MARG szenzor alapú pozíció becslés periodikus mozgásra

A kutatás során magnetométer, giroszkóp és gyorsulásérzékelő szenzorok (MARG szenzor) jeleinek fúzióját vizsgáltuk. A cikk fókusza a felügyelt tanulás által végzett szenzorfúzió, amely a különböző típusú mért adatok párhuzamosfeldolgozásán alapuló pozíció becslését jelenti periodikus mozgások esetén. A tanuló algoritmusok alkalmazhatóságát egy inga gyakorlati példáján keresztülvizsgáltuk meg

Bond-Graph model based stepper motor output characteristics simulation implemented in LabVIEW environment

In the industry, simulations are of great importance. They enable measurements to be made in different conditions about a virtual device, which are highly comparable to measurements made in a real life scenarios. Because of their wide range of usage in lower power drive systems, where precision and simplicity is a must, the subject of study is a permanent magnet stepper motor. For precise positioning purposes, it is essential to know the positioning behaviour of these devices. The model construction process involved an intermediate step, which consisted of creating the Bond-Graph of the motor based on pre-defined models available in the literature in this field. In the next step, the Bond-Graph model was converted to a block diagram of the motor. This permitted the direct implementation of the motor model in LabVIEW visual programming environment. The preliminary steps allows us to check and confirm the functionality and correctness of the model. This article covers in detail the model conversion and implementation steps of the simulation. At the end, the functionality of the simulation was tested.

Angular Position Control of 3-Cars Crane System Using Proposed Fuzzy-PID Controller

This paper presents a novel control approach for 3 cars crane systems. Nowadays; some problems for carrying unpredicted loads of crane systems exist. On the other hand; long bar loads are very important to carry without touch on other materials in factories. In this simulation study, fuzzy based controllers were designed to control vibrations of 3 cars crane system. The simulation results are improved and show this kind of controllers will be employed in real time such systems.

Trajectory Control of Designed Experimental Mobile Robot

Due to advancing technology; nowadays mobile robot applications in hospitals have been increased. For that reason, it is very important and necessary to analyze the trajectory of such helping robotic system. However; there are many types of mobile robots have been utilized in hospital applications such as helping nurses. In this simulation study; a designed and controlled mobile robot was controlled by using standard feedback controllers. On the other hand, the robot was also tested with disturbances of ground surface roughness. The simulation results were improved that standard PID controller has superior performance to overcome surface roughness of the robot trajectory.

Classification of Mushroom Data Set by Ensemble Methods

Due to disease of mushrooms, it is very important to classify mushrooms for predicting the best quality mushrooms. There are many methods to analyse the main parts of mushrooms. For above mentioned descriptions; in this simulation study five types of classification algorithm are employed to predict the structure of mushrooms. Mushroom dataset is used to predict the classes of mushrooms. The results are improved that these methods will be used to predict exact mushrooms features and classifications in real time approaches.

Intelligent Buildings as Cyber-Physical Systems: a Reconfigurable Hardware Technology-based Approach

This paper discusses the idea to change the way to approach intelligent buildings (IBs) development and implementation by taking into account the last evolutions in cyber-physical systems (CPSs). Therefore, the main goal is to extend IBs design engineering with the constraints of systems in a CPS context. As well known, smart buildings are increasingly complex as they integrate many scientific areas and research topics, as well as a large scale of last-generation technologies. At the same time, the Internet has deeply transformed the way to manage information and services, respectively how information is transmitted and computed in cyberspace. The quick management and information processing inside cyber layer challenges the interaction with the physical world in a sense to develop IBs as smart distributed systems or CPSs. In addition to this, the papers emphasize the original idea of developing reconfigurable hardware technology-based (RHT-based) CPS architectures for IBs implementation purposes. The benefits of the RHT application in a CPS context for IBs are widely discussed and analyzed. The unfolded theoretical background has been supported by an implementation example using last generation software technologies. These experiments evidence the advantages and versatility of this challenging implementation paradigm of the latest digital technology, applied for current-state IBs development.

Computing The Kinematics Study of a 6 DOF Industrial Manipulator Prototype By Matlab

Since the mechanical parts in the robot are designed to do the movement, studying and analyzing the motion considered a primary issue that should be taken into consider when studying and designing the robot. In this research 6-DOF sample of the industrial manipulator based on ABB IRB 4400 model had been studied. The mathematical model of manipulator is established by DH (Denavait Hartenberg) method. The forward kinematics was done using DH Parameters in order to get the final transformation matrix. The inverse kinematics was done using geometrical and analytical methods in order to get the end effector final position and direction by calculate Euler angles values. Finally, the forward and inverse kinematics equations were computing by MATLAB to get angles, end effector, position, direction and Euler angles values. The kinematics study and the arm movement’s equations were compered with the practical measurements to make sure it fulfills the desired purpose.

Optical inspection of mounted printed circuit board using National Instruments software

The topic of the given task based on the optical opposition of a mounted printed circuit board using National Instruments software. During the inspection, 7 types of resistors, 3 types of integrated circuits, barcodes and text were detected. The results of the detection have been visualized and a Microsoft Excel scan report has been exported. The optical inspection was carried out using the National Instruments Vision Development Module and LabVIEW development environments.

ROS OS based environment mapping of Cyber Physical System Lab by Depth sensor

The 21st century is a century of Robotics and thus the appearance of robots in the industries made the “Industrial Revolution 4.0” in which we can control and analyse the system using HMI’s or wirelessly over network and it’s a great example of industry 4.0 component. Nowadays robots are very important part of industry’s processing unit as they have the tendency to work 24*7 thus increases the efficiency of processing and production unit. In our project a depth sensor (Microsoft’s Xbox Kinect) is mounted on a mobile robot whose main task is to map our Cyber Physical System Lab in 3-Dimensional which uses a ROS OS software installed on linux machine. The robot will use a Simultaneous localization and mapping (SLAM) process to map an environment while currently generating an estimate for the location of the Robot.

Lightweight multi-agent framework for a cluster-based wireless sensor network

Sensor applications and wireless sensor networks (WSNs) are becoming a part of our everyday life. A number of network arrangements are used in WSN. In this paper, we focus on the cluster based network to help identify the issues associated with communication within such networks. We present a lightweight multi-agent routing framework for a cluster based WSN to resolve some issues associated with such networks. By using state- of-art protocol in a unique combination and categorizing cluster layers, we take full advantage of the properties of the selected protocols. The simulation results illustrate that the proposed method is light-weight in terms of energy consumption by the sensor nodes communicating information within a cluster based network. Nevertheless, high network throughput and robust data communication are also achieved.