Journal
PROCEEDINGS IN MANUFACTURING SYSTEMS
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Journal PROCEEDINGS IN MANUFACTURING SYSTEMS |
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ISSN 2067-9238 |
George CONSTANTIN Adrian GHIONEA
Series Editorial Team Emilia BĂLAN Sorin Mihai CROITORU Costel Emil COTEŢ
Editorial Council Traian AURITE, Alain GERARD, Csaba GYENGE, Florin IONESCU, Constantin ISPAS, Branko KATALINIK, Stanislav LEGUTKO, Aurel OPREAN, Eugen PAY, Daniel PLAY
Bucharest, 2011
University “Politehnica” of Bucharest Machines and Production Systems Department Splaiul Independenţei 313, sector 6 060032 Bucureşti, România Tel: (+4021) 402 94 20 E-mail: orgcom@icmas.eu http://www.icmas.eu
Editura Academiei Române Calea 13 Septembrie nr. 13, sector 5 050711 Bucureşti, România Tel.: (4021) 318 81 46, (4021) 318 81 06, Fax: (4021) 318 24 44 E-mail: edacad@ear.ro http://www.ear.ro
Peer reviewers: Aurel OPREAN, Alain GERARD, Daniel PLAY
Editorial assistant: Irina FILIP Computerized editing: George CONSTANTIN, Mariana ŞERBĂNESCU
Gheorghe AMZA, Romania Traian AURITE, Romania Laurean BOGDAN, Romania Octavian BOLOGA, Romania Ioan BONDREA, Romania Gheorghe BRABIE, Romania Daniel BRUN-PICARD, France Olivier CAHUC, France Gavrilă CALEFARIU, Romania Ilie CATANĂ, Romania George CONSTANTIN, Romania Radu COTEŢIU, Romania George DOBRE, Romania George DRĂGHICI, Romania Gabriel FUMUŞANU, Romania Alain GERARD, France Adrian GHIONEA, Romania Marius GURAN, Romania Csaba GYENGE, Romania Florin IONESCU, Germany Sorin IONESCU, Romania Mihaiela ILIESCU, Romania Kostadin KOSTADINOV, Bulgaria Ivan KURIC, Slovakia Stanislav LEGUTKO, Poland Nicolae MARINESCU, Romania Josef NOVAK-MARCINCIN, Slovak Republic Constantin MINCIU, Romania Sevasti MITZI, Grece Vasile NĂSUI, Romania Tadeusy NIESZPOREK, Poland Nicolae OANCEA, Romania Viorel PĂUNOIU, Romania Daniel PLAY, France Nicolae PREDINCEA, Romania Dan PRODAN, Romania Ştefan Dan PASTRAMĂ, Romania Tomasz RYDZKOWSKI, Poland Jean François RIGAL, France Ion SIMIONESCU, Romania Laurenţiu SLĂTINEANU, Romania Ştefan STAICU, Romania Constantin STĂNCESCU, Romania Eugen STRĂJESCU, Romania Ioan TĂNASE, Romania Miron ZAPCIU, Romania |
Journal
PROCEEDINGS IN MANUFACTURING SYSTEMS
□ Volume 6, Issue 4, 2011
·
Adrian BLAGA, Octavian BOLOGA,
Valentin OLEKSIK, Radu BREAZ, in single point incremental forming process
·
George ENCIU, Adrian POPESCU, Researching and achievement of a sensor testing stand
· Florin IONESCU, Dragoş AROTĂRIŢEI, Ştefan ARGHIR, George CONSTANTIN, Dan ŞTEFĂNOIU, Florin STRATULAT, Hybrid system nonlinearities used in modelling mechatronic applications
·
Ion ION, Ion SIMIONESCU, Aurelian VASILE, Dan SIRMAN,
Optimum design possibilities of the
foot soles shape and a method of
reducing the consumed energy by the modular walking robot
·
Jaroslav JAMBOR, Jozef MAJERIK,
Quality management system in service activities of automotive
·
Valeriu MIRONESCU, Aurelian VLASE,
Theoretical and practical considerations about bearings sustainability
·
Jaromír MURČINKO, Zuzana MURČINKOVÁ
, Application of monitoring system in drying section of printing
·
Vasile NĂSUI, Radu COTETIU, Mircea
LOBONTIU, Nicolae UNGUREANU, About modelling the fuzzy control with reaction position force with the electromechanical actuators
·
Adrian Florin NICOLESCU, Andrei-Mario IVAN,
Advanced off-line programming and
simulation of a flexible robotic manufacturing cell using Kawasaki PC-Roset
·
Raluca NIŢĂ, Adrian GHIONEA, Ioan TĂNASE, Claudiu BÎŞU Experimental and numerical researches for universal modular device
·
Loredana PĂUN,
Valeriu AVRAMESCU, Nicolae PREDINCEA,
Constantin DOGARIU, Claudiu BÎŞU,
Theoretical and experimental
researches on a multifunctional machine tool
·
Irina
PETRESCU, Cristina MOHORA, Constantin ISPAS,
Determination of Young’s modulus for CFRP using the three – point bending
·
Nicoleta RACHIERU, Raluca Magdalena NIŢĂ,
Mathematical model for determining the
orientation errors generated
by the construction of the prismatic supports
·
Gabriela-Veronica STOIANOVICI, Vladimír BULEJ, Adrian GHIONEA, Viera
POPPEOVÁ,
Mobile robots and simulation -
an appropriate tool how to increase
the efficiency of their application in production systems
·
Victor POPOVICI, Gheorghe CEAU, Ioan TĂNASE, Nicolae PREDINCEA,
Cutting edge temperature prediction
using the process simulation with Deform 3D software package
· Adrian NICOLESCU, Dan MARINESCU, The influence of total elastic displacement of translation joints on gantry robot accuracy
·
Claudiu-Florinel BÎŞU, Alina
VINTILESCU, Raynald LAHEURTE,
The spindle defect evaluation using a three-dimensional vibration analysis
INFLUENCE OF TOOL PATH ON MAIN STRAINS, THICKNESS REDUCTION AND FORCES
IN SINGLE POINT INCREMENTAL FORMING PROCESS
1)
PhD
Student, Research Assistant, Department of Machines and Equipments,
“Lucian Blaga” University,
2)
PhD,
Professor, Department of Machines and Equipments, “Lucian Blaga”
University,
3)
PhD,
Associate Professor, Department of Machines and Equipments, “Lucian
Blaga” University,
4)
PhD,
Professor, Department of Machines and Equipments, “Lucian Blaga”
University,
Abstract:
The
purpose of this study was to investigate the influence of tool path by
optical methods on main strains distribution and relative thinning and
forces using a dynamometer in single point incremental forming process.
For this purpose the authors have chosen a dome part. In the tests were
used three types of tool paths: first with constant vertical step,
second with angular constant step and the third a loxodrome.
Key words:
single point incremental forming, FEM modelling,
simulation, strains, forces, measurement.
RESEARCHING AND ACHIEVEMENT OF A SENSOR TESTING STAND
George ENCIU1,*,
1)
Associated, Prof.,
2)
PhD - student,
Abstract:
The efficient behaviour of computing system depends
mostly on its capacity of collecting information from the operating
environment. This action is done with the help of the sensors. For the
correct integration of the sensors in the work environments, is required
the knowledge of every functional, operational and assembling features,
from the data sheet provided by the producer and the comparison of the
functional parameters with those resulted after testing them. The
analysis made on the types of stands for testing inductive, capacitive,
photoelectric sensors reveals a presence restricted enough in business
and university territory. In this context, because the purchase price of
a modular system for sensors and transmitters testing would have been
too high, reasons of efficiency and flexibility was desirable that the
system to be built purchasing the variety of components from purveyors
and integrating them using communication systems or connection elements
for interfacing. Therefore, this paper presents sensors testing stand
implementation issues from the virtual model to real functional model.
Key words: stand, sensors, functional parameters, testing, PLC.
HYBRID SYSTEM NONLINEARITIES USED IN MODELING MECHATRONIC
APPLICATIONS
George CONSTANTIN4, Dan
ŞTEFĂNOIU5,
1)
PhD,
Prof, University Steinbeis and Steinbeis Transfer Institute Dynamic
Systems
2)
PhD,
Medical Bioengineering Faculty,
Prof,
University of Medicine and Pharmacy ”Gr. T. Popa”,
3)
PhD,
Assistant Prof,
Automatics and Industrial Informatics Department, University
“Politehnica“ of
4)
PhD,
Prof, , Machine and Production Sytems Department,
University “Politehnica“ of
5)
PhD,
Prof,
Automatics and Industrial Informatics Department, University
“Politehnica“ of
6)
PhD,
Assoc. Prof,
Automatics and Industrial Informatics Department, University
“Politehnica“ of
Abstract:
The
present paper is a short review of some of the concepts, procedures and
achieved results, oriented toward the modeling of complex, large
installations, known under the name of HYPAS. Physical phenomena
involved in hydraulic, pneumatic, mechanic and electric systems are
depicted by mathematical models (MM) with static and dynamic
nonlinearities (NL). This means that, when building large installations,
the MM provide multiple NL. They should be completely known in order for
the controller to
Key words:
hybrid systems, nonlinear systems, modeling,
simulation, libraries, HYPAS.
OPTIMUM DESIGN POSSIBILITIES OF THE FOOT SOLES SHAPE AND A METHOD OF
REDUCING THE CONSUMED ENERGY BY THE MODULAR WALKING ROBOT
Ion
ION1,*, Ion SIMIONESCU2, Aurelian VASILE3,
Dan SIRMAN4
1)
PhD,
Assoc. Prof., Technology of Manufacturing Department, University
“Politehnica” of
2)
PhD,
Prof., Mechanism and Robot Theory Department, University “Politehnica”
of
3)
PhD
Student, Mechanism and Robot Theory Department, University “Politehnica”
of
4)
PhD
Student, Mechanism and Robot Theory Department, University “Politehnica”
of
Abstract:
Distribution of reaction forces from the supports of the legs is one of
the important problems that must be resolved to organize movements on
land legs walking robots with relief complicated. Some robot foot soles have curved front and rear ends, when the foot
soles land on or are lifted off the terrain, they are in linear contact
with the terrain. Feet walking robots in general, particularly those
bipedal must be such that they can move with a uniform speed and also
quickly, similar to human walking. If feet are not appropriate forms
which adapt to uneven terrain, they are not able to apply the necessary
driving forces of land movement, resulting in a high enough reaction
force from the land. The paper relates some particularities and the
optimum design possibilities of the foot soles shape and presents a
method of reducing the consumed energy by the walking robot while
shifting.
Key words:
foot sole, gait, leg, modular walking robot, static
balancing mechanisms.
QUALITY MANAGEMENT SYSTEM IN SERVICE ACTIVITIES OF
AUTOMOTIVE INDUSTRY
Jaroslav JAMBOR1,*, Jozef MAJERIK2
1)
PhD,
Eng, Lecturer, Department of Management,
2)
PhD,
Eng, Univ. Lecturer, Special subject department, Dubnica Institute of
Technology, Dubnica nad
Abstract:
The
authors deal with the analysis of providing services by means of service
points for various car makes. The service points for various car makes
have to comply with the criteria of the ISO 9001:2008 standard and with
special requests of producers each car make. This should lead to a
higher competitiveness among different service points of different car
makes. As a result, the costumer should be satisfied with provided
services. Quality Management System have implemented in dealers of SEAT
cars from 2004. All company Contract Partners – that are Service Outlets
with a Service Partner contract or with a Service Center contract – are
obliged to introduce and maintain the SEAT Service Quality Management
System (SSQMS).
Key words:
quality management system, production process,
customer, service, automotive industry.
THEORETICAL AND PRACTICAL CONSIDERATIONS ABOUT BEARINGS
SUSTAINABILITY
Valeriu
MIRONESCU1,*, Aurelian VLASE2
1)
2)
PhD,
Prof., Machine Building Technology Department, University „Politehnica” of
Abstract:
This
paper aims to present a methodology of calculation of sustainability emerged
from testing a large number of bearings. This work presents a relationship
to calculate bearings reliability, working at low speeds and / or heavy
loads.The relationship is based on the general formula, but seven of
correction factors adapt it to specific conditions. Conclusions and
practical solutions for maintaining unchanged the calculated lifetime of the
bearings are presented.
Key words:
sustainability, factor, calculation, dynamic load,
correction factors, bearings, sealing.
APPLICATION OF MONITORING SYSTEM IN DRYING SECTION OF
PRINTING MACHINES
Jaromír
MURČINKO1,*,
Zuzana
MURČINKOVÁ2,*
1)
2)
Abstract:
The
paper dealt with problems of collision state monitoring in mass production
process with potential environmental impact. The printing machines for
plastic packaging foil production are the objects of monitoring, mainly the
drying technological part. The paper is focused to usage of vibration
diagnostics of rotational equipment, i.e. ventilators in drier. The
selection of appropriate on-line system control by way of intelligent
components implementation is a critical problem of mass production with
dangerous operation. The project of applied monitoring system is described.
The newly system of automatic monitoring regime with use of artificial
intelligence elements was projected and tested.
Key words: printing machine, vibration analysis, ventilator, bearing, failure.
ABOUT MODELLING THE FUZZY CONTROL WITH REACTION
POSITION FORCE WITH THE ELECTROMECHANICAL ACTUATORS
Vasile NĂSUI1,
Radu COTEȚIU2,
Mircea LOBONȚIU3, Nicolae UNGUREANU4
1)
Prof.
PhD.
2)
Prof.
PhD.
3)
Prof.
PhD.
4)
Prof.
PhD.
Abstract:
This
article refers to about modeling the fuzzy control with reaction
position force with the electromechanical actuators. This paper shows
that similar fuzzy functional regulations can be used instead of the
classical ones, which can be adjusted more conveniently and where the
modification of the parameters has a special importance. By means of
fuzzy movement control equipments, the control is simplified as far as
programming is concerned, task that does not require a special operator
qualification. The modeling of complex system through fuzzy theory
represents a method much simpler than the classic method. This brief
paper outlines some background of standard proportional integral
derivative control and how the implementation of fuzzy logic can improve
your single feedback control systems. From the structural point of view,
the paper contains two parts, one regarding the fuzzying process and the
mathematical expression of the experimental data, and a part two dealing
with the definition of the actuator as a fuzzy system.
Key words:
linear electromechanic actuator, virtual simulation,
fuzzy logistic, controller, mechatronic.
ADVANCED OFF-LINE PROGRAMMING AND SIMULATION OF A FLEXIBLE ROBOTIC
MANUFACTURING CELL USING
Adrian
Florin NICOLESCU1,*, Andrei-Mario IVAN2
1)
PhD,
Prof., Machines and Production Systems Department, Politehnica
2)
Abstract:
This
paper will present the development process of a manufacturing cell and the
offline programming and simulation of an articulated arm robot with six
degrees of freedom included in that cell. The study is made on a Kawasaki
robot used in machining applications with self-driven tools, and the program
used for this purpose is the PC-Roset software. The development approach
deals with aspects ranging from cell layout design and workspace validation
using CATIA software to application programming and optimization using the
virtual environment and analysis tools offered by Kawasaki PCRoset.
Key words:
robotic machining, offline programming, virtual
simulation, PC-Roset.
EXPERIMENTAL AND NUMERICAL RESEARCHES FOR
UNIVERSAL MODULAR DEVICE
Raluca NIŢĂ1,*,
1)
Eng.,
PhD Student, S.C. ICTCM S.A. - Mechanical Engineering and Research
Institute,
2)
Prof.
PhD,
3)
Prof.
PhD,
4)
Lecturer,
Abstract:
The
paper presents the stages of preparing the technologic system machine
tool-device-toolworkpiece
for
creating a data acquisition system for registering the cutting forces
and torque on the rectangular directions, during milling of carbon steel
prismatic work-piece. Some considerations regarding the basic requests
for the machine tool clamping devices and their behaviour under the
cutting forces and torque are presented. We also established the
evaluation methodology stages of o modular fixture device regarding
construction and operation, loads, analyzing through modelling and
simulation, data acquisition, interpretations and results validation for
its integration on CNC machine tools.
Key words:
cutting conditions, force and torque measurement,
clamping system, stress analysis, sensors.
THEORETICAL AND EXPERIMENTAL RESEARCHES ON A MULTIFUNCTIONAL MACHINE
TOOL
MADE FROM COMPOSITE MATERIALS
Loredana PĂUN1,*,
Valeriu AVRAMESCU2, Nicolae PREDINCEA3, Constantin
DOGARIU4, Claudiu BÎȘU5
1)
PhD.
Eng., S.C. ICTCM S.A.
-
Mechanical Engineering and Research Institute,
2)
PhD.
Eng., Head of DTPC, S.C. ICTCM S.A.
-
Mechanical Engineering and Research Institute,
3)
PhD,
Prof., Machine and Production Systems Department, University Politehnica
of
4)
PhD,
Prof., Machine and Production Systems Department, University Politehnica
of
5)
PhD,
Lecturer, Machine and Production Systems Department, University
Politehnica of
Abstract:
This
paper is based on a CNC multifunctional machine tool for processing by
turning, milling, boring, drilling. One of the news brought by this
machine is that its structure is made mostly of composite materials. To
see the dynamic behavior of this machine, theoretical and experimental
researches have been achieved in order to determinate the proper
frequencies. Some conclusions were drawn regarding the machine tool
structure rigidity and some suggestions for improving the structure
behavior were made.
Key words:
multifunctional machine tool, composites, structure,
FEM modeling, frequencies, modal analyses.
DETERMINATION OF YOUNG’S MODULUS FOR CFRP
USING THE THREE – POINT BENDING TEST
Irina PETRESCU1,*, Cristina MOHORA2, Constantin
ISPAS3
1)
2)
Prof.
PhD. Eng, Machines and Manufacturing Systems Department, Politehnica
3)
Prof.
PhD. Eng, Machines and Manufacturing Systems Department, Politehnica
Abstract:
Young's modulus has a very important role in unidirectional carbon fiber
reinforced polymer. The aim of this work was to determine the value of
Young's modulus for two panels of three specimens each, both were made
in the laboratories of the University of Palermo, Italy. The panel 1,
after lamination, the specimens was subjected to a treatment with
ultraviolet radiation. The specimens used are laminated composite carbon
fiber oriented unidirectional. The determination of Young's modulus was
achieved with an Instron 3367 testing machine using the three-point
bending test. The tangent modulus of elasticity was calculated by
drawing a tangent to the steepest initial straight-line portion of the
load deflection curve.
Key words:
Young’s modulus, three-point bending test, carbon
fiber, unidirectional composite.
MATHEMATICAL MODEL FOR DETERMINING THE ORIENTATION ERRORS GENERATED
BY THE CONSTRUCTION OF THE PRISMATIC SUPPORTS
Nicoleta RACHIERU1,*, Raluca Magdalena NIŢĂ2
1)
2)
PhD,
Student,
Abstract:
This
paper presents aspects regarding the total errors which may occur in
technological processing on machine tools, errors that affect the
processing accuracy and also the quality of processed work-piece. In
this context, technological devices have an important contribution with
a category of errors, referred in the literature, installation errors
that refer to work-piece orientation and fixing errors in devices. Apart
from these, a special category of errors generated by the precision of
execution of the support elements that are component part of the devices
were identified and determined. For the analysis and calculation of this
type of errors, for the short or long prismatic locators, a cinematic
model was created, and also on its base a mathematic one.
Key
words:
technologic device, installation error, construction orientation error,
prismatic locator,
mathematical model.
MOBILE ROBOTS AND
SIMULATION
- AN
APPROPRIATE TOOL HOW TO
INCREASE THE EFICIENCY OF THEIR APPLICATION IN PRODUCTION SYSTEMS
Gabriela-Veronica STOIANOVICI1,*, Vladimír BULEJ2,
Adrian GHIONEA3,
Viera POPPEOVÁ4
1
PhD
student, Eng. Department of Machines and Production Systems,University
Politehnica of Bucharest, Romania
2
PhD.
Researcher
3Prof.
PhD. Eng. Department of Machines and Production Systems,University
Politehnica of
4
Prof.
PhD.
Abstract:
This
paper presents the basic information about the mobile robots, their
application in automated production systems and about simulation of
their movement. Nowadays, the application of mobile robots is very
frequent and the number of developed robots still grows. They can be
found in logistic chains for material handling of flexible manufacturing
systems, firefighting, chemical operations, underwater technological
operations, etc. The paper describes some methods for solving the mobile
robots’ navigation in an indoor environment (laboratories, factories,
corridors of buildings) and explains in detail the designed solution of
global navigation through the potential fields. These potential fields
navigate the mobile robot safely along the trajectory between obstacles
to the goal position.
Key words:
mobile robot navigation, simulation, AGV, potential
fields, sensors.
CUTTING EDGE TEMPERATURE PREDICTION USING THE
PROCESS SIMULATION WITH DEFORM 3D SOFTWARE PACKAGE
Victor POPOVICI1,*,
Gheorghe CEAU2,
Ioan
TĂNASE3,
Nicolae PREDINCEA4
1) PhD, Assoc. Prof., Department of
Material Science and Welding, University Politehnica of Bucharest,
Romania 2) PhD, Eng., Ministry of Interior and Aministration Reform, Bucharest, Romania
3) PhD, Prof., Department of Machiens
and Production Systems, University Politehnica of Bucharest, Romania
4) PhD, Prof., Department of Machiens
and Production Systems, University Politehnica of Bucharest, Romania
Abstract:
High speed machining is submitted to economical and ecological
constraints. Optimization of cutting processes must increase
productivity, reduce tool wear and control residual stresses in the
workpiece.
Modelling, as close to reality of the cutting process, cannot be done
without taking into account thermal phenomena. On the one hand, material
mechanical parameters depend greatly on temperature (although it is
difficult to obtain concrete values of this dependence) and on the other
hand, a decisive role is played both by the thermal regime of cutting
speed, through component vg
-
chip speed tool rake face – and by the amount of heat that occurs in the
area of occurrence and formation of the chip. This paper proposes a new
approach for describing the friction behavior at the tool–chip interface
in the area near the cutting edge.
Key words:
tool-chip interface, FEM,
3D
cutting models, process simulation, global heat transfer coefficient.
THE INFLUENCE OF TOTAL ELASTIC DISPLACEMENT OF TRANSLATION JOINTS
ON GANTRY
ROBOT
ACCURACY
1)
Univ., Prof.,
2)
PhD -
student,
Abstract:
High
speeds and accuracy of robotic manipulators are current requirements to
obtain improved performances of industrial robots. However, higher
speeds and accuracy are greatly influenced by elastic behavior of
mechanical structure of industrial robots. For this purpose an original
approach on gantry robots volumetric accuracy evaluation and P-joints
elastic behavior specific influence on IR’s volumetric accuracy
quantifying method have been developed. Following up these issues the
paper successively presents in two parts: the original mathematic
modeling for gantry IR’s overall elastic behavior and specific algorithm
/ quantifying method of P joints elastic displacements influence on IR’s
volumetric accuracy (both of them generally valid for any kind of gantry
robot and P-joint specific internal design), specific performances of an
usual model of Güdel gantry robot type and respectively it’s virtual
prototype already developed by authors for performing specific applied
calculus related to this robot’s P joints / overall elastic behavior
modeling, the mathematic model of overall gravitational and inertial
load distribution,specific mathematic algorithm for loading behavior
evaluation related to robot’s P-joints partially assemblies and each
included cam following guiding components.
Key
words:
industrial robots, accuracy, volumetric error, elastic displacements,
analytical model, FEM.
THE SPINDLE DEFECT EVALUATION USING A THREE-DIMENSIONAL VIBRATION ANALYSIS
Claudiu-Florinel BISU1,*, Alina VINTILESCU2, Raynald LAHEURTE3, Philippe DARNIS4, Miron ZAPCIU5
1)Lecturer,
PhD, Machines and Production Systems Department, University
“Politehnica” of
2)
3)
Assoc. Prof., PhD, Mechanics and Engineering Institute of
4)Assoc.
Prof., PhD, Mechanics and Engineering Institute of
5)
Prof., PhD, Machines and Production Systems
Department, University “Politehnica” of
Abstract:
In this paper, accelerometers transducer
are used to check the spindle vibration. Once the spindle is out of
balance, the transducer gives a dialog response to computerized
numerical controller (CNC) which is set with a control level. This paper
aims at analyzing the state of the machine tools and data detection due
to vibration-shaft electric motor assembly (Fig. 2). A series of
measurements are performed in order to determine the cause of the
vibration generator and highlighting effects. To determine the source of
vibration is used a number of tools and techniques based on signal
processing. Such vibration analysis in this paper is based on a number
of methods, such as spectrum frequency, harmonic order, and trend
signal.
The linking part between the transmission belt and the main spindle was
measured and as a result, it was observed that the elastic part doesn’t
work accordingly and that it represents the cause of the 4th
order harmonic.
Key
words:
vibration, main spindle, order analysis, frequency spectrum.
Electronic mail: orgcom@icmas.eu /
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