New Technologies, Development and Application
Lecture Notes in Networks and Systems 42 Isak Karabegović Editor
New
Technologies,
Development
and Application
Lecture Notes in Networks and Systems
Volume 42Series editor Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland e-mail: kacprzyk@ibspan.waw.pl
The series “Lecture Notes in Networks and Systems” publishes the latest developments in Networks and Systems—quickly, informally and with high quality. Original research reported in proceedings and post-proceedings represents the core of LNNS.
Volumes published in LNNS embrace all aspects and subfields of, as well as new challenges in, Networks and Systems. The series contains proceedings and edited volumes in systems and networks, spanning the areas of Cyber-Physical Systems, Autonomous Systems, Sensor
Networks, Control Systems, Energy Systems, Automotive Systems, Biological Systems, Vehicular Networking and Connected Vehicles, Aerospace Systems, Automation, Manufacturing, Smart Grids, Nonlinear Systems, Power Systems, Robotics, Social Systems, Economic Systems and other. Of particular value to both the contributors and the readership are the short publication timeframe and the world-wide distribution and exposure which enable both a wide and rapid dissemination of research output.
The series covers the theory, applications, and perspectives on the state of the art and future developments relevant to systems and networks, decision making, control, complex processes and related areas, as embedded in the fields of interdisciplinary and applied sciences, engineering, computer science, physics, economics, social, and life sciences, as well as the paradigms and methodologies behind them. Advisory Board
Fernando Gomide, Department of Computer Engineering and Automation—DCA, School of
Electrical and Computer Engineering—FEEC, University of Campinas—UNICAMP,
São Paulo, Brazil e-mail : gomide@dca.fee.unicamp.brOkyay Kaynak, Department of Electrical and Electronic Engineering, Bogazici University,
Istanbul, Turkey e-mail : okyay.kaynak@boun.edu.trDerong Liu, Department of Electrical and Computer Engineering, University of Illinois
at Chicago, Chicago, USA and Institute of Automation, Chinese Academy of Sciences,
Beijing, China e-mail : derong@uic.eduWitold Pedrycz, Department of Electrical and Computer Engineering, University of Alberta,
Alberta, Canada and Systems Research Institute, Polish Academy of Sciences, Warsaw,
Poland e-mail : wpedrycz@ualberta.caMarios M. Polycarpou, KIOS Research Center for Intelligent Systems and Networks,
Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus
e-mail mpolycar@ucy.ac.cy:
Imre J. Rudas, Óbuda University, Budapest Hungary e-mail: rudas@uni-obuda.hu Jun Wang, Department of Computer Science, City University of Hong Kong Kowloon, Hong Kong e-mail : jwang.cs@cityu.edu.hk
Isak Karabegović Editor
New Technologies,
Development and Application123 Editor Isak Karabegović Technical Faculty Bihać University of Bihać Bihać Bosnia and Herzegovina
ISSN 2367-3370
ISSN 2367-3389 (electronic) Lecture Notes in Networks and Systems
ISBN 978-3-319-90892-2
ISBN 978-3-319-90893-9 (eBook) https://doi.org/10.1007/978-3-319-90893-9 Library of Congress Control Number: 2018942170 © Springer International Publishing AG, part of Springer Nature 2019
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Interdisciplinary Research of New Technologies,
their Development and ApplicationThe content of this book is very interesting and important as it covers a wide range of technologies and technical disciplines including complex systems such as: robotics, mechatronics systems, automation, manufacturing, cyber-physical sys- tems, autonomous systems, sensor, networks, control systems, energy systems, automotive systems, biological systems, vehicular networking and connected vehicles, effectiveness and logistics systems, smart grids, nonlinear systems, power systems, social systems, economic systems and other. The papers included in this content have been presented at the international conference New Technologies, Development and Application, held in Sarajevo, Bosnia and Herzegovina, on 28–30 June 2018. Majority of organized conferences are usually focusing on a narrow part of the issues within a certain discipline while conferences such these are rare. There is a need to hold such conferences. The value of this conference is that various researchers, programmers, engineers and practitioners come to the same place where ideas and latest technology achievements are exchanged. Such events lead to the creation of new ideas, solutions and applications in the manufacturing processes of various technologies. New coexistence is emerging, horizons are expanding, and unexpected changes and analogies arise. Best solutions and applications in technologies are critically evaluated.
The first chapter begins with robots, robotic systems, modelling of compressor systems, mechatronic systems, automation of manufacturing processes and advanced production. The first article offers an analysis of automation of welding processes using industrial robots. The following article in this chapter analyses the modelling of multiphase twin screw machines, commonly used for pumping fluids which often contain gas, liquid and solid particles, and are of exceptional impor- tance to industry and ecology. The following article in this chapter analyses the influence of injection moulding process parameters on part quality. The last article offers a power and control system of knee and ankle powered above knee prosthesis.
The second chapter is intended to innovative and interdisciplinary applications of advanced technologies (IATs). It is based on the analysis (IoT) of technological tools as an opportunity to use new technologies in the development of society as a whole.
vi Interdisciplinary Research of New Technologies, their Development and Application
The first article is devoted to the cybersecurity capacity building planning within organizations. The final article offers application of weighted particle swarm opti- mization to imbalanced data in software defect prediction.
The third chapter is intended to transport systems, logistics and intelligent transport systems. The first article gives an analysis of cooperative control in traffic and transportation technology. The second article provides a solution to traffic control in urban areas, while the final article offers the use of unmanned aerial vehicles in logistics processes.
The fourth chapter is intended to electric power systems with different spectrum of topics from turbulence analysis of wind power plants, pico power plants, high energy efficiency to analysis of combustion technologies with the aim of achieving ecological standards.
The fifth chapter is intended to new methods in agricultural culture of a broad spectrum of topics: modelling the extraction process of sage, effects of sage extract, from occurrence of apple powdery mildew to application of multivariate statistic to classify blueberry fruits, and in addition the detection of heavy metals in hair colours by the atomic absorption spectrophotometry, the content of heavy metals in “PET” bottles of drinking water and its electrical conductivity, microbiological analysis of surface waters and research of antimicrobial resistance of clinical important multiresistant gram-negative bacterial isolates.
The sixth chapter focuses on new technology in civil engineering, education, control quality and other. The first article focuses on nanotechnology in civil engineering. In next article, information about parametric vector analysis of available resources for minimization of project duration is given. The last article in this chapter considers education at universities.
The whole content of this book is intended to a wide range of technical systems; different technical disciplines in order to apply the latest solutions and achievements in technologies and to improve manufacturing processes in all disciplines where systemic thinking has a very important role in the successful understanding and building of human, natural and social systems. We hope this content will be the first in a series of publications that are intended to the development and implementation of new technologies in all industries.
Isak Karabegović Contents
New Technologies in Mechanical Engineering, Metallurgy, Mechatronics, Robotics and Embedded Systems . . . . . .
Isak Karabegović and Riaz Mirza . . . . . . . . . . . . . . . . . . .
Ahmed Kovacevic, Sham Rane, and Nikola Stosic . . .
Janez Gotlih, Miran Brezočnik, Igor Drstvenšek, Timi Karner, and Karl Gotlih . . . . . . . . . . . . . . . . . . . . . . . . . . .
Nermina Zaimović-Uzunović, Ernad Bešlagić, and Almir Porča . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Aleksandra Koprivica, Nikola Šibalić, Milan Vukčević, and Mirjana Jokanović . . . . . . . . . . .
Samir Lemeš and Anel Baručija . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Nikola Knezović and Angela Topić . . . .
Derviš Mujagić, Aida Imamović, Mirsada Oruč, and Sulejman Muhamedagić viii Contents
. . . . . . . . . . . .
Ivan Balashev, Mariel Penev, Ivan Stoyanov, and Radoslav Balashev . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edin Terzić, Raif Seferović, and Narcisa Jarović-Bajramović . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edina Karabegović, Edin Šemić, and Safet Isić Mehmed Mahmić, Edina Karabegović, and Ermin Husak Belma Fakić, Adisa Burić, and Edib Horoz Tonkonogyi Vladimir, Yakimov Alexey, and Bovnegra Liubov Ermin Husak and Erzad Haskić . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emir Nezirić, Safet Isić, Isak Karabegović, and Avdo Voloder . . . . . . . . . . . . . . . . . . . . . .
Darko Šunjić and Stipo Buljan Avdo Voloder Timi Karner, Janez Gotlih, Boštjan Razboršek, and Karl Gotlih Salah-Eldien Omer Milena Djukanovic, Rade Grujicic, Luka Radunovic, and Vuk Boskovic Milos Bubanja, Marina Mijanovic Markus, Milena Djukanovic, and Mihailo Vujovic
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Samir Vojić
Contents ix
Zlata Jelačić and Boran Pikula . . . . . . . . . . . . . . . . . . . . . . . . . Sergiy Kovalevskyy, Olena Kovalevska, and Raul Turmanidze . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Miljan Rupar, Zlata Jelačić, Remzo Dedić, and Adisa Vučina Computer Science, Information and Communication Technologies, e-Business Ramo Šendelj and Ivana Ognjanović Matej Babič, Isak Karabegović, Sanda Ipšič Martinčič, and Gyula Varga
. . . . . . .
Blerina Zanaj, Fatjon Shaba, Majlinnda Belegu, and Gerti Boshnjaku . . . . . . . . . .
Mirha Bičo Ćar, Savo Stupar, and Elvir Šahić . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Savo Stupar, Mirha Bičo Ćar, and Elvir Šahić Elvis Hozdić and Zoran Jurković Saša M. Ćuković, William R. Taylor, and Ionuţ G. Ghionea Mihail Aurel Titu, Bianca Alina Pop, and Stefan Titu Lucija Brezočnik and Vili Podgorelec x Contents
Intelligent Transport Systems, Logistics, Traffic Control
. . . . . . . . . .
Sadko Mandžuka . . . . . . . . . . . . Lejla Banjanovic-Mehmedovic and Mirzet Zukic . . . . . . .
Zlatan Jukic and Muhammad Arshad Martin Gregurić, Sadko Mandžuka, and Edouard Ivanjko Pero Škorput, Sadko Mandžuka, and Markus Schatten
. . . . . . .
Miroslav Vujić, Sadko Mandžuka, and Luka Dedić Malik Čabaravdić, Sanela Čančar, and Anel Husaković . . . . . . .
Jasmina Pašagić Škrinjar, Pero Škorput, and Martina Furdić New Technologies in the Field Energy: Renewable Energy, Power Quality, Advanced Electrical Power Systems Blago Pehar, Elvir Zlomušica, and Suad Zalihić Nihad Hodžić, Sadjit Metović, and Anes Kazagić Milutin Živković, Predrag Dašić, and Zvonko Petrović
. . . . . . . . .
Krsto Batinić, Dušan Golubović, Stojan Simić, and Goran Orašanin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Radoslav Tomović, Aleksandar Tomović, Marko Mumović, and Vuk Vujošević Contents xi
Cristiana Delprete, Arian Bisha, and Erjon Selmani . . . . . Gordana Jovanovic Dolecek and Isak Karabegovic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Branislav Gavrilovic and Zoran Bundalo Aleksandar Košarac, Dejan Romić, Goran Orašanin, and Jovana Blagojević Admir Mulahusić, Jusuf Topoljak, Nedim Tuno, and Karlo Ajvazović Mahmut Jukić and Ifet Šišić New Technologies in Agriculture and Ecology, Chemical Processes . . . . . . . . . . . . . . . . .
2 Sabina Begić, Vladan Mićić, and Darko Manjenčić
. . . . . . . . . . . . . . . . . . . . . . . . . .
Selma Osmić, Sabina Begić, and Vladan Mićić Zemira Delalić Vildana Alibabić, Azra Skender, Melisa Orašćanin, and Ibrahim Mujić Ramzija Cvrk, Azra Begović, Snježana Marić, and Nils V. Juul
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Amir Ganić, Munevera Begić, and Enver Karahmet xii Contents
Mario Krzyk and Darko Drev . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jovana Jovanovic and Svetlana Stevovic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Milutin M. Milosavljević, Milan M. Milosavljević, Milutin Živković, and Ljiljana Pecić Ekrem Pehlić, Aida Šapčanin, Husein Nanić, and Adnan Ćehajić Ekrem Pehlić, Husein Nanić, Huska Jukić, and Aldina Aldžić
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Melisa Zulić, Huska Jukić, Asmir Aldžić, and Adnan Ćehajić . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Asmir Aldžić, Huska Jukić, Kanita Dedić, and Amela Dubinović-Rekić New Technologies in Civil Engineering, Education, Control Quality Merima Šahinagić-Isović, Marko Ćećez, and Fuad Ćatović
. . . . . .
Omer Kurtanović and Lejla Dacić Alim Abazović, Dragi Tiro, and Fuad Ćatović
Contributors
Alim Abazović “Dzemal Bijedic” University of Mostar, Mostar, Bosnia and Herzegovina Karlo Ajvazović University of Sarajevo, Sarajevo, Bosnia and Herzegovina Aldina Aldžić University of Bihac, Bihać, Bosnia and Herzegovina Asmir Aldžić University of Bihać, Bihać, Bosnia and Herzegovina Yakimov Alexey Institute of Industrial Technologies, Design and Management, Odessa National Polytechnic University, Odessa, Ukraine Vildana Alibabić University of Bihać, Bihać, Bosnia and Herzegovina Muhammad Arshad University of Engineering and Technology Lahore, Lahore, Pakistan Matej Babič Jožef Stefan Institute, Ljubljana, Slovenia Ivan Balashev Technical University of Gabrovo, Gabrovo, Bulgaria Radoslav Balashev PRONY Engineering Ltd., Gabrovo, Bulgaria Lejla Banjanovic-Mehmedovic University of Tuzla, Tuzla, Bosnia and Herzegovina Anel Baručija University of Zenica, Zenica, Bosnia and Herzegovina Krsto Batinić University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Munevera Begić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Sabina Begić University of Tuzla, Tuzla, Bosnia and Herzegovina; University of East Sarajevo, Zvornik, Bosnia and Herzegovina Azra Begović Faculty of Technology, University of Tuzla, Tuzla, Bosnia and Herzegovina xiv Contributors
Majlinnda Belegu Agricultural University of Tirana, Tirana, Albania Ernad Bešlagić University of Zenica, Zenica, Bosnia and Herzegovina Arian Bisha Universiteti Politeknik i Tiranes, Tirana, Albania Mirha Bičo Ćar University of Sarajevo, Sarajevo, Bosnia and Herzegovina Jovana Blagojević University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Gerti Boshnjaku New Media Communications, Tirana, Albania Vuk Boskovic University of Montenegro, Podgorica, Montenegro Lucija Brezočnik Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor, Slovenia Miran Brezočnik University of Maribor, Maribor, Slovenia Milos Bubanja University of Montenegro, Podgorica, Montenegro Stipo Buljan Federal Ministry of Energy, Mostar, Bosnia and Herzegovina Zoran Bundalo Railway College of Vocational Studies, Belgrade, Serbia Adisa Burić University of Zenica, Metallurgical Institute “Kemal Kapetanović”, Zenica, Bosnia and Herzegovina Malik Čabaravdić University of Zenica, Zenica, Bosnia and Herzegovina Sanela Čančar University of Zenica, Zenica, Bosnia and Herzegovina Fuad Ćatović “Džemal Bijedić” University of Mostar, Mostar, Bosnia and Herzegovina Marko Ćećez “Džemal Bijedić” University of Mostar, Mostar, Bosnia and Herzegovina Adnan Ćehajić University of Bihać, Bihać, Bosnia and Herzegovina Saša M. Ćuković Department of Health Sciences and Technology, Institute for Biomechanics, Swiss Federal Institute of Technology – ETH Zurich, Zurich, Switzerland Ramzija Cvrk Faculty of Technology, University of Tuzla, Tuzla, Bosnia and Herzegovina Lejla Dacić University of Travnik, Travnik, Bosnia and Herzegovina Predrag Dašić High Technical Mechanical School of Professional Studies, Trstenik, Serbia Kanita Dedić Cantonal Hospital, “Dr. Irfan Ljubijankić” Bihac, Bihac, Bosnia and Herzegovina
Contributors xv
Luka Dedić University of Zagreb, Zagreb, Croatia Remzo Dedić University of Mostar, Mostar, Bosnia and Herzegovina Zemira Delalić University of Bihać, Bihać, Bosnia and Herzegovina Cristiana Delprete Politecnico di Torino, Turin, Italy Milena Djukanovic University of Montenegro, Podgorica, Montenegro Darko Drev University of Ljubljana, Ljubljana, Slovenia Igor Drstvenšek University of Maribor, Maribor, Slovenia Amela Dubinović-Rekić Cantonal Hospital, “Dr. Irfan Ljubijankić” Bihac, Bihac, Bosnia and Herzegovina Belma Fakić University of Zenica, Metallurgical Institute “Kemal Kapetanović”, Zenica, Bosnia and Herzegovina Martina Furdić University of Zagreb, Zagreb, Croatia Amir Ganić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Branislav Gavrilovic Railway College of Vocational Studies, Belgrade, Serbia Ionuţ G. Ghionea Faculty of Engineering and Management of Technological Systems, University Politehnica of Bucharest, Bucharest, Romania Dušan Golubović University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Janez Gotlih University of Maribor, Maribor, Slovenia Karl Gotlih University of Maribor, Maribor, Slovenia Martin Gregurić University of Zagreb, Zagreb, Croatia Rade Grujicic University of Montenegro, Podgorica, Montenegro Erzad Haskić University of Bihać, Bihać, Bosnia and Herzegovina Nihad Hodžić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Edib Horoz University of Zenica, Metallurgical Institute “Kemal Kapetanović”, Zenica, Bosnia and Herzegovina Elvis Hozdić University of Ljubljana, Ljubljana, Slovenia Ermin Husak University of Bihać, Bihać, Bosnia and Herzegovina Anel Husaković University of Zenica, Zenica, Bosnia and Herzegovina Aida Imamović Institute “Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina xvi Contributors
Safet Isić Faculty of Mechanical Engineering, University “Džemal Bijedić” Mostar, Mostar, Bosnia and Herzegovina Edouard Ivanjko University of Zagreb, Zagreb, Croatia Narcisa Jarović-Bajramović Metallurgical Institute
“Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina Zlata Jelačić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Mirjana Jokanović University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Gordana Jovanovic Dolecek Institute INAOE, Puebla, Mexico Jovana Jovanovic University Union Nikola Tesla, Belgrade, Serbia Zlatan Jukic HTL Rankweil & Vienna University of Technology, Vienna, Austria Huska Jukić University of Bihać, Bihać, Bosnia and Herzegovina Mahmut Jukić University of Bihac, Bihać, Bosnia and Herzegovina Zoran Jurković University of Rijeka, Rijeka, Croatia Nils
V. Juul Sør-Trøndelag University College (HiST), Høgskolen i Sør-Trøndelag, Trondheim, Norway Edina Karabegović Faculty of Technical Engineering Bihać, University of Bihać, Bihać, Bosnia and Herzegovina Isak Karabegović Technical Faculty, University of Bihać, Bihać, Bosnia and Herzegovina Enver Karahmet University of Sarajevo, Sarajevo, Bosnia and Herzegovina Timi Karner University of Maribor, Maribor, Slovenia Anes Kazagić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Nikola Knezović University of Mostar, Mostar, Bosnia and Herzegovina Aleksandra Koprivica University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Ahmed Kovacevic Centre for Compressor Technology, City, University of London, London, UK Olena Kovalevska Department of Machine Building Technology, Donbass State Engineering Academy, Kramatorsk, Ukraine Sergiy Kovalevskyy Department of Machine Building Technology, Donbass State Engineering Academy, Kramatorsk, Ukraine Contributors xvii
Aleksandar Košarac University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Mario Krzyk University of Ljubljana, Ljubljana, Slovenia Omer Kurtanović University of Bihac, Bihać, Bosnia and Herzegovina Samir Lemeš University of Zenica, Zenica, Bosnia and Herzegovina Bovnegra Liubov Institute of Industrial Technologies, Design and Management, Odessa National Polytechnic University, Odessa, Ukraine Mehmed Mahmić University of Bihać, Bihać, Bosnia and Herzegovina Sadko Mandžuka Faculty of Traffic and Transport Sciences, University of Zagreb, Zagreb, Croatia Darko Manjenčić University of Novi Sad, Novi Sad, Serbia Snježana Marić Faculty of Technology, University of Tuzla, Tuzla, Bosnia and Herzegovina Marina Mijanovic Markus University of Montenegro, Podgorica, Montenegro Sanda Ipšič Martinčič University of Rijeka, Rijeka, Croatia Sadjit Metović University of Sarajevo, Sarajevo, Bosnia and Herzegovina Milan M. Milosavljević University of Priština, Kosovska Mitrovica, Serbia Milutin M. Milosavljević University of Priština, Kosovska Mitrovica, Serbia Riaz Mirza University of Engineering & Technology, Lahore, Pakistan Vladan Mićić University of Tuzla, Tuzla, Bosnia and Herzegovina; University of East Sarajevo, Zvornik, Bosnia and Herzegovina Sulejman Muhamedagić Institute “Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina Derviš Mujagić Institute “Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina Ibrahim Mujić University of Bihać, Bihać, Bosnia and Herzegovina; Colegium Fluminense Polytechnic of Rijeka, Rijeka, Croatia Admir Mulahusić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Marko Mumović University of Montenegro, Podgorica, Montenegro Husein Nanić University of Bihac, Bihać, Bosnia and Herzegovina Emir Nezirić ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia and Herzegovina xviii Contributors
Ivana Ognjanović University of Donja Gorica, Podgorica, Montenegro Salah-Eldien Omer SAG CONSULTING d.o.o., Zagreb, Croatia Goran Orašanin University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Melisa Orašćanin University of Bihać, Bihać, Bosnia and Herzegovina Mirsada Oruč Institute “Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina Selma Osmić University of Tuzla, Tuzla, Bosnia and Herzegovina Ljiljana Pecić Bachelor School for Professional Technical Studies, Trstenik, Serbia Blago Pehar ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia and Herzegovina Ekrem Pehlić University of Bihac, Bihać, Bosnia and Herzegovina Mariel Penev Technical University of Gabrovo, Gabrovo, Bulgaria Zvonko Petrović High Technical Mechanical School of Professional Studies, Trstenik, Serbia Boran Pikula University of Sarajevo, Sarajevo, Bosnia and Herzegovina Vili Podgorelec Faculty of Electrical Engineering and Computer Science, University of Maribor, Maribor, Slovenia Bianca Alina Pop SC TEHNOCAD SA, Baia Mare, Romania Almir Porča University of Zenica, Zenica, Bosnia and Herzegovina Luka Radunovic University of Montenegro, Podgorica, Montenegro Sham Rane Department of Engineering Science, University of Oxford, Oxford, UK Boštjan Razboršek University of Maribor, Maribor, Slovenia Dejan Romić University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Miljan Rupar University of Mostar, Mostar, Bosnia and Herzegovina Markus Schatten University of Zagreb, Zagreb, Croatia Raif Seferović Metallurgical Institute “Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina Erjon Selmani Universiteti Politeknik i Tiranes, Tirana, Albania Fatjon Shaba New Media Communications, Tirana, Albania
Contributors xix
Stojan Simić University of East Sarajevo, East Sarajevo, Bosnia and Herzegovina Azra Skender University of Bihać, Bihać, Bosnia and Herzegovina Svetlana Stevovic University of Beograd, Belgrade, Serbia Nikola Stosic Centre for Compressor Technology, City, University of London, London, UK Ivan Stoyanov Podem Gabrovo Ltd., Gabrovo, Bulgaria Savo Stupar University of Sarajevo, Sarajevo, Bosnia and Herzegovina William R. Taylor Department of Health Sciences and Technology, Institute for Biomechanics, Swiss Federal Institute of Technology – ETH Zurich, Zurich, Switzerland Edin Terzić Metallurgical Institute “Kemal Kapetanović”, University of Zenica, Zenica, Bosnia and Herzegovina Dragi Tiro “Dzemal Bijedic” University of Mostar, Mostar, Bosnia and Herzegovina Mihail Aurel Titu Lucian Blaga University of Sibiu, Sibiu, Romania Stefan Titu The Oncology Institute “Prof. dr. Ion Chiricuță” Cluj Napoca, Cluj-Napoca, Romania Aleksandar Tomović University of Montenegro, Podgorica, Montenegro Radoslav Tomović University of Montenegro, Podgorica, Montenegro Angela Topić University of Mostar, Mostar, Bosnia and Herzegovina Jusuf Topoljak University of Sarajevo, Sarajevo, Bosnia and Herzegovina Nedim Tuno University of Sarajevo, Sarajevo, Bosnia and Herzegovina Raul Turmanidze Department of Machine Building Technology, Donbass State Engineering Academy, Kramatorsk, Ukraine Gyula Varga University of Miskolc, Miskolc, Hungary Tonkonogyi Vladimir Institute of Industrial Technologies, Design and Management, Odessa National Polytechnic University, Odessa, Ukraine Samir Vojić Technical Faculty Bihać, University of Bihać, Bihać, Bosnia and Herzegovina Avdo Voloder Faculty of Mechanical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina Adisa Vučina University of Mostar, Mostar, Bosnia and Herzegovina Miroslav Vujić University of Zagreb, Zagreb, Croatia xx Contributors
Mihailo Vujovic University of Montenegro, Podgorica, Montenegro Vuk Vujošević University of Montenegro, Podgorica, Montenegro Milan Vukčević University of Montenegro, Podgorica, Montenegro Nermina Zaimović-Uzunović University of Zenica, Zenica, Bosnia and Herzegovina Suad Zalihić ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia and Herzegovina Blerina Zanaj Agricultural University of Tirana, Tirana, Albania Elvir Zlomušica ‘‘Džemal Bijedić’’ University of Mostar, Mostar, Bosnia and Herzegovina Mirzet Zukic University of Tuzla, Tuzla, Bosnia and Herzegovina Melisa Zulić University of Bihać, Bihać, Bosnia and Herzegovina Merima Šahinagić-Isović “Džemal Bijedić” University of Mostar, Mostar, Bosnia and Herzegovina Elvir Šahić University of Sarajevo, Sarajevo, Bosnia and Herzegovina Aida Šapčanin Faculty of Pharmacy, University of Sarajevo, Sarajevo, Bosnia and Herzegovina Edin Šemić Faculty of Mechanical Engineering, University “Džemal Bijedić” Mostar, Mostar, Bosnia and Herzegovina Ramo Šendelj University of Donja Gorica, Podgorica, Montenegro Nikola Šibalić University of Montenegro, Podgorica, Montenegro Ifet Šišić University of Bihac, Bihać, Bosnia and Herzegovina Pero Škorput University of Zagreb, Zagreb, Croatia Jasmina Pašagić Škrinjar University of Zagreb, Zagreb, Croatia Darko Šunjić University of Mostar, Mostar, Bosnia and Herzegovina Milutin Živković High Technical Mechanical School of Professional Studies, Trstenik, Serbia Milutin Živković Bachelor School for Professional Technical Studies, Trstenik, Serbia
New Technologies in Mechanical
Engineering, Metallurgy, Mechatronics,
Robotics and Embedded Systems
Automation of the Welding Process
by Use of Industrial Robots
1( )
2
✉ Isak Karabegović and Riaz Mirza
1 University of Bihać, 77000 Bihać, Bosnia and Herzegovina
isak1910@hotmail.com
2 University of Engineering & Technology, Lahore, Pakistan
mriazmirza@uet.edu.pk
Abstract. The development of robotic technology, owing to the advancement
of digital technology, is evolving each year, resulting in increased representation of industrial robots. We are currently in the fourth industrial revolution, referred to as “Industry 4.0” by the Germans. The implementation of the fourth techno‐ logical revolution depends on a series of new and innovative technological achievements, most of which are applied in robotic technology. Automation of production processes, including automation of the welding process, must include industrial robots. This paper demonstrates the representation of industrial robots in the world continents, and four top countries: China, Japan, North America and Germany. An analysis was conducted of the annual representation of industrial robots in the welding process worldwide and on continents of Asia/Australia, Europe, and Americas, for the period 2010–2016. As it is known that industrial robots are most represented in the automotive industry, a tendency of their repre‐ sentation was depicted in the automotive industry for the same period, as well as the percentage in all industrial branches by 2016. Industrial robots are most widely used in two welding processes: arc welding and spot welding, so an analysis of their representation in these two welding processes for the period 2010–2016 was conducted. A comparative analysis of the annual production of vehicles in four countries was made: China, Japan, USA and Germany, as well as the presence of robots in these countries in the welding processes. The paper also includes the analysis and possibilities of future industrial robot representation in this area.
Keywords: Industry · Process · Robot · Welding · Arc welding · Spot welding
Application
1 Introduction
The production process in any industry branch is unconceivable without the use of industrial robots. The automation process in the industry started in the 1960s when industrial robots were introduced, and it continues to this day. The process of automation of production process with application of the first-generation industrial robots at that time period was positive because they replaced people in performing difficult and dangerous jobs. This was a rigid and non-flexible automation, because in order to initiate the production of another product in the same manufacturing process, it was necessary
4
I. Karabegović and R. Mirza to reprogram each robot with its grips, changing tools, etc., which in return caused long- lasting delays in the production and presented additional production costs. We must also state the fact that industrial robots were enclosed with fences for reasons not to hurt the workers engaged in the production process. With the continuous automation of produc‐ tion processes and their flexibility, as well as demands for constant change in production lines, the function of industrial robot becomes increasingly demanding and complex with the tendency of increasing the use of industrial robots. Every day we have techno‐ logical improvements in terms of flexibility, accuracy, security and simplification of the use of industrial robots. Medium and small businesses will start using flexible automa‐ tion in order to be competitive in the market. The presence of industrial robots is still the largest in the automotive industry in the welding process, but other industries do not lag behind in increasing the use of industrial robots. Industrial robots are ideal for jobs that are considered to be difficult and disadvantageous for people, and jobs that are hazardous to their health, particularly welding. They are used for repetitive jobs that are considered monotonous, as well as for products which require high quality and high productivity, such as automotive industry. Various industrial robots have been designed precisely for a specific type of task. The application of robotic systems in the industry also presents the humanization of work, and the best example is the welding processes in any industry [
]. Industrial robots are used for arc welding, spot
welding, laser welding, soldering and other types of welding. The paper presents the analysis of the use of industrial robots in the world, by continents, as well as in the four countries where the automotive industry is the most represented, i.e. in the countries where the most vehicles are produced. In addition, the tendency of representation of industrial robots is presented in two welding processes: arc welding and spot welding, since these two welding processes mostly use industrial robots. When it comes to the transformation of production processes, we are referring to their modernization, with the aim of achieving intelligent production processes. This process is unimaginable without the presence of both industrial and service robots of the new generation. The new generation of robots must be intelligent and autonomous, i.e. to make independent decisions and communicate with people and machines. The application of such industrial and service robots will increase the reliability of the manufacturing process, reduce the time to create the finished product, and enable adapting and precision in performing tasks that exceed human capabilities.
2 The Representation of Industrial Robots
In order to depict the representation of industrial robots in production processes world‐ wide, the data for statistical analysis were taken from the International Federation of Robotics (IFR), the UN Economic Commission for Europe (UNECE) and the Organi‐
- zation for Economic Co-operation and Development (OECD) [
.
Worldwide representation of industrial robots at an annual level in the period 2009– 2016 is continually increasing, as shown in Fig.
with the recorded decrease in
representation in 2012. In early 2008, there was an economic and industrial crisis in the
Number of units 300.000 2.000 250.000 Automation of the Welding Process by Use of Industrial Robots 259.000 Number of units x 1000 1.800 1.600 1.828.024
5 100.000 150.000 1.000 200.000 1.020.731 50.000 60.011 1.200 1.400 600 800 200 400 2009 2010 2011 2012 2013 2014 2015 2016 2009 2010 2011 2012 2013 2014 2015 2016
Fig. 1. The representation of industrial robots in the automation of production processes in the
world on annual and total level for the period 2009–2016 world that reflected the annual presence of industrial robots, so that the lowest repre‐ sentation of only 60.011 industrial robot units was marked in 2009. We can point out that the increase in the number of industrial robots in the world is growing from year to year, so that in 2016 the tendency of use has raised to 259.000 industrial robot units. The reasons for this tendency of representation of industrial robots are many, including the fact that companies want to be competitive in the market and introduce automation into their production processes, which reflects the presence of industrial robots. Other reasons include the development of robotic technology and the fourth digital revolution that simplifies the use of robots in production processes, decreasing price of industrial robots, etc. In order to depict the actual representation of industrial robots in the world, we have to conduct an analysis of their representation on annual and total level by 200.000 250.000 [
191.000 1.000.000 1.200.000 Asia/Australia 1.024.897 150.000 100.000 50.000 Europa Asia/Australia Americas 56.000 200.000 800.000 600.000 459.937 400.000 Americas Europa 299.503 2010 2011 2012 2013 2014 2015 2016 2010 2011 2012 2013 2014 2015 2016 41.000
Fig. 2. The representation of industrial robots in the automation of production processes in the
world on annual and total level for the period 2010–2016 The tendency of representation of industrial robots at the annual level, Fig.
.a, indi‐
cates that Asia/Australia holds the first place by the presence of industrial robots in the production processes of the industry. We see the continuous increase in the application of robots in production processes from year to year in the period 2010–2016, so that the representation reached about 191.000 industrial robot units in 2016. The second place is held by Europe, that demonstrates a growing tendency, but unlike Asia/Australia, it is a slight increase from year to year. In 2016 it reached the value of about 56.000
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I. Karabegović and R. Mirza industrial robot units, which compared to Asia/Australia is almost four times less. The third place is held by America with a slight increasing tendency, with about 41.000 industrial robot units used in 2016, which is around five times less than Asia/Australia in the same year. In regard to the representation of industrial robots at the overall level, Fig.
, we can see that the tendency in all three continents has a growing character. It
is more distinct in Asia/Australia, which holds the first place, and in 2016 the represen‐ tation reached about 1 million industrial robot units. Europe has a slower tendency of representation, which in 2016 reached about 460.000 units, whereas America marked around 300.000 industrial robot units in the same year. There is a far less difference in the representation of industrial robots in Europe and America compared to Asia/ Australia at the overall level than at the annual level. We have to note that the analysis did not include the continent of Africa, because the representation is very small and cannot be compared with other three continents. We have conducted the analysis of the representation of industrial robots in the four developed countries in the world where industrial robots are most widely used. The tendency of presence of industrial robots in these countries is shown in Fig. Number of units
]. China 87.000 Japan US A 38.586 31.405 Germany 20.039
Fig. 3. Annual tendency of representation of industrial robots in the period 2010–2016 in four
top countries: China, Japan, USA and Germany Four countries have been selected: China, Japan, USA and Germany, since Japan,
USA and Germany are among the most developed countries in the world, while China with implementation of government strategy called “Made in China 2025” aims to become one of the technologically most developed countries in the world by 2025. Another reason why these countries are selected for the analysis is that these countries produce the largest number of vehicles in the world, area in which industrial robots are most represented. Based on Fig.
we can conclude that the first place by the represen‐
tation of industrial robots in production processes is held by China, with an increasing tendency each year. In period from 2010 to 2016, China has increased the representation of industrial robots six times, so that in 2016 about 87.000 robots were applied, which is twice as high as Japan, almost three times more than the USA and four times more than Germany, and it confirms the fact that their strategy is giving positive results when industrial production is concerned. The second place by the presence of industrial robots is held by Japan, with slight increase in the representation that reached 38.586 robot
Automation of the Welding Process by Use of Industrial Robots
7 units in 2016. The third place is held by USA, with the similar increasing trend of use of industrial robots in the recent years, which in 2016 amounted to about 31.400 robot units. The fourth place is reserved for Germany, where tendency is constant over the last few years, and in 2016 it reached about 20.000 industrial robot units. Industrial robots are installed on those jobs where they can protect the health of workers, assist them with heavy and monotonous jobs, and gain greater accuracy. The first group of tasks includes all welding processes, because they are harmful for health, and are largely used in the automotive industry where automation of welding processes is advanced
]. For these reasons we have conducted the analysis of the representation of industrial robots in the welding processes.
3 Automation of Welding Production Processes by Use of Industrial
RobotsWelding procedures: spot welding, arc welding, laser welding, and soldering are part of procedures that are dangerous for workers to perform because of the dangerous gases that can damage their health. In addition, these are boring, difficult and monotonous jobs that should be avoided by the workers. Industrial robots must be used instead, except in specific tasks when it is not possible to apply robots. In order to obtain the real illustration of the automation of these jobs in the world, we need to conduct an analysis of the representation of industrial robots in welding processes. The representation of industrial robots in welding processes is shown in Fig.
The statistical data on the tendency of
representation of industrial robots were obtained from the International Federation of Robotics (IFR), the UN Economic Commission for Europe (UNECE) and the Organi‐ zation for Economic Co-operation development (OECD) Number of units W World 6 65.004 ]. Asia/A ustralia
Europa
Ame ricas 1 13.154 41.439 8.186
Fig. 4. Annual tendency of representation of industrial robots in the welding process worldwide
- – and on the continents of Asia/Australia, Europe and North America for the period 2010–2016
, the tendency of industrial robot representation in welding
processes in the world is growing in the period 2010–2016, disregarding slight devia‐ tions in 2012. In 2016 about 65.000 industrial robot units were used in the welding processes. Compared to the total use of industrial robots in the world in the same year,