1); a b c d apprxmatn parameters characterzng the mtn between the reference pnts and ( + 1). The maxmum value l s L therefre n the reference pnt must satsfy the bundary cndtns: d dl where reference value n the pnt ; reured value f dervatve wth respect t l n the pnt. Fr a reference pnt ( + 1) bundary cndtns are: d 1 1 dl where and 1 the crdnate value and ts dervatve wth respect t path n ( + 1) pnt. As a result we have the fllwng apprxmatn parameters whch depend n uanttes characterzng the reference pnts: d c b a L 6 3 L 3( L( 1 1 ) L( ) ( We prpse t determne the values f 1 and 1 ) ). 1 (3) by the secnd-rder plynmals apprxmatn f the

5 998 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) tw shrt segments f the trajectry at the same tme nvlvng and ( + 1) reference pnts. Obvusly than shrter the value L s then the mre accurate apprxmatn s. Fr frst sectn wth reference pnts whch have ( 1 1)(L) crdnates we btan and fr the secnd sectn wth the crdnates 1 we get 1 1 ( )(L). Tang nt accunt these rats expressn (3) s cnverted t the frm d 1 c 1 (L) (4) b (60 1 ) L 3 a ( ) L where Argument l f plynmal mdel s calculated by ntegratng ver tme the reured cntnuus path speed V К (t). S the values N... are dentfed whch are used t defne the cmpnents f the vectr. Ths vectr set the mpact t rbt drvers. As sn as yu reach level l = L s held reset t zer f l and replacng values f the parameters d c b a t the new values d 1 c 1 b 1 a 1 fr the next segment f the trajectry f mtn. Thus the tl s able t cntnuusly mve wth hgh accuracy fr a gven prgram trajectry wth reured and tme-varyng cntnuus path speed. The prpsed nn-lnear crrectn frms the reured cntnuus path speed VК f mtn by trajectry f rbt tl. Crrectn depends n the set f ts maxmum value V and the current measured values f mtr currents f rbt drves I 1 I I N and current I N 1 f tl drve. Here N s degrees f mblty rbt typcally eual t sx. Exceedng the permssble levels f mtr currents varables R whch are calculated based n the euatn true f I. F I. tl R false f I. F I. tl I. I. I. I 1. tl I. tl I N 1. tl s perfrmed by means f lgcal where 1... N 1 and values 1 F F N 1 F are generated usng the dgtal crrectn flter cntnuus analgue [7] whch has a transfer functn W F (s) : I. F ( s) WF( s) I( s) 1... N 1 what s mre s s Laplace varable. Cntnuus path speed V К s determned based n the value f the swtchng sgnal R whch depends n turn frm the lgcal varable R characterzng the state f the system drve. Calculatn f the sgnal R s prduced by the fllwng algrthm R R R R 1... N 1

6 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) R 0 when when R R true false. We frst calculate the ntermedate value f cntnuus path speed V vares accrdng t the step functn V V = 0 0 when when R 0 R 1 where V 0 s maxmum allwed value f the cntnuus path speed. Magntude V s smthed usng a dgtal flter. Ths s dne based n the next euatn V К (s) = W ( s) V ( ) F 0 s where W 0 ( s F ) s the transfer functn f the cntnuus dgtal crrectn flter n the frmng netwr f cntnuus path speed. It s mprtant t nte that f all drves wr wthut verlad ( R 0 ) then the algrthm descrbed abve des nt manfest tself and the tl mves at the maxmum allwed speed V 0. In stuatns where the sgnal R becmes eual t 1.e. t s necessary t adjust the cntnuus path speed autmatc frmatn the reured cntnuus path speed ccurs n the scllatn mde. Ther average cmpnent s useful but a varable cmpnent shuld be made as small as pssble. Research has shwn that fluctuatns n the tl pstn ntensvely suppressed ntegratr whch transfrmng the cntnuus path speed t reured path alng the trajectry crrectn flters and clsed lp f drve cntanng relatvely lw-freuency mechancal subsystem. Therefre the ampltude f the frst harmnc fluctuatns f the tl pstn s nversely prprtnal t the freuency f the scllatns expnentatn 4. Thus t s advsable t try t ncrease ths freuency. At the same tme hwever t s desrable t lmt the ampltude f the scllatns f the currents n the mtr wndngs. Ths can be acheved by usng crrectve flters added t the cntrl lp f cntnuus path speed. The structure and parameter values f crrectve flters are chsen s as t ncrease the freuency and reduce fluctuatn ampltude f the tl pstn. The transfer functn f the cntnuus analg flter whch s n a straght chan f the system taen as W T ( s) T s 1 s 1 К1 F 0 К where T К1 T К are flter tme cnstants. Ths flter has an ntegral dfferental character. Its lag element can effectvely reduce the ampltude f scllatns f the tl pstn but wrsens the dynamcs f change cntnuus path speed. Frcng cmpnent serves t ncrease the freuency f scllatns by cmpensatng fr the nfluence f phase shfts ntrduced by the clsed lp drve. Therefre t s recmmended t tae T К = 1 / С where С s cutff freuency f the pen lp serv drve. The transfer functns f the flters ncluded n the mtrs-currents feedbac system are dentcal and are f the frm W ( s) W ( s)... W T ( s) T s 1 s 1 К 3 F 1 F F. N1 К 4 where T К 3 T К 4 are tme cnstants. Frcng cmpnent f the flter s desgned t ntrduce phase advance cmpensatng lag due t the dynamc prpertes f subsystems t cntrl the speed drve. Furthermre ths ln cntrbutes t the reductn f the currents ampltude scllatn. It allws t ncrease the freuency scllatn and brng t clser t the cutff freuency f the pen lp subsystem f the currents cntrl. A further ncrease n

7 1000 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) scllatn freuency s prblematc and mpractcal because wuld ncrease the samplng freuency n the lp current and PWM freuency f the pwer cnverter. Aperdc ln lmts the freuency band n whch the frcng. 3. The results f cmputer smulatn Mdelng and smulatn becmes a pwerful tl n the prduct desgn. Tday s trends n mechatrncs lead t ntegratn f electrncs and cmputer cntrl wth mechancal subsystems [11]. T slve ur prblem we als used a mathematcal mdelng and smulatn. Fg. and 3 shw calculatn graphs f current n the mtr wndng f rbt drve and reured cntnuus path speed wth nnlnear adaptve crrectn. Is seen that due t the actn f crrectn the current lmtatn engne ccurs at a level clse t the setpnt whch eual -18A caused by adaptve cntrl f the frces actng n the tl. Fg. 3 shws that the fluctuatns f reured cntnuus path speed V К ccur n areas where wrs nnlnear crrectn preventng verlad f the drve. Fg.. Changes n the mtr wndng current f the rbt drve. Fg. 3. The graph f the reured cntnuus path speed changes.

8 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) By ntegratng f the calculated speed and flterng prpertes f drve the reured cntnuus path speed almst eual t average cmpnent f these scllatns. In areas where the crrectn f speed s nt reured and the feedbac des nt ccur the reured cntnuus path speed vares accrdng t the dynamcs f flter and tends t a maxmum value f 0 mm / s. Prcess f changng f the devatn frm the reured trajectry f the tl s shwn n fg. 4. Research results shw that by elmnatng vercurrent the serv drves f manpulatr wr n unsn. Impared lcmtr crdnatn des nt arse and the mst laded drve uses all ts pwer capabltes. Fg. 4. Prcess f changng f the devatn frm the reured trajectry f the tl. Therefre a hgh accuracy f mvement f the tl relatve t the reured path s acheved and t s pssble t perfrm the rbtc machnng prcess at the maxmum allwable cntnuus path speed. Mrever these cntnuus paths speed. Mrever ths crcut speed autmatcally adapts dependng n the current prfle f the part. Cnclusn One f the prblems f creatng hgh-perfrmance rbtc machnng s the danger f dstrtng the sze and shape f parts the appearance f defectve gds and functnal falures f prcess eupments. Ths prblem s caused by the pssblty f the dsturbance crdnatn f mvements n dfferent degree f mtn f the rbt as a result f verlad drves f the rbt perfrmng hgh-perfrmance machnng. T slve ths prblem we cnsder that the true actng n the drves depends n the cntnuus path speed f tl. The larger t s the greater these trues and currents are whch flw n the mtr wndngs. At the same tme n absence f verheatng and verladng f the drves these currents shuld nt exceed the allwable levels. Therefre we have prpsed a system f adaptve crrectn f cntnuus path speed based n lgcal analyss and transfrmatn f the sensr sgnals f the currents n the wndngs f mtrs whch prvde nfrmatn abut the lads actng n the drves. Prpsed structure f the rbt cntrl system shuld be used t mplement hgh-perfrmance machnng parts wth use rbtc technlgy. A feature f rbt cntrl system s crrectve nnlnear relatns whch was

9 100 Yu.V. Ilyuhn et al. / Prceda Engneerng 100 ( 015 ) descrbed. These relatns allw carryng ut the adaptve autmatc regulatr f tl cntnuus path speed dependng n the currents f the mtrs. It enables t acheve the maxmum pssble path speed f the tl and verlad f drve. It als maes t acheve cncerted crdnated mvements f all parts f the manpulatr and ncrease prductvty machnng parts. At the same tme the reurements fr the tl lcatn accuracy relatve t the prgram trajectry are acheved. We prpse t frm a prgram f rbt mtn based n plynmal mdels. These mdels descrbe the dependence f manpulatr generalzed crdnates frm tl path alng the reured path. And ths path s calculated by ntegratng by the tme adaptve cntnuus path speed. It s necessary t mantenance f hgh accuracy f tl mvement and t avd drve verladng. Nnlnear adaptve crrectn algrthm generates the reured cntnuus path f rbt tl. It depends n the set maxmum speed and the current values f all the currents f the mtrs f rbt drves and the current f tl drve. The structure and parameters f crrectve flters are chsen s as t ncrease the freuency and reduce the scllatn ampltude f the tl pstn n a mde where cntnuus path speed crrectn s reured. The develpment and results f a cmputer smulatn f nnlnear adaptve cntnuus path speed crrectn algrthm s cmpleted. It shws hgh effcency and apprprateness fr cnstructn prcessng rbts wth hgh perfrmance. Further develpment f apprach t desgn hgh perfrmance rbtc machnng can be asscated wth ts mplementatn n a cmputer system f rbt cntrl wth a seres f expermental researches. In partcular these researches may be amed at clarfyng the adaptve cntrl algrthms tang nt accunt the features f the surface shape f the parts and the values f the sgnal samplng perd n tme. References [1] Ivan A. M. Nclescu A. F. Strajescu E.R. Avram G. C. (01). Rbtc manufacturng expermental research machnng frces analyss fr an alumnum prfle mllng prcess. Annals f DAAAM fr 01 & Prceedngs f the 3rd Internatnal DAAAM Sympsum Vlume 3 N.1 Publshed by DAAAM Internatnal Venna Austra EU 01. [ ] Sernm O. Olfsn B. Rbertsn A. Jhanssn R. (01). Increasng Tme-Effcency and Accuracy f Rbtc Machnng Prcesses Usng Mdel-Based Adaptve Frce Cntrl.10th IFAC Sympsum n Rbt Cntrl SYROCO 01 Dubrvn Crata 01. [3] Mthran N. and Gangadev R. (013). Desgn and Develpment f Cartesan Rbt fr Machnng wth Errr Cmpensatn and Chatter Reductn. Internatnal Jurnal f Engneerng Research and Technlgy. Internatnal Research Publcatn Huse. ISSN Vlume 6 Number [4] Buda E. (006). Analytcal mdels fr hgh perfrmance mllng. Part I: Cuttng frces structural defrmatns and tlerance ntegrty / Internatnal Jurnal f Machne Tls & Manufacture 46 (006) [5] Changy Lu Gu Wang and Matthew Dargusch. (011). Analytcal Cuttng Frces Mdel f Helcal Mllng Operatns. Wrld Academy f Scence Engneerng and Technlgy Vl:5 N: [6] Yue Guan Hanng Guan Gasheng Wang. (014). The Mdelng f Cuttng Frce n Hgh-speed Mllng fr End Mll. Sensrs & Transducers Vl. 177 Issue pp [7] Ilyuhn Yu.V. (014). Cmputer cntrl f mechatrnc systems. MSTU "STANKIN" Mscw 014. Илюхин Ю.В. Компьютерное управление мехатронными системами. ФГБОУ ВО МГТУ «СТАНКИН» Москва 014. [8] Dynamc Effcency Wrng Effcently and wth Prcess Relablty. Techncal Infrmatn. Hedenhan GmbH. Prnted n Germany [9] Mustafaev G.A. Sdrch E.V. (013). The use f sensrs fr adaptve management t mprve the ualty f the machnng n CNC. Yung scentst pp [10] Pduraev Yu.V. (006). Mechatrncs: fundamentals methds applcatns Mechancal engneerng Mscw. одураев Ю.В. Мехатроника: основы методы применение Машиностроение Москва 006. [11] Damc V. Chdar M. Kulenvc M. (011). Physcal mdelng and smulatn f mechatrncs systems by acausal bnd graphs. Annals f DAAAM fr 011 & Prceedngs f the nd Internatnal DAAAM Sympsum Vlume N. 1 ISSN ISBN Edtr B. Katalnc Publshed by DAAAM Internatnal Venna Austra EU 011.