Matlab RTW-based Internet Accessible Remote Laboratory for Teaching Robot Control

2012 ◽  
pp. 362-379
Author(s):  
Zdenko Kovacic ◽  
Davor Jerbic ◽  
Vedran Vojvoda ◽  
Siniša Dujmovic
Keyword(s):  
Real Time ◽  
Management System ◽  
Web Application ◽  
Robot Control ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Remote Laboratory ◽  
Scara Robot ◽  
Control Schemes

This chapter describes the use of Matlab Real Time Workshop (RTW) for implementing an Internet Accessible Laboratory (IAL) for teaching robot control. The IAL architecture consists of three key components - IAL Web Application, IAL database, and a set of robot control schemes prepared for students’ laboratory curriculum that are running in Matlab RTW. The IAL management system supports multilingual access and enables easy addition of new users, new robotic systems, and new laboratory exercises related to robot control. The IAL functionality is demonstrated with the example of controlling a four degrees of freedom SCARA robot.

ELECTRIC VEHICLE CHARGER MANAGEMENT SYSTEM FOR INTEROPERABLE CHARGING FACILITIES

2016 ◽  
Vol 78 (5-8) ◽  
Author(s):  
Junghoon Lee ◽  
Gyung-Leen Park
Keyword(s):  
Real Time ◽  
Management System ◽  
Web Application ◽  
Charging Infrastructure ◽  
Service Chain ◽  
Personalized Services ◽  
Membership Management ◽  
The Status ◽  
Operation Control ◽  
Operation Center

This paper designs and develops a real-time charger management system which keeps collecting the status information from chargers and converts control messages from the total operation center to a command predefined for charger control. RF cards complete the service chain from electric vehicles to the operation center, making the information flow bidirectional. The extended coverage of the operation control over the charging infrastructure allows an easy payment for the charging fee, based on the membership management and personalized services. A web application is implemented on the digital map of the target city for users to retrieve necessary information from the system and find the best service and chargers. The massive amount of real-time charger monitoring data is being accumulated in the database, and big data analysis will allow us to make intelligent plans for future smart grid city services. 

Impedance Control of Space Robots Using Passive Degrees of Freedom in Controller Domain

2005 ◽  
Vol 127 (4) ◽  
pp. 564-578 ◽  
Author(s):  
Pushpraj Mani Pathak ◽  
Amalendu Mukherjee ◽  
Anirvan Dasgupta
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Space Structure ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Stable Method ◽  
Space Robots ◽  
End Effector ◽  
Control Schemes

Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based control schemes. In this work, a scheme is presented in which the control of impedance at the interface of the end effector and the space structure is achieved by introduction of a passive degree of freedom (DOF) in the controller of the robotic system. The impedance is shown to depend upon a compensation gain for the dynamics of the passive DOF. To illustrate the methodology, an example of a two DOF planer space robot is considered.

scholarly journals Management system of smart warehouses using IIoT for optimize inventory control

2021 ◽  
pp. 1-8
Author(s):  
José Esteban Ruiz-Melo ◽  
Irma Martínez-Carrillo ◽  
Carlos Juárez Toledo ◽  
Amador Huitrón-Contreras
Keyword(s):  
Supply Chain ◽  
User Interface ◽  
Internet Of Things ◽  
Real Time ◽  
Management System ◽  
Web Application ◽  
Industrial Internet Of Things ◽  
Strategic Information ◽  
Industrial Internet ◽  
Experimental Management

In the industry, the supply chain develops activities related to the flow of goods. A nerve point of this chain is warehouses, whose operational efficiency allows to minimize product losses and reduce overall costs. This work proposes the automation of a goods warehouse through its integration and interoperation with emerging technologies based on the Industrial Internet of Things (IIoT), with the aim of knowing and planning the stock in real time to optimize its management, since a recurring problem is having outdated inventories, which impact on the lack of traceability of the product. A methodology based on the design of an experimental management system is propose, through RFID devices and a microcontroller allows to monitor the inputs and outputs of goods, the second part of the system is a web application with a user interface where information about inventories could be viewed and analyzed in real time. This research will allow to lay the foundations of automation through IIoT of a warehouse with the purpose of turning it into an intelligent unit that provide strategic information.

“PIRAMIDA TINGGI, A State of the Art to Fulfill Obligation of Forestry Permit on Watershed Rehabilitation at PT Pertamina Hulu Mahakam”

2020 ◽  
Author(s):  
P. Sarwanto
Keyword(s):  
Land Tenure ◽  
Management System ◽  
Web Application ◽  
Local Community ◽  
Oil And Gas ◽  
Cost Optimization ◽  
Field Work ◽  
Development Goals ◽  
Potential Risks ◽  
Oil And Gas Sector

Among other obligations imposed under the forestry permit, watershed rehabilitation planting is perceived by the upstream oil and gas sector as the most complex challenge to conquer. Despite its poor track in fulfilling timeline and required result, there are also other challenges to consider, for instance lack of critical location, weather, fire, land tenure, community habit and capability, and cost optimization. In attempt to respond these challenges, an innovation in management system is constructed at PT Pertamina Hulu Mahakam, embracing and tailoring all related challenges, difficulties, and complexities, escalating the activity to be beyond compliance. So that it will be able to deliver more than merely avoid the identified potential risks towards company. The management system, called PIRAMIDA TINGGI (Pemberdayaan Masyarakat untuk Melestarikan Hutan di Dunia demi Ketahanan Energi Nasional), actively involves government, community, and business sector as equilateral triangle that work together to perform watershed rehabilitation planting. Developed using ISO 9001:2015 process approach namely PDCA (Plan-Do-Check-Act), the PIRAMIDA TINGGI system is in line as well with NAWACITA (President Joko Widodo’s vision, mission and program). To encounter other issue found during field work, this system is equipped as well with another innovation tool named PARIDA, a geospatial mobile-desk top-web application that easily able to map and identify vegetation in real time for further geo-analyzing multi-purposes, to be operated by local community. Full set implementation of this system has benefitted all parties. To Company in form of significant cost efficiency around 13.9 MUSD and 7 days’ faster result delivery besides obligation fulfillment, for others in form of broader advantage of proven sustainability project that has gave contribution to 5P (People, Planet, Prosperity, Partnership and Peace), objectives required by UN Sustainable Development Goals 2030.

Real-time Worker Safety Management System Using Deep Learning-based Video Analysis Algorithm

2020 ◽  
Vol 9 (3) ◽  
pp. 25-30
Author(s):  
So Yeon Jeon ◽  
Jong Hwa Park ◽  
Sang Byung Youn ◽  
Young Soo Kim ◽  
Yong Sung Lee ◽  
...  
Keyword(s):  
Deep Learning ◽  
Real Time ◽  
Video Analysis ◽  
Management System ◽  
Safety Management ◽  
Worker Safety ◽  
Safety Management System ◽  
Analysis Algorithm

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

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