MSM 2008

THE 4TH INTERNATIONAL CONFERENCE MECHATRONIC SYSTEMS AND MATERIALS INTERNATIONAL SCIENTIFIC COMMITTEE Zdzisław Gosiewski, Poland – Chairman Jan Ryszard Dąbrowski, Poland – Vice Chairman Stasys Augutis, Lithuania Jan Awrejcewicz, Poland Bronius Bakšys, Lithuania Ramutis Bansevičius, Lithuania Andrzej Bartoszewicz, Poland Vytautas Barzdaitis, Lithuania Wojciech Blajer, Poland Józef Błachnio, Poland Marijonas Bogdevičius, Lithuania Marco Ceccarelli, Italy Oğuz Çolak, Turkey Michel Cotsaftis, France Marian Dobry, Poland Conrad Finn, Denmark Marek Gawrysiak, Poland José Granda, USA Riza Gϋrbϋz, Turkey Maki Habib, Japan Michael Hansen, Denmark Zenon Hendzel, Poland Jan Holnicki-Szulc, Poland Kalevi Hyyppä, Sweden Dariusz Janecki, Poland Jerzy Jantos, Poland Czesław Kajdas, Poland Andrzej Kasiński, Poland Petko Kiriazov, Bulgaria Krzysztof Kluszczyński, Poland Gabriel Kost, Poland Jan Kościelny, Poland Marek Książek, Poland Michael Lau Wai Shing, Singapore John Lekki, USA Harald Loose, Germany Ewald Macha, Poland Andrejus Marcinkevičius, Lithuania Martin Mellado, Spain Meyya Meyyapan, USA Philip Moore, United Kingdom Agnes Muszyńska, USA Vytautas Ostaševičius, Lithuania Andreas Paczynski, Germany Gregory Panovko, Russia Norberto Pires, Portugal Leszek Podsędkowski, Poland Algimantas Poška, Lithuania Roma Rinkevičiené, Lithuania Alberto Rovetta, Italy Vilen Royzman, Ukraine Jānis Rudzītis, Latvia Mehmet Sahinkaya, United Kingdom Serge Samper, France Bogdan Sapiński, Poland Jonas Sapragonas, Lithuania Jerzy Sawicki, USA Franciszek Siemieniako, Poland Jerzy Szawłowski, Poland Ralf Stetter, Germany Jerzy Świder, Poland Mart Tamre, Estonia Rymantas Toločka, Lithuania Bronisław Tomczuk, Poland Andrzej Tomczyk, Poland Tadeusz Uhl, Poland Heinz Ulbrich, Germany Vladas Vekteris, Lithuania Jānis Vība, Latvia Antonin Viteček, Czech Republic Jörg Wallaschek, Germany Józef Wojnarowski, Poland Jozef Živčák, Slovakia -2- MSM 2008 July 14-17, 2008 Bialystok (Poland) ORGANIZER Department of Automatics and Robotics Faculty of Mechanical Engineering Bialystok Technical University CO-ORGANIZERS Opole University of Technology Kaunas University of Technology Vilnius Gediminas Technical University PATRONAGE International Federation for the Promotion of Mechanism and Machine Science MEDIA PATRONAGE Control Engineering -1- ORGANIZING COMMITTEE Franciszek Siemieniako, Poland – Chairman Zbigniew Kulesza, Poland – Secretary Kazimierz Dzierżek, Poland Małgorzata Gradzka-Dahlke, Poland Andrzej Koszewnik, Poland Arkadiusz Mystkowski, Poland Paweł Ostapkowicz, Poland Jarosław Sidun, Poland Olena Yevtushenko, Poland Małgorzata Zdrodowska, Poland o Lunches and supper will be served in the students cafeteria – see the map on the previous page. o Banquet will take place in the Aula Magna of the Branicki Palace, 1 Kilinskiego Street – see the map below. o On Wednesday, July, 16, buses for tours will wait in the small internal street of the Bialystok Technical University campus opposite the main entrance of the Faculty of Mechanical Engineering – see the map on the previous page. CONFERENCE PLACE The conference MSM 2008 will take place in the building of the Faculty of Mechanical Engineering (Bialystok Technical University), 45C Wiejska Street, Bialystok (Poland) – see the map below. Banquet Aula Magna Branicki Palace 1 Kilinskiego Street Place of the Conference MSM 2008 45C Wiejska Street Place of the Conference MSM 2008 45C Wiejska Street Map of the centre of Bialystok city Map of the campus of Bialystok Technical University CONTACT During the conference you can contact the following organizers: Dr. Zbigniew Kulesza cell phone + 48 506 566 474 Mrs. Małgorzata Zdrodowska stationary phone + 48 85 746 92 04 cell phone + 48 692 529 470 Dr. Arkadiusz Mystkowski cell phone + 48 692 433 886 -4- M – building of Faculty of Mechanical Engineering a, b, g, d, H – students hostels S – students cafeteria – parking (unguarded) – tours start place (bus stop) -3- FRAME-WORK PROGRAMME Monday / July 14, 2008 800÷1100 1030 10 ÷1115 1115÷1130 45 DETAILED-WORK PROGRAMME Attention: The time for every oral presentation and discussion is 15 min. hall near M-449 and M-447 rooms Monday / July 14, 2008 OPENING OF THE CONFERENCE 1030 / room M-449 Chairman: Zdzisław Gosiewski 1045÷1115 / room M-449 Chairman: Zdzisław Gosiewski Participants registration 1130÷1300 1300÷1430 1430÷1615 1615÷1630 1630÷1800 1900 Opening of the Conference room M-449 Plenary session Coffee break Oral session IA-1 Oral session IA-2 Oral session IA-3 room M-449 room M-447 room M-107 Lunch students cafeteria Oral session IB-1 Oral session IB-2 Oral session IB-3 room M-449 room M-447 room M-107 Coffee break Oral session IC-1 Oral session IC-2 room M-449 room M-447 Aula Magna Banquet Branicki Palace PLENARY SESSION Positive Different Orders Fractional 2D Linear Systems Tadeusz Kaczorek (Acta Mechanica et Automatica ) ORAL SESSION IA-1 Microrobotics / Mobile robots / Teleoperation, telerobotics, teleoperated semi-autonomous system / Sensors and actuators in mechatronics 1130÷1300 / room M-449 Co-Chairmen: Franciszek Siemieniako, Tadeusz Uhl Tuesday / July 15, 2008 900÷930 Plenary session room M-449 Oral session IIA-1 Oral session IIA-2 Oral session IIA-3 30 00 9 ÷11 room M-449 room M-447 room M-107 1100÷1130 Coffee break Oral session IIB-1 Oral session IIB-2 Oral session IIB-3 1130÷1300 room M-447 room M-107 room M-449 1300÷1430 Lunch students cafeteria Oral session IIC-1 Oral session IIC-2 1430÷1600 room M-449 room M-447 1600÷1800 Faculty of Mechanical Engineering tour 1800 Supper students cafeteria Wednesday / July 16, 2008 900÷2100 Tours Thursday / July 17, 2008 900÷1000 Plenary session 1000÷1015 Coffee break 1015÷1145 Poster session 1145÷1200 Closing of the Conference 1200 Lunch -5room M-449 1. Novel Type of Hybrid 3-DOF Micromanipulator with Piezoelectric Actuators Mechanical Construction and Simulations Daniel Prusak, Tadeusz Uhl (p. 14) 2. GPS Based Navigation of an Autonomous Mobile Vehicle Harald Loose, Marcin Zasepa, Przemysław Pierzchala, Robert Ritter (p. 31) 3. Control System for an All-terrain Mobile Robot Paweł Ziemniak, Dariusz Uciński, Andreas Paczynski (p. 27) 4. Mechatronics Engineering on the Example of a Multipurpose Mobile Robot Marek Stania, Ralf Stetter (p. 32) 5. Case study of Microelectrostatic Motor Vytautas Bagdonas, Vytautas Ostasevicius (p. 49) 6. Agent-Component Design of Smart Appliances Laura Ostaseviciute, Egidijus Kazanavicius (p. 47) ORAL SESSION IA-2 Multifunctional and smart materials / Metallic alloys / Functional composites / Piezoelectric materials 1130÷1300 / room M-447 Co-Chairmen: Danuta Kotnarowska, Ewald Macha room M-449 students cafeteria 1. Dynamic Chip Breaker Design for Nickel-Base, Inconel 718, Alloy with Coated Carbide Tools Using Negative Angle Tool Holder Sener Karabulut, Abdulkadir Gullu (p. 246) -6- 2. An Investigation on the Solid State Reduction of Chromite Concentrate Ahmet Atasoy, Frank R. Sale (p. 245) 3. Reduction of Structural Sound Radiation and Vibration Using Shunt Piezoelectric Materials Stanisław Pietrzko, Qibo Mao (p. 284) 4. Active Control of a Beam for Generating Points of Zero Displacements and Zero Slopes Qibo Mao, Stanisław Pietrzko (p. 279) 5. Stability of a-C:N:H Layers Deposited by RF Plasma Enhanced CVD Stanisława Jonas, Karol Kyzioł, Jerzy Lis, Katarzyna Tkacz-Śmiech (p. 240) ORAL SESSION IA-3 Analysis of vibration and deformation 1130÷1300 / room M-107 Co-Chairmen: Marek Książek, Vytautas Ostasevicius 1. Low-Cycle Fatigue Simulation and Life-Time Prediction of High Stressed Structures Joury Temis, Khakim Azmetov, Valentina Zuzina (p. 108) 2. Finite Element Modeling and Simulation of Squeezed-Film Effects in a Vibrating MEMS Structure Rolanas Dauksevicius, Vytautas Ostasevicius, R. Gaidys (p. 105) 3. Diagnostics Modeling of Vertical Rotor Vibration Vytautas Barzdaitis, Vytautas Zemaitis, Rimantas Didziokas, Pranas Mazeika (p. 103) 4. Semi-Active Suspension Laboratory System Przemysław Gorczyca, Krzysztof Kołek, Maciej Rosół, Andrzej Turnau (p. 113) 5. Dynamics of the Air Blower with Gyroscopic Couple Marius Vasylius, Vytautas Kazimieras Augustaitis, Vytautas Barzdaitis, Marijonas Bogdevicius (p. 104) 6. System Analysis of Automatic Balancing (Self-Balancing) Machine Rotors with Liquid Working Bodies Vilen Royzman, Algimantas Bubulis, Ilona Drach (p. 118) ORAL SESSION IB-1 Sensors and actuators in mechatronics / Analysis of signals / Measurement techniques 1430÷1615 / room M-449 Co-Chairmen: Mirosław Świercz, Roma Rinkeviciene 2. Rowing Force and its Simulation on Training Facility Vytautas Grigas, Aurelijus Domeika, Aleksandra Legha, Danguole Satkunskiene, Rymantas Tadas Tolocka (p. 228) 3. Experimental and Analytical Investigations of the Dynamic Analysis of Adhesively Bonded Joints for Composite Structures Sobhy Ghoneam, Ahmed Hamada, Mamdoh El-Elamy (p. 215) 4. Study of the Effect of Process Induced Uncertainties on the Performance of a Micro-Comb Resonator Irina Codreanu, Adam Martowicz, Alberto Gallina, Łukasz Pieczonka, Tadeusz Uhl (p. 230) 5. Model of Vector Controlled Induction Drive Roma Rinkeviciene, Andrius Petrovas (p. 60) 6. Design of Observer for Direct Current Drive Andrius Petrovas, Roma Rinkeviciene, Saulius Lisauskas (p. 51) 7. Computer Modeling of the Characteristics and Magnetic Field of Single-Phase Commutator Motor Bronius Karaliunas (p. 50) ORAL SESSION IB-2 Adaptive materials 1430÷1615 / room M-447 Co-Chairmen: Bogdan Sapiński, Jinshu Wang 1. Synthesis of Sequential Model of Muscles of a Man During Drop Landing on a Hard Platform Marek A. Książek, Daniel Ziemiański, Leszek Nosiadek (p. 199) -7- 1. An Investigation of an Electromagnetic Induction Device for a Small-scale MR Damper Bogdan Sapiński (p. 267) 2. Modeling of an Adaptive Beam with MR Fluid Bogdan Sapiński, Jacek Snamina (p. 270) 3. Formation of Protrusive Patterns atop Thermo-Responsive Shape Memory Polymer Na Liu, Weimin Huang, Soojay Phee (p. 268) 4. Visible-Light Induced Photocatalytic Activity of Vanadium and Nitrogen Co-Doped SrTiO3 Jinshu Wang, Hui Li, Hongli Li, Shu Yin, Tsugio Sato (p. 274) 5. Study on the RE2O3-Mo Secondary Electron Emitters Wei Liu, Jinshu Wang, Fei Gao, Na Li, Hongyi Li, Meiling Zhou, Tieyong Zuo (p. 272) 6. Neural Network–Backstepping Control for Vibration Reduction in a Magnetorheological Suspension System Mauricio Zapateiro, Ningsu Luo (p. 271) -8- ORAL SESSION IB-3 Control of mechatronic systems 1430÷1615 / room M-107 Co-Chairmen: Shiuh-Jer Huang, Janusz Kwaśniewski 1. Fuzzy Logic Controller for Position Actuator SMA Janusz Kwaśniewski, Ireneusz Dominik (p. 82) 2. Hybrid Supervisory Control for Biomechatronic Systems for Non-Invasive Surgery Sunita Chauhan, Swandito, Gerald Seet (p. 85) 3. LuGre Friction Model Estimation of a Precision Table Using GA Scheme and Sliding Mode Control Design Shiuh-Jer Huang, Chun-Ming Chiu, M.C. Huang (p. 89) 4. Human-Robot Interaction Controller Based on CMOS Stereo Vision and FPGA Chip Shiuh-Jer Huang, Chie-Yi Wu (p. 83) 5. Dependent Versus Independent Variable Formulation for the Dynamics and Control of Cranes Wojciech Blajer, Krzysztof Kołodziejczyk (p. 79) ORAL SESSION IC-1 Optimization, optimal design 1630÷1800 / room M-449 Co-Chairmen: Vytautas Barzdaitis, Janis Viba ORAL SESSION IC-2 New trends in mechatronic and material science education / New curricula concerning mechatronic systems and material science / Teaching materials and laboratory facilities 1630÷1800 / room M-447 Co-Chairmen: Jan Piwnik, Jarosław Stryczek 1. A Model for "Work Integrated Learning" in Mechatronic Education Ismet Gucuyener, Abdil Kus, Ridvan Arslan (p. 307) 2. Ismail Al Jazari Machines and New Technologies Abdullah Uzun, Fahri Vatansever (p. 312) 3. Role of the Machine Design Courses in the Mechatronic Faculty Michał Banaś, Jarosław Stryczek (p. 303) 4. Modelling of Solid Part Using Multibody Techniques in Parametric CAD Systems Andrzej Łukaszewicz (p. 313) Tuesday / July 15, 2008 PLENARY SESSION From Oil to Magnetic Fields: Active and Passive Vibration Control Giancarlo Genta (Acta Mechanica et Automatica) ORAL SESSION IIA-1 Industrial robots / Microrobotics / Mobile robots / Teleoperation, telerobotics, teleoperated semi-autonomous systems 900÷930 / room M-449 Chairman: Tadeusz Kaczorek 1. An FPGA Implementation of the Robust Controller for the Active Magnetic Bearing System Zbigniew Kulesza, Zdzisław Gosiewski (p. 126) 2. AMB Construction Optimization Tool Adam Piłat (p. 125) 3. Abstract Surface for Moving Mobile Models Oleg Igonin, Vladimir Roganov (p. 124) 4. Optimal Design of Vibration Power Generator for Low Frequency Zdenek Hadas, Vladislav Singule, Cestmir Ondrusek (p. 137) 5. Static Model of a Rail Launcher Zdzisław Gosiewski, Piotr Kłoskowski (p. 145) 6. Selection of Coils Parameters in Magnetic Launchers Zdzisław Gosiewski, Mirosław Kondratiuk (p. 141) 930÷1100 / room M-449 Co-Chairmen: Andreas Paczynski, Maryna Mukhina 1. Control Algorithms for the Mobile Robot "MAX" on a Task of Line Following Provided by Intelligent Image Processing Dzmitry Kaliukhovich, Vladimir Golovko, Andreas Paczynski (p. 26) 2. Structure Synthesis and Mechanical Parameters Choice for a Manipulating Mechanism for Acoustical Measurements in Anechoic Chamber Józef Felis, Andrzej Zbrowski, Tomasz Giesko, Jordan Mężyk (p. 6) 3. Hardware Structure of a Control Section of Manipulation Mechanism for Acoustical Measurement in Anechoic Chamber Jordan Mężyk, Tadeusz Kamisiński, Andrzej Zbrowski, Artur Flach (p. 5) 4. A Low-Cost Hexa Platform for Efficient Force Control Systems with Industrial Manipulators Rafał Osypiuk, Torsten Kroger (p. 3) - 10 - -9- 5. Control Algorithm for Four-Wheeled Robot Motion for Monitoring Problems Maryna Mukhina (p. 24) 6. Swarm-based Approach to Path Planning Using Honey-Bees Mating Algorithm and ART Neural Network Petar Curkovic, Bojan Jerbic, Tomislav Stipancic (p. 35) ORAL SESSION IIA-2 Tribology in mechatronic systems / Multifunctional and smart materials / Metallic alloys / Functional composites / Biomaterials / Ceramics and glasses 930÷1100 / room M-447 Co-Chairmen: Ahmet Atasoy, Andrzej Kotnarowski 4. Multibody and Electromechanical Modelling in Dynamic Balancing of Mechanisms for Mechanical and Electromechanical Systems Krzysztof Lipiński (p. 110) 5. Energy Based Characterization of Fatigue Behaviour of Cyclically Unstable Materials Ewald Macha, Jacek Słowik, Roland Pawliczek (p. 167) 6. Mobile Robot Diagnosis with Bayesian Filters Michał Zając, Dariusz Uciński, Ralf Stetter (p. 169) 7. The Effect of Controlled Frequency and Amplitude of Vibration on Friction Jamil Abdo, Amer Al-Yahmadi, Mahmoud Tahat (p. 182) ORAL SESSION IIB-1 Control of mechatronic systems 1130÷1300 / room M-449 Co-Chairmen: Marijonas Bogdevicius, Milos Schlegel 1. Sintering of Y-SiAlON Ceramic Ahmet Atasoy, Ahmet Ersoy (p. 297) 2. Load Carrying Capacity of Microbearings with Parabolic Journal Krzysztof Wierzcholski, Andrzej Miszczak (p. 175) 3. Friction Forces Review of Microbearings with Curvilinear Journals Krzysztof Wierzcholski 4. Selective Transfer Phenomenon in Copper-Steel Tribological Systems Andrzej Kotnarowski (p. 181) 5. Mechanical and Physicochemical Properties of Tetric EvoCeram-Dental Composite Material Joanna Mystkowska (p. 264) 6. Fluoride Release and Antibacterial Activity of Self-Made Composite Materials for Dental Fillings Joanna Mystkowska, Grażyna Marczuk-Kolada, Katarzyna Leszczyńska, Jan Ryszard Dąbrowski, Joanna Karaś (p. 261) 7. Methodological Aspects of Evaluating Tribological Properties of Ball Bearings Marek Jałbrzykowski, Jerzy Nachimowicz (p. 178) ORAL SESSION IIA-3 Analysis of vibration and deformation / Failure Analysis 930÷1100 / room M-107 Co-Chairmen: Krzysztof Sibilski, Joury Temis 1. Controller Design for a Rubbing Rotor Lucas Ginzinger, Roland Zander, Heinz Ulbrich (p. 77) 2. The Robust Control of Magnetic Suspension with Rapidly Changing Rotor Speed Arkadiusz Mystkowski, Zdzisław Gosiewski (p. 98) 3. A Fuzzy-Logic Based Tuning for a Velocity Controller of the DC Servo Drive Paweł Dworak, Krzysztof Pietrusewicz (p. 69) 4. Simulation of Hydrodynamic Processess of Hydraulic Braking System of Vehicle Marijonas Bogdevicius, Jolanta Januteniene, Oleg Vladimirov (p. 96) 5. Model Based Control of SMA Actuators with a Recurrent Neural Network in the Shape Control of an Airfoil Jari Ahola, Tomi Makkonen, Kalervo Nevala, Tomi Lindroos, Pekka Isto (p. 92) 6. Dependency of the Quality of the Active Vibration Damping on the Sensor and Actuator Location – Simulation and Experiment Jana Kovarova, Milos Schlegel, Jan Dupal (p. 78) 6. Permanent Magnet Chatter Absorber with Fuzzy Logic Control Bogdan Broel-Plater, Stefan Domek, Arkadiusz Parus (p. 94) ORAL SESSION IIB-2 Analysis of signals 1130÷1300 / room M-447 Co-Chairmen: Stanisław Pietrzko, Tadas Tolocka 1. Frequency Domain Identification of the Active Beam Model for the Vibration Control System Zdzisław Gosiewski, Andrzej Piotr Koszewnik (p. 106) 2. Study of Free Vibrations of Ladder Frames Reinforced with Plate Gennadi Aryassov, Andres Petritshenko (p. 116) 3. Simulation of the Dynamic Behaviors of the C Axis Drive by the Turning Center Jan Krepela, Vladislav Singule (p. 114) - 11 - 1. Analysis of Various WTM Kohonen Self-Organizing Map Algorithms Used for Data Classification of Biomedical Signals Marta Kolasa, Rafał Długosz, Jolanta Pauk (p. 187) - 12 - 2. Human Gait Analysis and Classification Based on Neural Networks and Fuzzy Logic Jolanta Pauk, Marcin Derlatka, Rafał Długosz, Marta Kolasa (p. 197) 3. Data Mining in Analysis of Biomechanical Signals Marcin Derlatka, Jolanta Pauk (p. 192) 4. Vibration Data Analysis in Presence of Distorting Pulses Oleg Antropov, Valentin F. Borulko, Valerij M. Dolgov, Oleg O. Drobakhin, Sergei M. Vovk (p. 201) 5. A Model-Less Method for Added Mass Identification Grzegorz Suwała, Łukasz Jankowski (p. 185) ORAL SESSION IIB-3 Sensors and actuators in mechatronics 1130÷1300 / room M-107 Co-Chairmen: Joanna Pawłat, Krzysztof Wierzcholski 7. Stability of Jeffcot Rotor Operating in Tilting 3-PAD Journal Bearings with Turbulent Oil Film Stanisław Strzelecki, Sobhy Ghoneam (p. 144) 5. Selection of Constitutive Model for Behaviour Prediction of Ring Material Expanded by Impulsive lectromagnetic Field Robert Panowicz, Jacek Janiszewski (p. 143) ORAL SESSION IIC-2 Measurement techniques / Failure Analysis / Integrated Diagnostics 1430÷1600 / room M-447 Co-Chairmen: Riza Gurbuz, Harald Loose 1. High-Precision Gas Sensor Based on Photonic Bandgap Fiber Cell Joanna Pawłat, Xuefeng Li, Tadashi Sugiyama, Takahiro Matsuo, Yurij Zimin, Toshitsugu Ueda (p. 54) 2. Modelling of Magnetic Fields with the Finite Element Method in Machine Diagnostic Systems Jakub Łagodziński (p. 61) 3. Introductory Analysis of the Bearingless Induction Motor Zdzisław Gosiewski, Krzysztof Falkowski, Mariusz Żokowski (p. 58) 4. Analysis of Polar Positioning System in Laser Device for Glass Engraving Roman Trochimczuk, Marek Gawrysiak (p. 48) 1430÷1600 / room M-449 Co-Chairmen: Andrejus Marcinkevicius, Bronisław Tomczuk ORAL SESSION IIC-1 Optimization, optimal design 1. Optimal Synthesis Method for Invention of New Mechatronic Systems in Vibrotechnics Egons Lavendelis, Janis Viba (p. 139) 2. Use of Electromagnetic Impulse System for Transport Dry Materials and Solid Bodies Victor Mironov, Janis Viba, Lauris Shtals (p. 150) 3. Synthesis of Vibrator with Air or Water Flow Excitation Janis Viba, Lauris Shtals, Atis Vilkajs, Edgars Kovals (p. 147) 4. Design and Analysis of Elliptic Rotor Suspended in Active Magnetic Bearing Adam Piłat (p. 130) - 13 - 1. Reverse Engineering Approach for Object with Free-Form Surfaces Using Standard Surface-Solid Parametric CAD System Andrzej Łukaszewicz, Kanstantsin Miatliuk (p. 227) 2. Real Time Measuring of the Pressure Drops Against Changing the Fluid Velocity on the Critical Points of the Fluid System Riza Gurbuz (p. 225) 3. A Fiber-Optic Bending Sensor for the Vibration Monitoring of CNC Face-Milling Machine Ismet Gucuyener, Erdal Emel (p. 206) 4. Development of Electromagnetic Ring Expansion Apparatus for High-Strain-Rate Test Jacek Janiszewski, Wiesław Pichola (p. 212) 5. Turbine Engine Health/Maintenance Status Monitoring with Use of Phase-Discrete Method of Blade Vibration Monitoring Mirosław Witoś, Ryszard Szczepanik (p. 171) 6. Line Scale Calibration in Non-Ideal Measurement Situation Saulius Kausinis, Albinas Kasparaitis, Algimantas Barakauskas, Rimantas Barauskas, Aurimas Jakstas, Arturas Kilikevicius (p. 219) 7. Fault Identifiability Problem - the Multi-Valued Diagnostic Model Approach Henryk Borowczyk (p. 157) - 14 - Thursday / July 17, 2008 PLENARY SESSION Control-Oriented Modelling and Control of Rotor Vibration Zdzisław Gosiewski (Acta Mechanica et Automatica) Microelectromechanical Flying Robots – State of the Art Krzysztof Sibilski (Acta Mechanica et Automatica) POSTER SESSION 1015÷1145 Chairman: Marek Gawrysiak 900÷1000 / room M-449 Chairman: Giancarlo Genta 1. 3D Apple Modeling with the Use of the Structured Light Method Marek Hryniewicz, Jan Anthonis, Herman Ramon (p. 205) 2. A Computer Program Design for Optimization of the Cylindrical Traverse Grinding Operations Andrejus Henrikas Marcinkevicius (p. 123) 3. A Fault-Tolerant Control System for a Hexapod Mobile Robot Cristina Pana, Viorel Stoian (p. 23) 4. Computer Processing of Some Surface Images of Technical Objects After Influence of the High Temperature Conditions Mariusz Bogdan (p. 191) 5. Intelligent Live Environment Design with Assistive Robots for Vulnerable Persons Viorel Stoian, Mircea Nitulescu, Cristina Pana (p. 41) 6. Analysis of Time Response of Shape Memory Alloy Actuators Modular System Dan Mandru, Ion Lungu, Simona Noveanu, Olimpiu Tatar (p. 237) 7. Design of In-Pipe Modular Robotic Systems Olimpiu Tatar, Dan Mandru (p. 29) 8. Applicability Estimation of a Low-Cost Haptic Device for the Purpose of Steering the Mobile Platform Roman Zygmunt Kacprzak (p. 11) 9. Automatic Gear Shift Unit Jerzy Jantos, Krzysztof Prażnowski, Jarosław Mamala (p. 70) 10. Ceramic Dispersion Effect on Composite Coating Properties After Plastic Working Tomasz Dyl, Robert Skoblik, Robert Starosta (p. 259) 11. Comparison the Accuracy of the Extrapolation Methods of the Time Phase Coincidence in Synchronization of Power Generating Units Piotr Niklas, Andrzej Grono, Mariusz Dąbkowski, Grzegorz Redlarski, Marcin Śliwiński (p. 71) 12. Identification of the Inertia of Masses Flowing Water through the Pipes in Water Power Plants Grzegorz Redlarski, Andrzej Grono, Mariusz Dąbkowski, Piotr Niklas, Marcin Śliwiński (p. 87) 13. Localization of Mobile Robot Using Radio Waves Jakub Nowacki, Mariusz Dąbkowski, Piotr Niklas, Grzegorz Redlarski (p. 43) 14. Selected Problems of Navigation of Educational Mobile Robot Andrzej Grono, Mariusz Dąbkowski, Piotr Niklas, Grzegorz Redlarski (p. 33) 15. The Behaviour Based Area Coverage of Unknown Environment by Autonomous Mobile Robot Using Modified "The Way of the OX" Algorithm Mariusz Dąbkowski, Andrzej Grono, Piotr Niklas, Grzegorz Redlarski (p. 36) 16. Contour Representation by Clustering Curvatures of the 3D Objects Arunas Lipnickas, Vidas Raudonis (p. 208) 17. Control Efficiency Analysis of Linear Oscillating Mechatronic Device Audrius Senulis, Eleonora Guseinoviene, Viktoras Cirtautas, Valdas Jankunas, Lione Urmoniene (p. 72) 18. Control of a Micro-Droplet for Laser-Induced Breakdown Spectroscopy Solution Measurement Satoshi Ikezawa, Muneaki Wakamatsu, Joanna Pawłat, Toshitsugu Ueda (p. 210) 19. Control of Heating Processes in Electro Transport Mechatronic System Using Feed Forward Neural Network Ivars Beinarts, Anatoly Levchenkov, Peteris Balckars (p. 73) 20. Course Stabilization of the Two-Wheel Chassis with Three Points of Rest During its Stand-Alone Motion Alexey Gurov, Alexander Lastochkin (p. 28) 21. Cyclic-Modular Approach to Development of Electronically-Mechanical Control Systems of the Pneumatic Drive Oleksandr Gubarev, Oleg Jachno, Oksana Ganpantsurova (p. 128) 22. Damping of Mechanical Vibrations Using Piezoelements, Including Influence of Connection Layer's Properties on the Dynamic Characteristic Andrzej Buchacz, Marek Płaczek (p. 280) 23. Decomposition of Non-stationary Signals Based on the Cochlea Function Principle Daniel Dusek (p. 194) 24. Developing an Educational Software Controlling Data Transfer of Serial and Parallel Ports Ilhan Tarimer, Serkan Orucu, Riza Gurbuz (p. 311) - 16 - - 15 - 25. Energy Storage System Tomasz Siostrzonek, Stanisław Piróg (p. 133) 26. FPGA Implementation in Power Electronic Converters Control Systems for the Flywheel Energy Storage Marcin Baszyński, Robert Stala (p. 134) 27. Low Power Control Circuit with Analog Processor dpASP and MAX II CPLD for Flywheel Energy Storage Robert Stala, Marcin Gurbiel (p. 88) 28. The Control System of the Flywheel Energy Storage Stanisław Piróg, Tomasz Siostrzonek, Marcin Baszyński, Jarosław Czekoński (p. 88) 29. Three Phase AC-line Converter for the Flywheel Energy Storage System Adam Penczek, Andrzej Mondzik, Tomasz Siostrzonek (p. 63) 30. Feasibility Investigation of a Static Force Measurement with Longitudinal Piezoelectric Resonant Sensor Christophe Viguier, Clement Nadal, Jean-Francois Rouchon (p. 282) 31. High Frequency Vibration Monitoring and Diagnostics of High-Speed Pump Rolling Bearings Dmitry Litvinov, Janis Rudzitis (p. 196) 32. Microtopography Model of Rough Surface Maris Kumermanis, Janis Rudzitis (p. 222) 33. Traceability and Capability Control of Mass Measurement Equipment and Drift Statistical Analysis of National Mass Standards in Latvia Tatjana Ivanova, Janis Rudzitis (p. 233) 34. Improving the Efficiency of Diagnosing of Leaks from Liquid Transmission Pipelines by Using the New Diagnostic Information – the Signals of Weak Interactions between Objects Paweł Ostapkowicz (p. 158) 35. Influence of Ageing on Mechanical Properties of Epoxy Coatings Danuta Kotnarowska, Małgorzata Wojtyniak (p. 269) 36. Influence of Aluminium Content on Behaviour of Magnesium Cast Alloys in Bentonite Sand Mould Leszek Dobrzański, Tomasz Tański (p. 248) 37. Integrated Diagnostics of the Rotating System with an Active Magnetic Bearing Małgorzata Gizelska, Dorota Kozanecka, Zbigniew Kozanecki (p. 56) 38. Investigation of Influence of Rhenium Addition on W-Ni-Fe-Re Heavy Alloys Properties Tomasz Majewski, Jerzy Michałowski, Jan Piętaszewski (p. 250) 39. Investigation on the Microstructure of the HAp and YSZ Composites Agata Dudek (p. 253) - 17 - 40. Investigations of Mixed and Submandibular/ Sublingual Saliva Edyta Andrysewicz, Jan Ryszard Dąbrowski, Grzegorz Leonow (p. 254) 41. Mechanical Properties of G17CrMoV5 - 10 Cast Steel after Regenerative Heat Treatment Grzegorz Golański (p. 239) 42. Mechatronic System Design Applied to Double Inverted Pendulum with Flywheel Actuator Lukas Blaha, Milos Schlegel (p. 91) 43. Model Studies of Microstructure Changes in Sintering of Ceramics Stanisława Jonas, Andrzej Koleżyński, Jerzy Lis, Paweł Stoch, Katarzyna Tkacz-Śmiech (p. 294) 44. Modeling of the Hydraulic Machine Unit with Nonholonomic Constraints Światosław Karpowicz, Franciszek Siemieniako (p. 136) 45. Multilevel Intelligent Control of Mechatronical Technological Systems Eduard Remisov (p. 93) 46. On the Relationship Between Optical and Structural Properties of Polymer Films Modified by Carbon Micro and Nanoparticles T. Kovalevskaya, Mikhail Ihnatouski, Anatoly Sviridenok, S.A. Zhdanok, A.V. Krauklis, V.V. Voina, A.I. Stepuro (p. 288) 47. Onboard Generators (Alternators) as Diagnostic Sensors of Turbine Engines Andrzej Gębura (p. 160) 48. Presentations in FAM-C and FDM-A Methods and Some Problems of the Signals Theory Andrzej Gębura, Włodzimierz Markiewicz (p. 162) 49. Some Problems of a Diagnosis of Turbine Engine Bearings Using FAM-C Method Andrzej Gębura, Tomasz Tokarski (p. 115) 50. Operating Degradations of Air Turbine Scoops of Turbo-Engines Andrzej Szczepankowski, Janusz Szymczak, Jarosław Spychała (p. 170) 51. Parametric Description of Vibration Using the Autocorrelation Function Adam Kotowski (p. 198) 52. Possibillities of Assessment of the Control Potential of Aircraft Engines Paweł Lindstedt (p. 161) 53. Radio Frequency Measurement and Control Network for a Cable Equipped with Magnetorheological Damper Maciej Rosół (p. 224) 54. Random Vibrations of Constructions and their Damping Algirdas Ciucielis, Danielius Guzas (p. 112) 55. Sinterability of Silicone Nitride Powder Produced by the CRN Process Ahmet Atasoy, Mustafa Tumer (p. 296) - 18 - 56. The Effect of High Temperature on the Degradation of Heat-Resistant and HighTemperature Alloys Józef Błachnio (p. 241) 57. The Problems of Exploitation Reliability Estimation of Dental Prosthetics Elements Marek Jałbrzykowski (p. 255) 58. The Pulse Power Amplifier for the Magnetic Bearing Stanisław Jałbrzykowski, Marek Brański, Krzysztof Falkowski (p. 62) 59. The "Screwdriver" Technology of the Model Building for Simulating of the Processes in the Mechatronic Objects Oleksandr Uzunov (p. 149) 60. Virtual Simulation of Mechatronics Laboratory Tomasz Lubczyński, Andrzej Baier (p. 314) 61. Vitreous Enamel Coating on Steel Substrates Kamila Hrabovska, Jitka Podjuklova, Karla Barcova, Lenka Dobrovodska, Katerina Pelikanova (p. 276) 62. Web-based Synthesis of Robot Structures for Micro and Nano Manipulations Dimitar Chakarov, Kostadin Kostadinov, Daniela Gotseva, Tihomir Tiankov(p. 18) 63. Analysis of Dynamic Method of Line Scales Detection Algimantas Barakauskas, Albinas Kasparaitis, Saulius Kausinis, Rimantas Lazdinas (p. 186) 64. Application of Optical Flow and Methods of Group Lee Representation in Problems of Detecting of Movements and Pattern Detection on the Images Vladimir Makarychev (p. 189) 65. Application of the Hybrid Controller for Isothermal Extrusion Process Control B.M. Gotlib, Vladimir Tarasyan, A.A. Vakalyuk (p. 207) 66. Conditions of Materials Choice in Manufacturing of Pressure Originated Details Gatis Muiznieks, Eriks Gerins (p. 127) 67. Control of Hand-Arm Vibrations Caused by Hand-Held Machine Ahmed Abu Hanieh (p. 101) 68. Control of the Crack Trajectory by the Electromagnetic Field in Media with Embedded Actuators Ihar A. Miklashevich (p. 165) 69. Control of the Pretension in Filament Winding Process Nihat Akkus, Garip Genc, Cemal Girgin (p. 75) 70. Vehicle Electro-Mechanical Brake System: A Mechatronic Application Nihat Akkus, Fatih Yucel, Ersin Toptas (p. 152) 71. Design, Prototype and Experimental Evaluation of a Wheelchair Treadmill Mustafa Kurt, H. Geyik, B. Mutlu, Y. Tatar, E. Nart (p. 131) 72. Determination of Angular Transmittance of Glasses for Light Guides Jitka Mohelnikova (p. 293) - 19 - 73. Disassembly Modeling of the Mechatronic Systems for Reuse and Recycling Norbert Chamier-Gliszczyński (p. 132) 74. Electrical Measurements and Analyses with Data Acquisition Devices (DAS) of Heating and Cooling Capacites of the Intercity Coaches Ozgur Yilmaz, Resit Ercetin, Cetin Tahir Akinci, Sezgin Ersoy (p. 213) 75. The Design of Remote Controlled Bomb Destruction Robot Implemented Using Mechatronics Design Method Sezgin Ersoy, Ozgur Yilmaz (p. 37) 76. Embedded Tensile Strength Test Machine FM1000 – An Upgrade of Measurement and Control Jozef Zivcak, Martin Petrik, Radovan Hudak, Teodor Toth, Dusan Knezo (p. 214) 77. Employment of Neural Network Based Classifier for Intrusion Detection Leanid Vaitsekhovich, Vladimir Golovko (p. 195) 78. Examples of a Use of the Optimal Control at Energy Performance Index in Mechatronic Approach Krzysztof Kaliński, Marek Chodnicki, Michał Mazur (p. 80) 79. Experimental Research of the Reconfigurable Multimodular Mechatronic System for Inside Work Elena Kotova, Alexandr Korotynsky, Victor Kirichenko, Valentin Zharov (p. 12) 80. Fabrication, Characterization and Modelling of Modern Engineering Materials Krzysztof Jan Kurzydłowski, Łukasz Ciupiński, Małgorzata Lewandowska, Wojciech Święszkowski, Tomasz Wejrzanowski, T. Boguszewski (p. 287) 81. Field Determination and Calculation of Stiffness Parameters in an Active Magnetic Bearing (AMB) Bronisław Tomczuk, Jan Zimon (p. 52) 82. Tubular Linear Actuator as a Part of Mechatronic System Bronisław Tomczuk, Andrzej Waindok (p. 64) 83. Flight Simulator as a Tool for Flight Control System Synthesis and Handling Qualities Research Tomasz Rogalski, Andrzej Tomczyk, Grzegorz Kopecki (p. 81) 84. Gravimeter with Two-Dimension Digital Processing of Measuring Information Elena Bezvesilnaya, Yuryj Podchashinsky, Igor Korobyjchuk (p. 216) 85. System for Airborne Gravimetry Elena Bezvesilnaya, Yuryj Podchashinsky, Alexandr Dobrozhansky (p. 232) 86. Hardware and Software Integration of Mechatronic Systems for an Example Measurement Path for Temperature Sensors Jerzy Świder, Mariusz Hetmańczyk (p. 217) 87. Identification of Discrete Mass-Stiffness Models for Dynamic Analysis of Rotors Agnieszka Muszyńska, David I.G. Jones (p. 107) - 20 - 88. Manufacturing, Properties and Application of Composite Materials with Specific Magnetic Properties Leszek Dobrzański, Małgorzata Drak, Bogusław Ziębowicz (p. 262) 89. Materials Science Virtual Laboratory - Innovatory Didactic Tool in the Teaching of Material Engineering Performed by Traditional and E-Learning Methods Leszek Dobrzański, Rafał Honysz (p. 301) 90. Measurement of the Quality of Lubricants for Mechanical Systems Kirill Voynov, Helen Samoylova (p. 177) 91. Measuring of Distances Between Surfaces Orest Ivakhiv, Roman Velgan (p. 221) 92. Multimember Transport Facility with Wave-Like Behaviour of the Train Member Motion Dmitriy Bankov, Alexander Lastochkin (p. 44) 93. Precision Measurement of the Carriage Vibrations at the Different Speeds Arturas Kilikevicius, Vladas Vekteris, Albinas Kasparaitis (p. 223) 94. Research of Tribological Properties of Mineral Motor Oil with Cholesteryl Stearate Additive Vadim Mokshin, Vladas Vekteris (p. 179) 95. Selection of PDM Information System Jiri Maxa, Vilem Nedela (p. 304) 96. Some Solutions for Manufacturing Micro Devices Alexander Ivanovich Filipenko, Igor Shakirovich Nevlyudov, Victor Andreevich Palagin (p. 15) 97. Speech Control for Mobile Robotic Systems Arkady S. Yuschenko, Dmitry N. Morozov, Andrey A. Zhonin (p. 34) 98. Task-Directed Synthesis of Reconfigurable Multimodular Systems, Functioning in Environment with Non-Uniformly Scaled Topology Vladimir Kapustin, Sergey Burdakov, Alexandr Korotynsky, Victor Kirichenko (p. 16) 99. The 2 1/2D Algorithm in Robot Workspace Analysis Gabriel Kost, Daniel Reclik (p. 7) CLOSINING OF THE CONFERENCE 1145÷1200 / room M-449 Chairman: Zdzisław Gosiewski Tour no 1 “Around the forests and waters” Bialystok → Suprasl → Kruszyniany → Bohoniki → Augustow → Bialystok - 21 - - 22 - The tour begins in Bialystok and next goes to Suprasl through beautiful Knyszynska Forest that is one of the biggest forests in Poland. These pine and spruce forests surround Bialystok from north, east and west side. The name of the voivodeship – Podlasie – comes from these forests. Suprasl: The town in the centre of forest. The first mention of the town dates from 1500. In the special place, named “Suchy Hrud”, the oldest Suprasl forest, the Orthodox monks began to build their own seat. From 1503 to 1511 the Orthodox church under the invocation of the Annunciation of the Holy Virgin Mary was built. It is one of the unique monuments in Poland. The originality of the architecture of the defensive temple consisted of the combination of Gothic and Orthodox styles in church construction. In 1603-1839 the monastery was one of the general monks’ residences of Units Church. At this times the new buildings for monks, as well as Abbot's palace and gate, were built. In 1915 the monastery was returned to Orthodoxy seat. In the interwar period, some parts of the monastery were used by Salezians. In 1944 the monastery was destroyed by German soldiers backing away. In 1983 the Monastic parish was reactivated. In the next year, the Orthodox community started reconstruction of the destroyed principal church. In the 30s of the 19th century, in Suprasl, the fast development of the textile industry was initiated and lasted until the Second World War. Weaver’s houses, Buchholz palace and the structure of the town were made at this period of time. Tour no 2 “The trail of the most breathtaking places in Podlasie” Bialystok → Tykocin → Pentowo → Osowiec Fortress → Augustow → Bialystok Next our tour goes to Kruszyniany. In the passing villages you can see many interesting buildings for example houses, barns, cowsheds and woodsheds. Kruszyniany: In 1679, according to the orders of King John III Sobieski, the village was inhabited by Tatar soldiers. The Tatar soldiers were under the colonel, Samuel Murzy Krzeczowski, command. Their descendants still live here. At the turn of the 18th and 19th centuries wooden mosque was built. Today the mosque is the Muslim parish. The oldest Muslim cemetery (mizar) in Poland, which was built in the 17th and 18th centuries, is located near to mosque. The next place of the tour is Bohoniki village. The way to Bohoniki leads along Sokolskie Hills ridges – the highest in Podlasie. Bohoniki: The Tatar soldiers, under command of Gaza Sielecki, Kienski and Olejewski, settled here in the same time as in Kruszyniany. In the 2nd half of the 19th century wooden mosque and Muslim cemetery were built. They are still used by Islam people. Next, the tour leads to Augustow through many towns, villages, hills, vallies and forests, for example, Sokolka, Dabrowa Bialostocka, Sztabin, upper Biebrza river valley, Augustow Forest. Augustow: The town was set up by queen Bona in 1557 as a royal city. Augustow received its name from Jagiellon King Zygmunt II August. The town is located near the lakes and it is the well-known holiday and tourist centre. In 1823-1839 the Augustow canal was built. The canal is 101,3 kilometers long and connects Vistula river with Nieman river. The canal flows along many lakes and rivers. The level of water and shipping are regulated by 18 canal locks. Today the Augustow canal is one of the most popular water routes in Poland. The return way to Bialystok goes through the towns: Sztabin, Suchowola and Korycin. - 23 - 24 - The tour begins in Bialystok, next leads to Tykocin along Narew valley – the biggest river in Podlasie region and also one of the last natural rivers in Europe. Tykocin: The oldest town in Podlasie. In the 2nd half of the 16th century, Polish King Zygmunt August ordered to build one of the biggest Polish defensive castles. In the 2nd half of the 18th century, Hetman Jan Klemens Branicki ordered to rebuild the town according to Baroque style. Now the town is in the same state, which is why the Tykocin is called “The Pearl of Podlasie Baroque”. For over 400 years (1522-1941) Jews settled in Tykocin. The most important attractions are: Alumnat from the 17th century (in the past - the house for retired soldiers, and today - for tourists), the Holy Trinity Catholic church from the 18th century, Stefan Czarnecki’s monument dating from the 18th century (one of the first Polish monuments which were erected for a secular person), Renaissance synagogue from 1642 (today the Jews museum). Tour no 3 “The last primeval national forest in Europe” Bialystok → Narew → Hajnowka → Bialowieza → Bialystok In the neighbourhood of Tykocin, there is other interesting place: Pentowo. Pentowo: It is called the European stork village. There is one of the biggest white stork colonies located in a farm. The birds built 23 nests on the farm buildings and trees. The most of them are inhabited in the summertime. The next place to be visited is Osowiec Fortress. Osowiec Fortress: This complex is located in the narrowing of the Biebrza river valley – the last natural area of swamps, peat lands and meadow bogs in Europe. Since 1993 Osowiec is the seat of Educational and Administration Centre of the Biebrza National Park - the biggest national park in Poland. There are groups of natural-educational paths, where one can learn the nature and landscape of local swamps. The Osowiec Fortress was built by Tsarist Russia in 1882-1893. The fortification complex was erected to defend the convenient Biebrza river crossing. Osowiec Fortress consists of four brick-concrete sub-complexes forming a quadrangle at the junction of the lower and middle basin. The fortress was the place of many Russian-Prussian combats in 1914-1915. Nowadays, the retained part of the fortress is opened for tourists. Next, the tour leads to Augustow, where both tours meet each other. Augustow: The town was set up by queen Bona in 1557 as a royal city. Augustow received its name from Jagiellon King Zygmunt II August. The town is located near the lakes and it is the well-known holiday and tourist centre. In 1823-1839 the Augustow canal was built. The canal is 101,3 kilometers long and connects Vistula river with Nieman river. The canal flows along many lakes and rivers. The level of water and shipping are regulated by 18 canal locks. Today the Augustow canal is one of the most popular water routes in Poland. The return way to Bialystok goes through the towns: Sztabin, Suchowola and Korycin. - 25 - - 26 - The tour leads to Narew town through Bludowska Forest. In the villages passing by you can find wooden Orthodox churches from the 19th century. Just before the Narew town, the tour crosses the Narew river valley. Narew: The town was set up at the beginning of the 16th century and it is situated near the old royal track connecting Cracow with Vilnus. Worth visiting is the wooden Catholic church under the invocation of the Ascension of the Holy Virgin Mary and Saint Stanislaw church from 1775 – one of the oldest in Podlasie. USEFUL PHRASES English Good morning! Good bye! Thank you! Excuse me! conference business trip form (document) VAT invoice VAT (Value Added Tax) Русский Здравствуйте! До свиданиа! Спасибо! Извините! конференция комадировка НДС фактура, НДС счёт НДС (Налог на Добавленную Стоимость) стоимость статья доклад резюме рецензия аист зубр экскурсия питание завтрак обед ужин проживание да не, нет Polski Dzień dobry! Do widzenia! Dziękuję! Przepraszam! konferencja delegacja faktura VAT VAT (podatek od wartości dodanej) opłata artykuł referat streszczenie recenzja bocian żubr wycieczka kuchnia śniadanie obiad kolacja zakwaterowanie tak nie Next, the tour goes to Hajnowka and Bialowieza towns through lands inhabited by Belorussian and Ukrainian national minorities. Hajnowka: The Hajnowka was the old settlement of the royal officers, protecting Bialowieza forest. Nowadays, Hajnowka is a gate to Bialowieza Primeval Forest. The town is one of the youngest in Podlasie, set up in 1950. One of the most remarkable buildings in Hajnowka is the Holy Trinity Orthodox cathedral. In that church the international festival “The Hajnowskie Days of Orthodox Church Music” takes place every year. The way to Bialowieza town leads through Bialowieza Primeval Forest. Bialowieza Primeval Forest: The last primeval forest of Europe lowlands. Polish princes, Russian tsars and Lithuanian princes came to hunt in the forest. The most superb inhabitant of the forest is the auroch – the European Bison, that was rescued in the interwar period. Since 1921 the Bialowieza primeval forest is protected especially by scientists and foresters. That is why the oldest Bialowieza National Park was created. Bialowieza: At the beginning of the 15th century, there was only the royal manor hunterhouse in Bialowieza. At the end of the 16th century, the forest village was established. Presently the Bialowieza is the centre of the Polish part of the forest and the seat of Bialowieza National Park. The majority of historical buildings in Bialowieza date back to the end of the 19th century. All of them are worth seeing, especially the building complexes in the Palace park with the Gate, Museum of Nature and Forest and also the Orthodox church of Saint Nicolas with unique ceramic iconostasis. Around Bialowieza, there are webs of tourist trails and nature paths, where one can learn the primeval forest specificity. In the nature reserve, one can see forest animals (including Bisons) in their natural surroundings. fee, payment article paper abstract review stork bison excursion, tour cuisine breakfast lunch, dinner supper accommodation yes no, not The return way to Bialystok goes through towns: Hajnowka, Narew and Zabludow. - 27 - - 28 -