Virtual Reality in Context of Industry 4.

0
Proposed Projects at Brno University of Technology

Jiri Kovar*, Katerina Mouralova**, Filip Ksica***, Jiri Kroupaƍ, Ondrej AndrsƎ and Zdenek Hadasே
Faculty of Mechanical Engineering, Brno University of Technology, Technicka 2896/2, Brno, Czech Republic
e-mail: *kovar@fme.vutbr.cz, **mouralova@fme.vutbr.cz, ***144901@vutbr.cz, ƍkroupa@fme.vutbr.cz, Ǝandrs@fme.vutbr.cz,
ே
hadas@fme.vutbr.cz

Abstract—This paper deals with virtual reality in context of between the virtual reality and the AFM can also be used for
Industry 4.0 projects. Due to sufficient computing power, virtual educational purposes, since it can show complex microsystems
reality allows visualization of virtual objects in both professional in 3D with the possibility of direct interaction between the
and public spheres. With virtual reality, solving complex projects displayed object and the observer. The user of the special
has become much easier, especially of those based on Industry 4.0 fittings is an observer who is able to rotate the object in any
standards. Industry 4.0 projects require connection between all way, or move it otherwise in real time and thus to get a better
systems of modern machines (physical systems, embedded idea about objects in virtual reality.
systems, sensors, actuators, electronic hardware, software etc.)
via integrated data chains and these links are used, among other
things, for monitoring operating conditions and share virtual II. VIRTUAL REALITY – STATE-OF-THE-ART
models in the development cycle, both of which can be visualized The virtual reality technologies could be divided to two
via virtual reality. Our virtual reality lab has the CAVE and groups: Semi-Immersive virtual reality and full-immersive
Powerwall virtual reality technologies and several examples of its virtual reality.
application are presented.
Semi-Immersive virtual reality includes devices like a
Keywords-Virtual Reality; Industry 4.0; Factory of Future; PowerWall (Fig. 1), ImmersaDesk or monocular headsets.
Dynamics; FEM; Atomic Force Microscopy; Microstructures Binocular headsets and CAVE VR (Fig. 2) are full-immersive
devices. The difference between these two categories is in the
I. INTRODUCTION rate of immersion to the virtual environment. Full-Immersive
devices provide three-dimensional projection with a large field
Latest advances in computing technology (Moore's Law)
of view to the user, compared to semi-immersive device.
due to sufficient computing power allowed virtual reality to be
used for both professional and public applications.. For
example, in the area of design and construction of cars, the
virtual reality significantly accelerated the development
process of a new car from several years to less than a year. It
can also be used in architecture and civil engineering for design
of buildings, residential areas, interiors as well as educational
purposes [1]. In practice, an elaborated software and hardware
are sufficient for a designer or architect to compare several
concepts and present them to their customers, who can see the
results with their own eyes, making decisions much easier
before the construction process starts[2], [3].
The Industry 4.0 is one of the Future Projects established
by German government in early 2010s and new challenges in
manufacturing industry have arisen. Industry 4.0 deals with a
connecting of all parts of machines (physical systems,
embedded systems, sensors, actuators, electronic hardware,
Figure 1. Production Machine on PowerWall
software etc.) via integrated data chains and the operation,
reporting and monitoring data could be visualized in the virtual
reality. A. Automotive Engineering
Other of our project uses the combination of the virtual Automotive engineering is one of the area where the virtual
reality with advanced imaging methods (e.g. atomic force reality is used the most [4]. The design, virtual prototyping,
microscopy, AFM) and can be used for instance for magnifying virtual assembly, training and manufacturing are the most
the quality of the machined surface by the equipment attractive areas for its application. A car design is a process
performing finishing operations due to nanometre (nm) which require a lot of modification and reviews before the car
accuracy or to display microstructures. This connection reaches production. The virtual reality can reduce costs and
time necessary for creating virtual prototypes. It also allows
designers to better assess the design of whole car [5]. Full-
Immersive virtual reality is suitable for inspecting visibility
from the inside of the car. For example, it can be used for
investigating the influence of veiling glare from the instrument
panels onto the driver’s side window or how the size and
placement of pillars influence of driver’s view. Engineers from
New Holland use virtual reality for evaluating the reachability
of door handles within a vehicle [6].
Virtual training can be more effective than traditional
training. For example, Virtual reality system (VTS) for
assembly training developed for OPEL was tested at the
University of Nottingham. Four factors were specified during
the comparison of VTS and traditional training: completion
time, self-corrected error, trainee corrected error and overall
error. It was found out that there were no significant
differences between completion time and self-corrected errors.
However, the results showed the VTS trained group made less
trainee corrected errors and overall errors. Although the results
for VTS are better than traditional training, several issues with
the quality of the virtual instruction were identified [7].
B. Aerospace Engineering
A virtual reality also frequently used in an aerospace
engineering. Full scale virtual prototypes allow designers to
study ergonomics of interior, e.g. cockpit, flight deck, crew
workstation and comfort of passenger seat [8]. Virtual reality
can be used for evaluating accessibility in aircraft cabin [9].
As a part of air traffic system simulation, virtual
environment is used for monitoring airplane noise emissions in
the vicinity of airports The purpose of this solution is improve
communication during the approval of infrastructure projects
[10]
Training is the primary intervention strategy to improve the
quality and reliability of aircraft inspection during the aircraft
maintenance [11]. The research team of the University of
Salerno in cooperation with CIRA developed a system of
haptic feedback for first-person maintenance tasks targeted to
the aerospace industry. This system includes hand-based force-
feedback haptic device and real-time VR simulation engine
[12].
Virtual reality can be also used to improve the planning
phase of each space mission. Scientists from COSE (Center in
Thales Alenia Space) in Italy developed a virtual reality
application which can realistically represent Martian terrain.
This 3D model is created from elevation maps for the purpose
of projecting space exploration missions [13].
C. Medicine
Borget etc. al. used a virtual reality for visualization of the
body muscle activation in their paper. They developed a real-
time system named HBM for analyzing human movement and
muscle function. Joints kinematic and kinetics for full body
model, dimensions estimations and forces in muscle elements
are computed by this software in real time. The Software in
conjunction with a virtual reality offers opportunities to interact
in real-time with biomechanical data during patient
examination or treatment [14].
Virtual reality can also be used for surgery training.
Researchers from National Research Council Canada in
collaboration with surgeons developed a virtual simulator for
cranial microneurosurgery training named NeuroTouch. It
provides full-immersive virtual environment with stereovision
system and haptic feedback for the acquisition and assessment
of technical skills involved in craniotomy-based procedures
[15].
Multiple studied provide evidence about positive effect of
virtual reality on treating mental health problems. One of them
is a study where four subject with claustrophobia were tested.
Reduction of claustrophobia symptoms during the three month
treatment was observed [16]. In another project, researchers
observed the effects of multiple context exposure on renewal in
spider phobia in another study. The study had two results. The
treatment with the help of a virtual reality can decrease fear
factor and multiple context exposure is more effective than
single context exposure for treating a spider phobia [17]. A
virtual reality may also be used to treat other phobias, such as
fear of flying [18], social phobia [19], acrophobia [20] with the
same positive results.
D. Mechanical engineering
Virtual reality can be used to reduce time necessary for
developing machine tools and therefore reduce the costs.
Virtual prototype of machine, Fig. 2, can help validating
functionality of the designed solution and obtain results of
simulations (e.g. stress analysis, kinematics, and dynamics)
[21].
A virtual factory is a simulation model where its sub-
models represent production cells of a factory. This simulation
model is used for testing of manufacturing system design and
control. [22]. The model of virtual factory can be used for
investigating intensity and sound propagation at the workplace.
The results of this simulation can be used to improve layout of
machines in the workplace. Effective layout may lead to
reduction of noise emissions and therefore to lower exposure of
workers in the environment [23].
Figure 2. Virtual Production Machine (model created by Cvejn, J, Matejka
J., Neumann O.; supervisors Blecha P., Novotny T., Pavlik J.)
Virtual environment also can be used for virtual machining,
Fig. 2, during which the process of milling, turning, drilling
and grinding is simulated. The results of this simulation
provide information about factors affecting the quality and
machining time [24]. For example, orthogonal process forces,
the roughness of the machined work piece, energy
requirements and tool wear can be determined on the base of
input parameters like a cutting speed, feed or cutting depth
[23].
Training of manufacturing processes is another application
of virtual reality in mechanical engineering. The main
advantage is eliminating the risk of use for both users and the
machines [25]. For example, it can be used for learn to use of
the CNC machine [26]. The trainee program can also contain
real-time material removal process simulation [27].
III. INDUSTRY 4.0 PERSPECTIVES
The main idea of Industry 4.0 is creating functional Cyber-
Physical Systems (CPS) by connecting all parts of machines
(physical systems, embedded systems, sensors, actuators,
electronic hardware, software etc.) via integrated data chains.
Furthermore, these systems can interact with each other using
Internet-based protocol and analyze data to not only predict
failures, but to adapt to changes and reconfigure themselves
automatically without user intervention. The cloud network
connecting all CPS is called Internet of Things and is used to
centralize pre-production and manufacturing phase via global
virtual models [28].
A. Factory of Future
In the current state of manufacturing industry, machines are
designed and produced from parts made by companies from
various corners of the world, manufactured with respect to
approved standards in specific factories with chains of single-
purpose production cells optimized for one certain operation.
With Industry 4.0, a more effective approach was presented,
transforming from single-purpose cells and one-way
production into fully integrated cloud-based product flow. In
this so called Factory of Future, each production cell has access
to Global Virtual Model (GVM) of manufactured machine and
based on the communication with the individual cells an
automated operation with real-time self-adjustments is
achieved. During the manufacturing process, user intervention
is minimal and most of the machine-to-human interaction is
related to monitoring and managing of the overall flow, Fig. 3.
The pre-production phase also benefits from this
transformation. With advanced visualization techniques, such
as virtual Reality, Global Virtual Model can serve as a
common base for sharing current state of product development,
simulation results, predicted operating conditions and other
information for effective collaboration. In the post-production
phase, same approach can be used to monitor operating
conditions (e.g. vibrations, fatigue, heat transfer, sound
emission etc.) for diagnostics purposes and further optimization
of the product.
Figure 3. Industry 4.0 in Virtual Scheme
B. Big Data in Development Cycle
As mentioned above, sharing key information via GVM
during development cycle is the base for effective collaboration
of cooperating facilities. Downloading, uploading and updating
current status of developed product and simulation results
means processing huge amount of data, with respect to Industry
4.0 called Big Data.
C. Big Data for Dynamics
Unfortunately, current state of virtual modeling and not
powerful enough computational systems are not ready for this
step. Although the requirement of modern industry is to,
among other things, increase efficiency, the time frame for
design, simulations and optimization in the pre-production
phase is very limited. Besides, designing machines from only
static point of view is no longer sufficient and approach based
on dynamic models is required. The usual approach for
assembling dynamic models includes CAD models of the
product and consequential simulations using specialized
software for Multi-Body Systems kinematics and dynamics
(e.g. MSC Adams) and FEM tools for structural computations
(e.g. Ansys). Simulations in this software are usually very
time-consuming and are not suitable for real-time model
updates. Therefore, the next logical step is to invent methods
and techniques for reduction of virtual models into more
manageable form, which can be effectively implemented into
GVM and CPS, allowing us to perform real-time model
updating and visualization. Necessary steps for implementation
of dynamic virtual models with respect to Industry 4.0 are
illustrated in Fig. 4.
 Figure 4. Implementation of virtual model into CPS
D. Dynamic Models in VR
Virtual Reality can be used for real-time visualization of
assembled dynamic virtual models and simulation results, Fig.
5. To be able to do that in current conditions, techniques for
handling Big Data have to be used.
Figure 5. FEM results of bent structure
E. Modelling and Reduction of Dynamic Systems
One of the proposed approaches is based on transforming
dynamic virtual models into State-Space, resulting in very
effective reduction of Degrees of Freedom (DOF), thus
decreasing the amount of data and time necessary for
simulations. This technique can be also used for implementing
of dynamic virtual models into CPS, structure of proposed
solution is illustrated in Fig. 4.
Important part in this process has experimental acquisition
of data done by tests and measurements. Nowadays,
experiments (experimental modal analysis, experimental
response etc.) are used mainly for validating simulation results,
but the goal should be to use these experimental data for
creating the virtual model itself. To be able to do that, first
experimental measurement of response in defined measurement
points is required. Based on number of these measurement
points, the physical system can be represented either as a
Single-Input-Single-Output (SISO) or a Multi-Input-Multi-
Output (MIMO). For simple parts and modules, SISO might be
sufficient, but for more complex structures, MIMO
representation is necessary. Measured data are processed in
commercially available software for data acquisition (e.g.
Signal Express by National Instruments), followed up by
dynamic system identification [29]. Basically, the identification
process is quantification of chosen mathematical model
parameters in such way that its response matches the response
of the original system. The choice of the appropriate form of
the mathematical model affects not only its accuracy, but also
time requirement for obtaining its response. An example of
such mathematical function can be Transfer Function Matrix,
which offers low number of parameters for optimization as
well as easy implementation into more complex models. The
identification itself can be done entirely in the environment of
Matlab/Simulink.
When creating virtual models of mechanical systems, FEM
models can be assembled with conventional solid elements as
well as less conventional substructuring technique. While solid
elements offer stable and accurate results, due to the large
number of DOF, harmonic and transient analysis is very time-
consuming and is definitely not suitable for implementation
into CPS. On the other hand, substructuring technique is very
effective for modular systems, describing them in such way
where each part is one separate entity and is easier to adjust
[30]. It can be done using specific techniques of Component
Mode Synthesis (e.g. Craig-Bampton method, [31]) and offers
wide options for relatively quick simulations of systems, where
change of behavior due to a specific part modification is
observed. In case of machine tool, such part can be, for
example, the head, the chuck or the tool bit.
Reducing both models into state space form is possible via
specific variant of modal analysis and can be done directly in
the environment of Adams, Ansys or externally. Key to
reducing the models into simple yet accurate form is proper
choice of measurement and attachment points, which has direct
impact on validity and properties of the final model. It is
recommended to have matched locations of measurement
points on both the physical system and the virtual model and
that is where thoughtful cooperation with manufacturer takes
place and discussion about sensor placement is necessary.
The proposed environment, where the connection of all the
individual models into Global Virtual Model takes place, is
Matlab/Simulink, because it contains toolboxes and commands
for interactive linking with other specific computational
software (Adams, Ansys etc.), thus allows us to run real-time
complex simulations from one environment.
F. Advanced Visualization Techniques
When working with State-Space models, it is important to
not forget about the fact, that they do not contain information
about geometry. Transfer functions only describe response
between the points of interest, but the information about their
location is not contained in the transfer function itself.
Therefore, we need to combine two models together, where
one represents the data for visualization (e.g. amplitudes of
vibrations etc.) and the other contains information about the
location of the points of interest (e.g. measured points,
connections, excitation points etc.)
The model for describing geometry can be either based on
simple wireframe, connecting all the points of interest with
lines. Other approach could use CAD or FEM model. In both
cases, a technique for imprinting the required data for
visualization is necessary.
IV. II. ATOMIC FORCE MICROSCOPY
The aim of our team is to observe the microstructure of
produced solar cells with anti-reflection coating. This
connection between the virtual reality and the AFM can also be
used for educational purposes, since it can show complex
microsystems in 3D with the possibility of direct interaction of
the displayed object with the observer. The user of the special
fittings is an observer who is able to rotate the object in any
way, or move it otherwise in real time and thus to get a better
idea of microstructure shape [4].
A. Atomic Force Microscope (AFM)
The principle of atomic force microscope involves the use
of laser and a special silicon arm with a very small (in units of
nanometers) tip at the end. While the measurement, during
which the tip moves at a certain speed over the surface of the
studied sample, the interaction between the tip and the studied
surface occurs due to microscopic forces which cause the
deflection of the arm. This deflection is detected via reflection
of the laser beam on a special photodiode (Fig. 6). The
measured signal is processed into an image using specialized
software. By adjusting the tip by means of deposition of
magnetic layers or other materials, the AFM method may be
used for measurements of magnetic, electrical, thermal and
mechanical properties.
Figure 6. Principle of AFM measurements [32]
The display of the surface using atomic microscope from
Bruker Company provides one of the most accurate
information about the real surface morphology. This accuracy
is achieved through a combination of scanning speed and the
tip radius, which varies between 2 nm and 10 nm. The atomic
microscope accuracy depends on the measurement setup and
can be between 300 nm per pixel up to 0.25nm per pixel. The
size of the scanning field varies from 89 um up to 10 nm. The
time duration of the one scan depends on the desired accuracy.
When selecting the examined sample, it is necessary to take
into account the minimum and maximum height of the profile,
which can be approximately12.5 um.
B. Measurements and Visualization
Despite any restriction concerning the maximum size of the
scan, the AFM method in combination with the virtual reality
is the best way to present the quality and structure of individual
surfaces based on a type of finishing process, affecting the
quality of the surface in terms of topography and morphology.
Possible applications of virtual reality in combination with
AFM are visualization of the surface after grinding or the
antiglare coating of a solar cell formed by dry etching of the
silicon through a temporary polymer mask, shown in Fig. 7 and
Fig. 9. Both measurements could be visualized in the CAVE
and the technical person could evaluate the quality of
microstructure in the virtual reality environment, as is shown in
Fig. 8 and Fig. 10.
 Figure 7. The surface of the workpiece after grinding in 3D.
Figure 8. The surface of the workpiece after grinding in Virtual Reality
Figure 9. Topography of solar cells with antiglare 3D.
Figure 10. Topography of solar cells in Virtual Reality.
C. Alternative Use of AFM
By means of atomic force microscopy it is also possible to
measure the magnetic properties. Combined with information
about the topography, the density of recording data on the hard
disk or other magnetic material can be visualized. By means of
AFM the temperature or electric field distribution can be also
measured. These two methods can be used for research and
optimization of integrated circuits or chips, which are currently
in various sizes, from a few nanometres up to micrometres.
V. CONCLUSIONS
The virtual reality environment is very useful tool for future
projects like smart machines, factory of future, etc. All these
projects are based on the idea of Industry 4.0. The virtual
reality is very useful tool for development tasks and can cause
effective reduction of costs and time during design of new
machines. The outline and visualization of the design and
consequent dynamic analyses are presented.
The combination of Atomic-force microscopy and virtual
reality has a big potential for propagation, visualization and
education of professional or layman audience. Connection of
virtual reality and AFM can be used for comparison of
finishing operations, which have an impact on the topography
and morphology of the machined surface. Virtual reality and
AFM provide another dimension for interpretation of
curriculum which inclusive a structure smaller than the
diameter of a human hair. They also provide visualization of
electrical, magnetic and thermal properties of a sample in
conjunction with information about structure of surface.
Our virtual reality lab at Brno University of Technology
solves apart from presented tasks other particular virtual reality
projects. With the exception of presented results our team deals
with the visualization of medium and energy flow. It could be
very interesting for Smart City projects and for example
dynamics of a water-supply network will be visualized in the
future [33], [34].
 ACKNOWLEDGMENT
This work is an output of research and scientific activities
of NETME Centre, supported through project NETME
CENTRE PLUS (LO1202) by financial means from the
Ministry of Education, Youth and Sports „National
Sustainability Programme I“.
REFERENCES
[1] Dusan Magaௗ; Juraj Dudakௗ; Sona Pavlikovaௗ; Jiri Hajekௗ; Boris Simak,
“Support of technical education at primary and secondary level,” in
MECHATRONIKA, 2012 15th International Symposium, 2012, pp.
195–198.
[2] Q. Peng, “Virtual reality technology in product design and
manufacturing,” in Proceedings of the Canadian Engineering Education
Association, 2007.
[3] L. P. Berg and J. M. Vance, “Industry use of virtual reality in product
design and manufacturing: a survey,” Virtual Real., Sep. 2016.
[4] J. Novak-Marcincin, V. Fecova, L. Novakova-Marcincinova, J. Torok,
and J. Barna, “Verification of Machine Position in Production Plant with
Use of Virtual Reality Technology,” Appl. Mech. Mater., vol. 308, pp.
171–174, Feb. 2013.
[5] G. Lawson, D. Salanitri, and B. Waterfield, “Future directions for the
development of virtual reality within an automotive manufacturer,”
Appl. Ergon., vol. 53, pp. 323–330, 2016.
[6] L. P. Berg and J. M. Vance, “Industry use of virtual reality in product
design and manufacturing: a survey,” Virtual Real., 2016.
[7] A. Langley, G. Lawson, S. Hermawati, M. D’Cruz, J. Apold, F. Arlt,
and K. Mura, “Establishing the Usability of a Virtual Training System
for Assembly Operations within the Automotive Industry,” Hum.
Factors Ergon. Manuf. Serv. Ind., vol. 16, no. 1, pp. 61–81, Aug. 2016.
[8] J. Sanjog, S. Karmakar, T. Patel, and A. Chowdhury, “Towards virtual
ergonomics: aviation and aerospace,” Aircr. Eng. Aerosp. Technol., vol.
87, no. 3, pp. 266–273, 2015.
[9] X. Li and H. Liu, “Accessibility evaluation in aircraft cabin based on
virtual reality,” Appl. Mech. Mater., vol. 651–653, pp. 1511–1514,
2014.
[10] S. Pick, F. Wefers, B. Hentschel, and T. Kuhlen, “Virtual air traffic
system simulation - Aiding the communication of air traffic effects,”
Proc. - IEEE Virtual Real., pp. 133–134, 2013.
[11] J. Vora, S. Nair, A. K. Gramopadhye, A. T. Duchowski, B. J. Melloy,
and B. Kanki, “Using virtual reality technology for aircraft visual
inspection training: Presence and comparison studies,” Appl. Ergon.,
vol. 33, no. 6, pp. 559–570, 2002.
[12] A. F. Abate, M. Guida, P. Leoncini, M. Nappi, and S. Ricciardi, “A
haptic-based approach to virtual training for aerospace industry,” J. Vis.
Lang. Comput., vol. 20, no. 5, pp. 318–325, 2009.
[13] L. Piovano, M. M. Brunello, I. Musso, L. Rocci, and V. Basso, “Virtual
reality representation of Martian soil for space exploration,” Pattern
Recognit. Image Anal., vol. 23, no. 1, pp. 111–129, 2013.
[14] A. J. van den Bogert, T. Geijtenbeek, O. Even-Zohar, F. Steenbrink, and
E. C. Hardin, “A real-time system for biomechanical analysis of human
movement and muscle function,” Med. Biol. Eng. Comput., vol. 51, no.
10, pp. 1069–1077, Oct. 2013.
[15] S. Delorme, D. Laroche, R. Diraddo, and R. F. Del Maestro,
“NeuroTouch: A physics-based virtual simulator for cranial
microneurosurgery training,” Neurosurgery, vol. 71, no. SUPPL.1, pp.
32–42, 2012.
[16] C. Botella, R. M. Baños, H. Villa, C. Perpiñá, and A. García-Palacios,
“Virtual reality in the treatment of claustrophobic fear: A controlled,
multiple-baseline design,” Behav. Ther., vol. 31, no. 3, pp. 583–595,
2000.
[17] Y. Shiban, P. Pauli, and A. Mühlberger, “Effect of multiple context
exposure on renewal in spider phobia,” Behav. Res. Ther., vol. 51, no. 2,
pp. 68–74, 2013.
[18] M. Rus-Calafell, J. Gutiérrez-Maldonado, C. Botella, and R. M. Baños,
“Virtual reality exposure and imaginal exposure in the treatment of fear
of flying: a pilot study.,” Behav. Modif., vol. 37, no. 4, pp. 568–90,
2013.
[19] E. K. Yuen, J. D. Herbert, E. M. Forman, E. M. Goetter, R. Comer, and
J. C. Bradley, “Treatment of Social Anxiety Disorder Using Online
Virtual Environments in Second Life,” Behav. Ther., vol. 44, no. 1, pp.
51–61, 2013.
[20] C. M. Coelho, A. M. Waters, T. J. Hine, and G. Wallis, “The use of
virtual reality in acrophobia research and treatment,” J. Anxiety Disord.,
vol. 23, no. 5, pp. 563–574, 2009.
[21] Y. Altintas, C. Brecher, M. Weck, and S. Witt, “Virtual Machine Tool,”
CIRP Ann. - Manuf. Technol., vol. 54, no. 2, pp. 115–138, Jan. 2005.
[22] S. Jain, N. Fong Choong, K. Maung Aye, and M. Luo, “Virtual factory:
an integrated approach to manufacturing systems modeling,” Int. J.
Oper. Prod. Manag., vol. 21, no. 5/6, pp. 594–608, May 2001.
[23] X. Yang, R. C. Malak, C. Lauer, C. Weidig, H. Hagen, B. Hamann, J. C.
Aurich, and O. Kreylos, “Manufacturing System Design with Virtual
Factory Tools,” Int. J. Comput. Integr. Manuf., vol. 3052, no. March
2014, pp. 1–16, 2013.
[24] T. S. Mujber, T. Szecsi, and M. S. J. Hashmi, “Virtual reality
applications in manufacturing process simulation,” J. Mater. Process.
Technol., vol. 155–156, no. 1–3, pp. 1834–1838, 2004.
[25] A. Sanz Lobera, I. González, A. J. Castejón, and J. L. Casado, “Using
Virtual Reality in the Teaching of Manufacturing Processes with
Material Removal in CNC Machine-Tools,” Mater. Sci. Forum, vol. 692,
pp. 112–119, 2011.
[26] H. A. El-mounayri, C. Rogers, E. Fernandez, and J. C. Satterwhite,
“Assessment of STEM e-Learning in an Immersive Virtual Reality ( VR
) Envi- ronment,” Am. Soc. Eng. Educ., 2016.
[27] T. Yu, X. Zhang, W. Liang, and W. Wang, “A web-based virtual system
for turn-milling center,” Int. J. Adv. Manuf. Technol., vol. 67, no. 9–12,
pp. 2395–2409, 2013.
[28] M. R. Malte Brettel, Niklas Friederichsen, Michael Keller, “How
Virtualization, Decentralization and Network Building Change the
Manufacturing Landscape: An Industry 4.0 Perspective,” Int. J. Mech.
Aerospace, Ind. Mechatron. Manuf. Eng., vol. 8, no. 1, pp. 37–44, 2014.
[29] L. Ljung, “State of the Art in Linear System Identification: Time and
Frequency Domain Methods,” in Proceeding of the 2004 American
Control Conference, 2004, pp. 650–660.
[30] D. Rixen and D. De Klerk, “Dynamic Substructuring Concepts,” pp. 1–
17, 2008.
[31] Z. Hadas, T. Brezina, O. Andrs, J. Vetiska, and L. Brezina, “Simulation
modelling of mechatronic system with flexible parts,” 2012 15th Int.
Power Electron. Motion Control Conf., p. LS2e.1-1-LS2e.1-7, Sep.
2012.
[32] A. Requicha, “Nanomanipulation with the Atomic Force Microscope,”
in Nanotechnology, Weinheim, Germany: Wiley-VCH Verlag GmbH &
Co. KGaA, 2010.
[33] J. Kovar, J. Rucka, and O. Andrs, “Simulation modelling of water-
supply network as mechatronic system,” in Proceedings of the 16th
International Conference on Mechatronics - Mechatronika 2014, 2014,
pp. 697–700.
[34] J. Rucka and J. Kovar, “Prevention of Discoloration Events in Water
Distribution Systems,” Procedia Eng., vol. 70, pp. 1441–1449, 2014.