Ciprian Rad

Fuzzy Control of a 3 Degree of Freedom Parallel Robot

Medical robotics is a relatively new branch of robotics. The paper presents an innovative user interface for the control of a 3 DOF Isoglide 3 parallel robot. The Isoglide3 robot described in (Stan, 2008), offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construction. The interface presented in this paper enables the user to apply PID and fuzzy controller together. The robot interface using virtual reality was verified and tested, and results presented in MATLAB, Simulink, and SimMechanics. The fuzzy controller was numerically simulated on problems of trajectory tracking. The simulation results demonstrated the superiority of fuzzy control over traditional PID control.

Parameter Identification and Modeling of a Pneumatic Proportional Valve with Applicability in Control Design of Servo-Pneumatic Systems

The key element in a servo-pneumatic actuation system is the control valve. This paper presents a method for parameter identification and modeling the flow characteristic of a FESTO MPYE-5-1/8-HF-101B proportional valve. An experimental setup and a procedure for parameter identification is presented in the paper. Simulation and experimental results are in agreement and the model of the valve could be used in high-accuracy positioning control design of pneumatic servo-systems.

Mechatronic Concepts in Design and Control of a Teleoperated Robot

The article proposes a new mechatronic integrated design approach for a robotic system. The proposed method uses modern methods like model based design, rapid control prototyping and hardware in the loop simulations in the development process. Using this method a six DOF teleoperated parallel robot is developed, the results are presented in the paper.

Rapid Control Prototyping in the Development of Home Energy Management Systems

The article investigates the development of home energy management systems based on real-time control algorithms and online identification. The proposed system optimizes the energy consumption for heating and cooling of a household using model predictive control strategies. The virtual prototype of the energy management system is developed, simulated and optimized using Matlab/Simulink. The simulated system is then implemented using dSpace platform and rapid control prototyping on real-time hardware and tested on a laboratory surrogate system. The system performance is evaluated by comparing the results with the response of classic systems used for heating and cooling in domestic houses. The obtained results confirmed the viability of the proposed solution in home energy management systems.

Hardware-In-The-Loop (HIL) Simulation Used for Testing Actuation System of a 2-DOF Parallel Robot

This paper focuses on the subject of Hardware-in-the-Loop (HIL) simulations from mechatronic systems design perspective. HIL is a real-time simulation where real subsystem parts of a complex engineering system are coupled together with the numerical models of the remaining subsystems to form its complete representation. In a HIL simulation there are three main components: simulated components, dedicated hardware systems and real components. An impediment in using this method is the high cost of necessary hardware. The paper presents an economical alternative to existing dedicated hardware systems by using the development board FiO Std. Using this board, a HIL simulation aimed at analyzing the control and actuation system of a 2-DOF parallel robot is presented in this paper. The HIL simulation includes two models: a target model (running on FiO Std board) and a host model (running on MATLAB/Simulink). The dynamic model of the robot mechanical structure (simulated part) is implemented in host model and then coupled together with two servo-motors (real parts) through target model to form a complete representation of the studied system.

Development of a Smart Sensor Network with Application in Self-Adapting Energy Management Systems for Buildings

To satisfy ever-increasing needs for efficiency and environment protection, the energy [...]

Agricultural Management Integrated System Based on Smart Sensing Technology

Precision agriculture implies, alongside conventional issues, the use of information in the management and execution of agricultural tasks in order to increase the productivity of crops. [...]

Integrated learning platform based on lego NXT and Matlab for teaching mechatronics

In this article a new integrated learning platform for teaching mechatronic systems design is proposed. The platform is the result of several years of effort and experience in mechatronic education, undertaken by the department of Mechatronics and Machine Dynamics from Technical University of Cluj-Napoca. The platform aims to stimulate inter and transdisciplinary thinking of students in a collaborative problem-based learning environment that allow better understanding of mechatronic systems and stimulate the learning interest. For this dedicated hardware and software components are used together with tailored applications, which allow students to understand the design concepts and methodologies used in the design process. As an example, in the paper, a specific application is presented that shows the potential of the platform.

Considerations Regarding the Process of Integration the Mechanisms in the Structure of the Mechatronic Systems

Mechatronic systems are the result of integration the modules belonging to mechanical engineering, electrical engineering and information-automation engineering. The paper presents the fundamentals of the integration process in the nature and technology, and the role of information in that process. Information is the basic component of the mechatronic technology. Mechatronic knowledge is the result of information structuring and integration. The concept of information links, information carriers, and information kinematic chains in the study of the mechanisms for mechatronics are outlined too. The modern concepts in engineering education like transdisciplinarity, complexity and integral education are detailed based on the educational potential of mechatronic platforms. The basic approaches in the field are detailed too.

Kinematics Investigation, Workspace Analysis and Actuators Design for a 2-DOF Redundant Parallel Robot

This paper discusses the inverse and forward kinematics problem for a 2-dof parallel robot with actuator redundancy. The reachable workspace of the robot is generated for a set of parameters and a solution for the actuators is proposed in the final.