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Marian Janusz Łopatka
Robots and Machinery Design Institute, Faculty of Mechanical Engineering, Military University of Technology in Warsaw

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Conference paper
Published: 25 June 2021 in MATEC Web of Conferences
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The paper reviews the machine operators support technologies used in carrying out work tasks. The limitations of the current design solutions have been identified. The construction of control systems using haptic feedback was discussed and the research carried out on this technology was reviewed. The concept of hydraulic manipulator tool and its haptic feedback control system for monitoring loads during working movements is presented. The concept of the test stand for testing haptic feedback control systems and the preliminary experiment plan are presented.

ACS Style

Marian Janusz Łopatka; Daniel Sterniczuk. Problems of using haptic feedback to control manipulator tools. MATEC Web of Conferences 2021, 338, 01014 .

AMA Style

Marian Janusz Łopatka, Daniel Sterniczuk. Problems of using haptic feedback to control manipulator tools. MATEC Web of Conferences. 2021; 338 ():01014.

Chicago/Turabian Style

Marian Janusz Łopatka; Daniel Sterniczuk. 2021. "Problems of using haptic feedback to control manipulator tools." MATEC Web of Conferences 338, no. : 01014.

Journal article
Published: 15 June 2021 in Energies
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The efficiency of a skid-steer, all-wheel drive, multiple-axle vehicle with a hydrostatic drivetrain equipped with low-speed motors when it operates on soft terrain was studied. A flow divider enables a single pump to simultaneously power more than one motor circuit with different pressures in each. It prevents kinematic discrepancy and improves vehicle mobility. There are two types of flow divider: spool type and gear type, where each type has its own set of performance characteristics, such as flow range, pressure drop, accuracy and application parameters. In the present work, the influence of the characteristics of both types of flow divider on overall vehicle driveline efficacy is described.

ACS Style

Mirosław Przybysz; Marian Łopatka; Marcin Małek; Arkadiusz Rubiec. Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle. Energies 2021, 14, 3560 .

AMA Style

Mirosław Przybysz, Marian Łopatka, Marcin Małek, Arkadiusz Rubiec. Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle. Energies. 2021; 14 (12):3560.

Chicago/Turabian Style

Mirosław Przybysz; Marian Łopatka; Marcin Małek; Arkadiusz Rubiec. 2021. "Influence of Flow Divider on Overall Efficiency of a Hydrostatic Drivetrain of a Skid-Steer All-Wheel Drive Multiple-Axle Vehicle." Energies 14, no. 12: 3560.

Journal article
Published: 16 October 2020 in Challenges to national defence in contemporary geopolitical situation
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ACS Style

Marian J. Lopatka. UGV for Close Support Dismounted Operations – Current Possibility to Fulfil Military Demand. Challenges to national defence in contemporary geopolitical situation 2020, 2020, 16 -23.

AMA Style

Marian J. Lopatka. UGV for Close Support Dismounted Operations – Current Possibility to Fulfil Military Demand. Challenges to national defence in contemporary geopolitical situation. 2020; 2020 (1):16-23.

Chicago/Turabian Style

Marian J. Lopatka. 2020. "UGV for Close Support Dismounted Operations – Current Possibility to Fulfil Military Demand." Challenges to national defence in contemporary geopolitical situation 2020, no. 1: 16-23.

Journal article
Published: 19 August 2020 in Applied Sciences
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Heavy-wheeled vehicles with articulated hydraulic steering systems are widely used in construction, road building, forestry, and agriculture, as transport units and tool-carriers because they have many unique advantages that are not available in car steering systems, based on the Ackermann principle, such as—high cross-country mobility, excellent maneuverability, and high payload and lift capacity, due to heavy axles components. One problem that limits their speed of operation and use efficiency is that they have poor directional stability. During straight movement, articulated tractors’ deviate from a straight line and permanent driver correction is required. This limits the vehicles’ speed and productivity. In this study, we describe a driver-aid system concept that would improve the directional stability of articulated vehicles. Designing such a system demands a comprehensive knowledge of the reasons for the snaking phenomenon and driver behaviors. The results of our articulated vehicle directional stability investigation are presented. On this basis, we developed models of articulated vehicles with hydraulic steering systems and driver interaction. We next added the stabilizing system to the model. A simulation demonstrated the possibility of directional stability improvement.

ACS Style

Marian J. Łopatka; Arkadiusz Rubiec. Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System. Applied Sciences 2020, 10, 5747 .

AMA Style

Marian J. Łopatka, Arkadiusz Rubiec. Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System. Applied Sciences. 2020; 10 (17):5747.

Chicago/Turabian Style

Marian J. Łopatka; Arkadiusz Rubiec. 2020. "Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System." Applied Sciences 10, no. 17: 5747.

Conference paper
Published: 29 October 2018 in AIP Conference Proceedings
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In this paper, the scope of operations performed by robots to neutralize IED is presented. Next, the concept of the robot manipulators set for the quick neutralization of the IED was presented. The concept includes: kinematics, models of individual parts of the manipulators set shown on the assembly model, proposed tools and drive system. The assumptions for simulation in the MSC Adams program and results of simulations were presented. It was concluded that dynamic loads during fast work of manipulators determine the load limits of the structure. The possibility and legitimacy of the manipulator was confirmed. In this paper concept of the set of manipulators for such operations is shown.

ACS Style

Marian Janusz Łopatka; Daniel Sterniczuk. Concept of the manipulators set for fast IEDs neutralization. AIP Conference Proceedings 2018, 2029, 020037 .

AMA Style

Marian Janusz Łopatka, Daniel Sterniczuk. Concept of the manipulators set for fast IEDs neutralization. AIP Conference Proceedings. 2018; 2029 (1):020037.

Chicago/Turabian Style

Marian Janusz Łopatka; Daniel Sterniczuk. 2018. "Concept of the manipulators set for fast IEDs neutralization." AIP Conference Proceedings 2029, no. 1: 020037.

Conference paper
Published: 01 October 2018 in 2018 New Trends in Signal Processing (NTSP)
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ACS Style

Krzysztof Malon; Jerzy Lopatka; Lukasz Rykala; Marian Lopatka. Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles. 2018 New Trends in Signal Processing (NTSP) 2018, 1 .

AMA Style

Krzysztof Malon, Jerzy Lopatka, Lukasz Rykala, Marian Lopatka. Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles. 2018 New Trends in Signal Processing (NTSP). 2018; ():1.

Chicago/Turabian Style

Krzysztof Malon; Jerzy Lopatka; Lukasz Rykala; Marian Lopatka. 2018. "Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles." 2018 New Trends in Signal Processing (NTSP) , no. : 1.

Conference paper
Published: 01 August 2018 in 2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)
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The improvement of intuitive control of engineer robot manipulators caused the development of special control lever mechanisms. This approach has reduced the psycho-physical fatigue of the operator by automating the movement of individual manipulator units based on the control of its working tool. The article presents experimental accuracy control for one of the typical kinematic structures of engineer robot's manipulator using lever mechanism. Taking into consideration, a model of such a mechanism and a control algorithm that uses the operation of typical regulators were developed and made. Based on the movement of the manipulator's working tool along the assumed horizontal trajectory for different speeds of movement the errors in running working tool were determined. For the assessment the indicators related to the characteristics of the obtained trajectories and pressure runs in individual hydraulic cylinders were used.

ACS Style

Piotr Krogul; Stanislaw Konopka; Marian Lopatka. Accuracy Control Studies of Engineer Robot Manipulator of Serial-to-Parralel Kinematic Structure. 2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) 2018, 498 -502.

AMA Style

Piotr Krogul, Stanislaw Konopka, Marian Lopatka. Accuracy Control Studies of Engineer Robot Manipulator of Serial-to-Parralel Kinematic Structure. 2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR). 2018; ():498-502.

Chicago/Turabian Style

Piotr Krogul; Stanislaw Konopka; Marian Lopatka. 2018. "Accuracy Control Studies of Engineer Robot Manipulator of Serial-to-Parralel Kinematic Structure." 2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR) , no. : 498-502.

Journal article
Published: 25 April 2018 in Challenges to national defence in contemporary geopolitical situation
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ACS Style

Marian Janusz Łopatka. Assessment of River Crossing Possibility with Existing Pontoon Bridge. Challenges to national defence in contemporary geopolitical situation 2018, 2018, 25 -31.

AMA Style

Marian Janusz Łopatka. Assessment of River Crossing Possibility with Existing Pontoon Bridge. Challenges to national defence in contemporary geopolitical situation. 2018; 2018 (1):25-31.

Chicago/Turabian Style

Marian Janusz Łopatka. 2018. "Assessment of River Crossing Possibility with Existing Pontoon Bridge." Challenges to national defence in contemporary geopolitical situation 2018, no. 1: 25-31.

Journal article
Published: 25 April 2018 in Challenges to national defence in contemporary geopolitical situation
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ACS Style

Marian Janusz Łopatka; Tomasz Muszyński. Analysis of Dismounted Operation Support with Robots. Challenges to national defence in contemporary geopolitical situation 2018, 2018, 8 -14.

AMA Style

Marian Janusz Łopatka, Tomasz Muszyński. Analysis of Dismounted Operation Support with Robots. Challenges to national defence in contemporary geopolitical situation. 2018; 2018 (1):8-14.

Chicago/Turabian Style

Marian Janusz Łopatka; Tomasz Muszyński. 2018. "Analysis of Dismounted Operation Support with Robots." Challenges to national defence in contemporary geopolitical situation 2018, no. 1: 8-14.

Journal article
Published: 25 April 2018 in Challenges to national defence in contemporary geopolitical situation
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ACS Style

Marian Janusz Łopatka. Analysis of Engineer Obstacle Negotiation Possibility with Grouping Robots. Challenges to national defence in contemporary geopolitical situation 2018, 2018, 71 -77.

AMA Style

Marian Janusz Łopatka. Analysis of Engineer Obstacle Negotiation Possibility with Grouping Robots. Challenges to national defence in contemporary geopolitical situation. 2018; 2018 (1):71-77.

Chicago/Turabian Style

Marian Janusz Łopatka. 2018. "Analysis of Engineer Obstacle Negotiation Possibility with Grouping Robots." Challenges to national defence in contemporary geopolitical situation 2018, no. 1: 71-77.

Journal article
Published: 25 April 2018 in Challenges to national defence in contemporary geopolitical situation
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ACS Style

Marian Janusz Łopatka; Tomasz Muszyński. Future Robots Using in C-IED Detection. Challenges to national defence in contemporary geopolitical situation 2018, 2018, 40 -45.

AMA Style

Marian Janusz Łopatka, Tomasz Muszyński. Future Robots Using in C-IED Detection. Challenges to national defence in contemporary geopolitical situation. 2018; 2018 (1):40-45.

Chicago/Turabian Style

Marian Janusz Łopatka; Tomasz Muszyński. 2018. "Future Robots Using in C-IED Detection." Challenges to national defence in contemporary geopolitical situation 2018, no. 1: 40-45.

Journal article
Published: 25 April 2018 in Challenges to national defence in contemporary geopolitical situation
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ACS Style

Marian Janusz Łopatka. Heavy Robots for C-IED Operations. Challenges to national defence in contemporary geopolitical situation 2018, 2018, 60 -66.

AMA Style

Marian Janusz Łopatka. Heavy Robots for C-IED Operations. Challenges to national defence in contemporary geopolitical situation. 2018; 2018 (1):60-66.

Chicago/Turabian Style

Marian Janusz Łopatka. 2018. "Heavy Robots for C-IED Operations." Challenges to national defence in contemporary geopolitical situation 2018, no. 1: 60-66.

Conference paper
Published: 01 January 2018 in COMPUTER METHODS IN MECHANICS (CMM2017): Proceedings of the 22nd International Conference on Computer Methods in Mechanics
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The work presents the dynamic equations of motion of a unmanned six-wheeled vehicle with mecanum wheels for rescue applications derived with the of Lagrange equations of the second kind with multipliers. Analysed vehicle through using mecanum wheels has three degrees of freedom and can move on a flat ground in any direction with any configuration of platform’s frame. In order to derive dynamic equations of motion of mentioned object, kinetic potential of the system and generalized forces affecting the system are determined. The results of a solution of inverse dynamics problem are also published.

ACS Style

Andrzej Typiak; Marian Janusz Łopatka; Magdalena Rykała; Magdalena Kijek. Dynamics of omnidirectional unmanned rescue vehicle with mecanum wheels. COMPUTER METHODS IN MECHANICS (CMM2017): Proceedings of the 22nd International Conference on Computer Methods in Mechanics 2018, 1 .

AMA Style

Andrzej Typiak, Marian Janusz Łopatka, Magdalena Rykała, Magdalena Kijek. Dynamics of omnidirectional unmanned rescue vehicle with mecanum wheels. COMPUTER METHODS IN MECHANICS (CMM2017): Proceedings of the 22nd International Conference on Computer Methods in Mechanics. 2018; ():1.

Chicago/Turabian Style

Andrzej Typiak; Marian Janusz Łopatka; Magdalena Rykała; Magdalena Kijek. 2018. "Dynamics of omnidirectional unmanned rescue vehicle with mecanum wheels." COMPUTER METHODS IN MECHANICS (CMM2017): Proceedings of the 22nd International Conference on Computer Methods in Mechanics , no. : 1.

Journal article
Published: 01 December 2015 in Archive of Mechanical Engineering
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The study presents the issue of kinematic discrepancy of hydrostatic drive systems of high mobility vehicles, and its impact on the presence of the unfavourable phenomenon of circulating power. Furthermore, it presents a theoretical discussion concerning the capacity of the compensation of kinematic discrepancy by a hydrostatic drive system on the basis of tests using static characteristics.

ACS Style

Stanisław Konopka; Marian Lopatka; Mirosław Przybysz. Kinematic Discrepancy of Hydrostatic Drive of Unmanned Ground Vehicle. Archive of Mechanical Engineering 2015, 62, 413 -427.

AMA Style

Stanisław Konopka, Marian Lopatka, Mirosław Przybysz. Kinematic Discrepancy of Hydrostatic Drive of Unmanned Ground Vehicle. Archive of Mechanical Engineering. 2015; 62 (4):413-427.

Chicago/Turabian Style

Stanisław Konopka; Marian Lopatka; Mirosław Przybysz. 2015. "Kinematic Discrepancy of Hydrostatic Drive of Unmanned Ground Vehicle." Archive of Mechanical Engineering 62, no. 4: 413-427.

Book chapter
Published: 01 January 2014 in Developments in Advanced Control and Intelligent Automation for Complex Systems
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The first idea to replace the human factor in danger zone with unmanned robotized vehicles that was defined and implemented at Military University of Technology has been presented in this article. The concept of implementation of components of the remote control system to transform the main battle tank T-72 into Unmanned Ground Vehicle to perform mine clearance tasks and cross-bedding the river has been described. Some results of research of the system have been presented.

ACS Style

Adam Bartnicki; Marian Janusz Łopatka; Lucjan Sniezek; Józef Wrona; Aleksander M. Nawrat. Concept of Implementation of Remote Control Systems into Manned Armoured Ground Tracked Vehicles. Developments in Advanced Control and Intelligent Automation for Complex Systems 2014, 19 -37.

AMA Style

Adam Bartnicki, Marian Janusz Łopatka, Lucjan Sniezek, Józef Wrona, Aleksander M. Nawrat. Concept of Implementation of Remote Control Systems into Manned Armoured Ground Tracked Vehicles. Developments in Advanced Control and Intelligent Automation for Complex Systems. 2014; ():19-37.

Chicago/Turabian Style

Adam Bartnicki; Marian Janusz Łopatka; Lucjan Sniezek; Józef Wrona; Aleksander M. Nawrat. 2014. "Concept of Implementation of Remote Control Systems into Manned Armoured Ground Tracked Vehicles." Developments in Advanced Control and Intelligent Automation for Complex Systems , no. : 19-37.

Journal article
Published: 01 October 2013 in Solid State Phenomena
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Currently led military operations (Iraq and Afganistan) have shown that one of the biggest threats for vehicles moving in convoys are Improvised Explosive Devices. On the basis of experiments, it was found that there are not such structures which are completely resistant to explosion. The paper describes the concept for arms of suspension system with specially reduced construction node which undergo a controlled destruction at the time of detonation. Designing the target elements requires tests in order to determine the service load for suspension system..

ACS Style

Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec; Piotr Sprawka. Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms. Solid State Phenomena 2013, 210, 115 -121.

AMA Style

Marian Janusz Łopatka, Tomasz Muszyński, Arkadiusz Rubiec, Piotr Sprawka. Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms. Solid State Phenomena. 2013; 210 ():115-121.

Chicago/Turabian Style

Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec; Piotr Sprawka. 2013. "Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms." Solid State Phenomena 210, no. : 115-121.

Journal article
Published: 01 October 2013 in Solid State Phenomena
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The paper describes the wheeled rescue robot FRR drawn up by a team of Engineering Machines and Robots at Military University of Technology. It also shows a brief description of predicted for implementation tasks by FRR and probable problems that might occur and should be solved. Next the paper describes the method and the model which served to simulation evaluation of rigidity for robots suspension system. Describing the simulation model, used simplified assumptions and the method of calculating the basic parameters for model were described. The following chapter presents simulation that the model was tested through and some model results of the test. In the final phase of the article the conclusion and discussion is presented.

ACS Style

Adam Bartnicki; Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec. Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components. Solid State Phenomena 2013, 210, 301 -308.

AMA Style

Adam Bartnicki, Marian Janusz Łopatka, Tomasz Muszyński, Arkadiusz Rubiec. Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components. Solid State Phenomena. 2013; 210 ():301-308.

Chicago/Turabian Style

Adam Bartnicki; Marian Janusz Łopatka; Tomasz Muszyński; Arkadiusz Rubiec. 2013. "Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components." Solid State Phenomena 210, no. : 301-308.

Journal article
Published: 01 October 2013 in Solid State Phenomena
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Articulated tractors are wide available on the construction equipment market and have a lot of unique advantages not accessible in case of Ackerman steering system or truck-mounted tools. The only unsolved problem is their poor directional stability which significantly limits the speed of operation and work efficiency. This paper investigates the phenomenon of directional stability loss and indicates main reasons for its appearance by means of experimental research. Moreover, conducted tests, acquired results and their analysis could be a basis for future works on stabilizing system supporting the driver of an articulated tractor or enabling operation in remote control mode.

ACS Style

Adam Bartnicki; Agnieszka Dąbrowska; Marian Lopatka; Tomasz Muszyński. Experimental Research on Directional Stability of Articulated Tractors. Solid State Phenomena 2013, 210, 77 -86.

AMA Style

Adam Bartnicki, Agnieszka Dąbrowska, Marian Lopatka, Tomasz Muszyński. Experimental Research on Directional Stability of Articulated Tractors. Solid State Phenomena. 2013; 210 ():77-86.

Chicago/Turabian Style

Adam Bartnicki; Agnieszka Dąbrowska; Marian Lopatka; Tomasz Muszyński. 2013. "Experimental Research on Directional Stability of Articulated Tractors." Solid State Phenomena 210, no. : 77-86.

Conference paper
Published: 11 August 2013 in Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics
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I.A.A.R.C. - International Association for Automation and Robotics in Construction Civil Engineering

ACS Style

Marian Lopatka; T. Muszynski. Validation of Roling and Steer Resistance of Articulated Tracked Robot. Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics 2013, 802 -811.

AMA Style

Marian Lopatka, T. Muszynski. Validation of Roling and Steer Resistance of Articulated Tracked Robot. Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics. 2013; ():802-811.

Chicago/Turabian Style

Marian Lopatka; T. Muszynski. 2013. "Validation of Roling and Steer Resistance of Articulated Tracked Robot." Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics , no. : 802-811.

Conference paper
Published: 11 August 2013 in Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics
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I.A.A.R.C. - International Association for Automation and Robotics in Construction Civil Engineering

ACS Style

Marian Lopatka; T. Muszynski. Determining of Drivetrain System Skid Steer 6x6 Wheeled Robot Load. Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics 2013, 763 -773.

AMA Style

Marian Lopatka, T. Muszynski. Determining of Drivetrain System Skid Steer 6x6 Wheeled Robot Load. Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics. 2013; ():763-773.

Chicago/Turabian Style

Marian Lopatka; T. Muszynski. 2013. "Determining of Drivetrain System Skid Steer 6x6 Wheeled Robot Load." Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building the Future in Automation and Robotics , no. : 763-773.