Experimental Investigation of a Cable Robot Recovery Strategy

Developing an emergency procedure for cable-driven parallel robots is not a trivial process, since it is not possible to halt the end-effector by quickly braking the actuators as in rigid-link manipulators. For this reason, the cable robot recovery strategy is an important topic of research, and the literature provides several approaches. However, the computational efficiency of the recovery algorithm is fundamental for real-time applications. Thus, this paper presents a recovery strategy adopted in an experimental setup consisting of a three degrees-of-freedom (3-DOF) suspended cable robot controlled by an industrial PC. The presentation of the used control system lists the industrial-grade components installed, further highlighting the industrial implication of the work. Lastly, the experimental validation of the recovery strategy proves the effectiveness of the work.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

Data Acquisition System for Cold Crucible

The purpose of this article is to introduce data acquisition system for a cold crucible. The first part describes the induction system, cooling system and components used for measurement and data collection. The next part is devoted to the program created in LabVIEW software. It describes the parts of the program used for CompactRIO chassis and program designed for industrial PC that is used for visualization and data storage. At the end the main features of user interface are explained.

PEMBANGUNAN KIOS INFORMASI FASILITAS KEPEGAWAIAN BERBASIS MULTIMEDIA INTERAKTIF MENGGUNAKAN INDUSTRIAL PC

Abstrak - Pengelolaan / Manajemen Sumber Daya Manusia (MSDM) merupakan hal mendasar yang harus diperhatikan oleh organisasi. Departemen SDM wajib mampu mengelola data karyawan dengan baik. Data karyawan tersebut akan menjadi dasar untuk menentukan kewajiban dan hak yang dapat diterima oleh karyawan yang bersangkutan, calon pegawai yang siap dipromosikan, pemenuhan diklat untuk pegawai tertentu, dan masih banyak keputusan strategis lainnya yang berhubungan dengan data kepegawaian. Hal inilah yang melahirkan Human Resources Information System (HRIS). Tujuan utama HRIS adalah memudahkan pegawai sebagai pengguna untuk menyimpan data karyawan dan mengaksesnya dengan mudah kapan pun dibutuhkan. Saat ini penerapan HRIS masih tersentralisasi di Departemen SDM sehingga informasi pegawai masih belum terinformasikan ke masing-masing pegawai. Setiap pegawai mengalami kesulitan dalam mengakses informasi pribadinya dan harus melakukan konfirmasi ke petugas departemen SDM. Berdasarkan permasalahan tersebut, kami tertarik untuk melakukan penelitian dengan menggunakan metode penelitian deskriptif untuk pengumpulan data, sementara model pembangunan sistem memakai metode Multimedia Development Life Cycle (MDLC) yang terdiri dari tahapan pengonsepan, perancangan, pengumpulan material, pengembangan dan perakitan, pengujian dan pendistribusian. Solusi yang diberikan yaitu pembangunan kios informasi berbasis multimedia interaktif menggunakan Industrial PC yang dapat diakses oleh semua pegawai sebagai pusat informasi baik informasi umum mengenai SDM maupun informasi pribadi pegawai. Hasil penelitian yang dilakukan kepada tujuh ratus pegawai dengan menggunakan metode Mean Opinion Score (MOS) yang diuji coba pada tujuh modul menghasilkan nilai rata-rata sebesar 4,18 (terdapat sedikit pemuatan namun tidak mengganggu). Abstract – Human Resources Management (HRM) is a fundamental thing that must be considered by the organization. The HR Department must be able to manage employee data properly. The employee data will be the basis for determining the obligations and rights that can be received by the employees concerned, prospective employees who are ready to be promoted, fulfillment of training for certain employees, and many other strategic decisions related to employment data. This is what gave birth to the Human Resources Information System (HRIS). The main objective of HRIS is to make it easier for employee as users to store employee data and access it easily whenever needed. Currently the implementation of HRIS is still centralized in the HR Department so that employee information is still not informed to each employee. Each employees have difficulty accessing their personal information and must confirm to the HR department officer. Based on these problems, we are interested in conducting research using descriptive research methods for data collection, while system development models are using Multimedia Development Life Cycle (MDLC) method which consists the stages of conceptualization, design, material collecting, development and assembly, testing and distribution. The solution provided is the development of interactive multimedia-based information kiosks using industrial PC that can be accessed by all employees as information center for both general information about HR and employee personal information. The results of research conducted on seven hundred employees using the Mean Opinion Score (MOS) method which were tested on seven modules produced an average value of 4.18 (there was a slight loading but not disturbing).

Non-contacted Permanent Magnetic Absorbed Wall-climbing Robot for Ultrasonic Weld Inspection of Spherical Tank

A novel wall-climbing robot for the onsite weld inspecting of spherical tank with Time of Flight Diffraction (TOFD) method has been developed, in order to liberate operators from dangerous and heavy working environment. Patented non-contacted permanent magnetic absorbed technology was adopted to realize reliable and flexible all-position moving along the weld seam on the surface of spherical tank. To ensure stable coupling for TOFD test, a surface adaptive probe holder which can provide constant contact force, have been particularly designed. Equipped with a visual sensing based weld seam tracking unit and industrial PC station, the robot could perform automatic flaw detection remotely even in the darkness environment. Onsite ultrasonic weld inspections have been carried out on a 4000m3spherical tank with 28mm in thickness. It is verified that the robot could accomplish tasks in any position and the acquired TOFD images satisfy the requirements of engineering evaluation.

Must the IT of the future be robust? How the industrial PC can learn how to walk Muss die IT der Zukunft robust sein? Wie der Industrie-PC laufen lernen kann

Must the IT of the future be robust? How the industrial PC can learn how to walk Muss die IT der Zukunft robust sein? Wie der Industrie-PC laufen lernen kann