scholarly journals Research and development of Q-Baller -- a spherical wheeled robot

2017 ◽  
Author(s):  
◽  
Jiamin Wang
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Circuit Board ◽  
Embedded Control ◽  
Wheeled Robot ◽  
Dynamics And Control ◽  
Continuous Gain Scheduling ◽  
Machine Interface ◽  
And Control ◽  
And Robotics

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to ahieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future.

Simple System Dynamics and Control System Project Models

2014 ◽  
pp. 113-133
Author(s):  
A. S. White
Keyword(s):  
Control System ◽  
Software Project ◽  
Software Projects ◽  
Initial State ◽  
Control Models ◽  
Non Linear ◽  
Dynamics And Control ◽  
Control System Model ◽  
System Project ◽  
And Control

This chapter examines the established Systems Dynamics (SD) methods applied to software projects in order to simplify them. These methods are highly non-linear and contain large numbers of variables and built-in decisions. A SIMULINK version of an SD model is used here and conclusions are made with respect to the initial main controlling factors, compared to a NASA project. Control System methods are used to evaluate the critical features of the SD models. The eigenvalues of the linearised system indicate that the important factors are the hiring delay time, the assimilation time, and the employment time. This illustrates how the initial state of the system is at best neutrally stable with control only being achieved with complex non-linear decisions. The purpose is to compare the simplest SD and control models available required for “good” simulation of project behaviour with the Abdel-Hamid software project model. These models give clues to the decision structures that are necessary for good agreement with reality. The final simplified model, with five states, is a good match for the prime states of the Abdel-Hamid model, the NASA data, and compares favourably to the Ruiz model. The linear control system model has a much simpler structure, with the same limitations. Both the simple SD and control models are more suited to preliminary estimates of project performance.

Reconfigurable Fault-Tolerant Tilt-Rotor Quadcopter System

2018 ◽  
Author(s):  
Rumit Kumar ◽  
Siddharth Sridhar ◽  
Franck Cazaurang ◽  
Kelly Cohen ◽  
Manish Kumar
Keyword(s):  
Fault Tolerance ◽  
Dynamic Models ◽  
Fault Tolerant ◽  
Tilt Rotor ◽  
Failure Simulation ◽  
Dynamics And Control ◽  
Space Formulation ◽  
And Control ◽  
Controllability And Observability ◽  
Trim Flight

In this paper, fault-tolerance characteristics of a reconfigurable tilt-rotor quadcopter upon a propeller failure are presented. Traditional quadcopters experience instability and asymmetry about yaw-axis upon a propeller failure but the design and control strategy presented here can handle a complete propeller failure during flight. Fault-tolerance is achieved by means of structural and flight controller reconfiguration. The concept involves conversion of a tilt-rotor UAV into a T-copter. The dynamics and control of the tilt-rotor quadcopter are presented for ideal flight condition and for the reconfigured system in case of propeller failure. Analytical solution for trim flight conditions yielding zero angular rates for the UAV is derived. It has been shown that the structurally reconfigured UAV is controllable and completes the flight mission without much compromise in flight performance. The controllability and observability analysis of the reconfigured system is shown by state space formulation. The flight controllers for both dynamic models are analyzed and the applicability of the proposed concept is presented by propeller failure simulation during the way-point navigation.

Research and Development of Automatic Control System on Material Split Packing and Packaging Integrated Machine

2014 ◽  
Vol 533 ◽  
pp. 294-297
Author(s):  
Kai Yang ◽  
Zhong Shen Li ◽  
Lei Zhang
Keyword(s):  
Control System ◽  
High Speed ◽  
High Reliability ◽  
Automatic Measurement ◽  
Power Module ◽  
Memory Module ◽  
Machine Interface ◽  
Output Driver ◽  
And Control ◽  
Measurement And Control

In order to meet the high speed, high precision, high reliability of the packaging machine, a novel control system is provided. In the hardware, the main circuits consisted of main processor module, memory module, temperature measurement and control module, input signal detection module, material split packing module, output driver module, human-machine interface module, system monitor module, power module and JTAG debug module, etc. In the software, the multi-tasking operating system μC/OS-Ⅱ and the graphical user interface μC/GUI were successfully transplanted into LPC2478. Then an experimental platform was established. And many control tasks, including automatic measurement, making bags, loading, transferring, pumping vacuum, sealing and data display, were automatically and continuously executed on the platform. Finally the results show: the machine can package 30 packets (5 g per packet) in a minute; the packaging errors ≤ 0.2 g; the packaging qualified rates ≥ 93%. In conclusion, the system performance is good.

Romeo-ARAMIS Integration and Sea Trials

2002 ◽  
Vol 36 (2) ◽  
pp. 3-12 ◽  
Author(s):  
M. Caccia ◽  
R. Bono ◽  
G. A. Bruzzone ◽  
G. I. Bruzzone ◽  
E. Spirandelli ◽  
...  
Keyword(s):  
Control System ◽  
Data Acquisition ◽  
Aegean Sea ◽  
Medium Size ◽  
The European Union ◽  
Scientific Applications ◽  
Deep Waters ◽  
Surface Station ◽  
And Control ◽  
And Robotics

This paper deals with the integration and sea trials of Romeo, a latest generation ROV for scientific applications and robotics research, and ARAMIS, a scientific and technological system to be integrated with typical mid-class existing ROVs to carry out pelagic and benthic investigations both in shallow and deep waters. The ARAMIS project (Advanced ROV package for Automatic Mobile Inspection of Sediments), funded by the European Union, developed a system constituted by a subsea module, i.e. a toolsled equipped with the technological and scientific instruments and their dedicated data acquisition and control system, and a surface station, i.e. a network of computers devoted to: i) the supervisory control of the ROV motion and of the scientific devices' sampling activities, ii) the acoustic and video image processing, iii) the interfaces for pilot and scientists. The ARAMIS system capabilities have been demonstrated by operating the system with a couple of ROVs designed for scientific applications: the deep-water ROV Victor 6000 developed by IFREMER, and the mid-water ROV Romeo developed by CNR-IAN. The integration of the ARAMIS system with Romeo, the design and development of the ARAMIS Core Skid data acquisition and control system (CSDACS), and the execution of the trials in the thermal vent areas near the island of Milos in the Aegean Sea during the ARAMIS' final demo with the medium size ROV are presented and discussed.

The Design of Temperature Control System in Climatic Chamber Based on PLC and PC

2011 ◽  
Vol 148-149 ◽  
pp. 413-417
Author(s):  
Jia Jiang Yu ◽  
Sa Wu
Keyword(s):  
Control System ◽  
Pid Control ◽  
Temperature Tolerance ◽  
Protocol Design ◽  
Temperature Control System ◽  
Test Design ◽  
Climatic Chamber ◽  
Environmental Test ◽  
Machine Interface ◽  
And Control

In allusion to climatic chamber which is the important device in reliability and environmental test, design a control system including S7-200 PLC and PC to realize conventional PID control. To obtain more precise test temperature goal, a setting of temperature tolerance belt is imported. And introduce SIMATIC S7-200 PLC communication protocol, design a PC human-machine interface based on VC++, use a ActiveX control named MSComm6.0 to realize data recording and control between PC and PLC.

Integrated Validation of Man Machine Interface and Control System for a Combined Cycles Plant

1992 ◽  
Vol 25 (1) ◽  
pp. 235-238
Author(s):  
E. Colozza ◽  
P. Groppelli ◽  
M. Maini ◽  
A. Scianna
Keyword(s):  
Control System ◽  
Combined Cycles ◽  
Machine Interface ◽  
Man Machine Interface ◽  
And Control

scholarly journals Rancang Bangun Pengendali Air Condisioner (Ac) Gedung Bank Central Asia Kcu Diponegoro Surabaya Berbasis Arduino Mega 2560 Dan Visual Basic 2010

2018 ◽  
Vol 2 (2) ◽  
pp. 78
Author(s):  
Bagus Nurdila Eko Kuncoro ◽  
Anang Widiantoro
Keyword(s):  
Control System ◽  
Central Asia ◽  
Personal Computer ◽  
Visual Basic ◽  
Human Machine Interface ◽  
Air Conditioner ◽  
Machine Interface ◽  
Main Thing ◽  
Important Position ◽  
And Control

 ABSTRACT- The use of Air Conditioner (AC) in an important position and becomes the main thing. BCA diponegoro has a total of 28 AC conditioners which are manually and need an engine for AC conditioning. This research looks to build A prototype control system that can control AC electricity automatically, centralized and computerized. So that it can help engineers monitor, control and control building AC conditioners effectively and efficiently. The design of the system using the Micro-controller AT MEGA 2560 as a controlling tool in controlling the electricity AC of the BCA KCU Diponegoro building. And use Visual Basic. NET 2010 as an HMI (Human Machine Interface). The results of this tool are able to control AC electricity in the Diponegoro KCU BCA building automatically, centrally and can be controlled by a Personal Computer. 

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