Oleksandr Gerasin

Synthesis and research of neuro-fuzzy observer of clamping force for mobile robot automatic control system

This paper is dedicated to solving the problem of a fuzzy observer development for the clamping force automatic control system of a mobile robot with magnetically-operated drivers for moving on inclined and vertical ferromagnetic surfaces. An approach based on physical rules of field theory to determine the clamping forces of electromagnets is also considered. The authors propose to synthesize the clamping force observer using hybrid neuro-fuzzy systems based on experimental data. The analysis of computer simulation results in the form of static characteristics graphs of the force observer confirms the high accuracy of the developed neuro-fuzzy observer to the real processes.

PLC based system for remote liquids level control with radar sensor

Article describes the designed by the authors PLC based system for remote level control with radar sensor. Developed system uses the radar sensor readings. Based on the hardware, required to measure the operating parameters of tanks, authors proposed a distributed structure of the level control system that is described in details. The interaction between main components and human-machine interface of the system is considered. Resulted system is then tested on experimental setup.

Automation of control processes in specialized pyrolysis complexes based on web SCADA systems

The paper describes Web SCADA Systems, designed by the authors, for monitoring and automation of control processes in the specialized pyrolysis complexes (SPC) for municipal polymeric waste (MPW) utilization. The functional structure and main components of the generalized SPC Web SCADA system are given. The specific example of the proposed SPC Web SCADA system application is also presented. Considerable attention is given to particular qualities of the functional structure, software and hardware implementation as well as multi-level human-machine interface (HMI) of the developed Web SCADA system for monitoring and automatic control of SPC main process parameters.

Features of clamping electromagnets using in wheel mobile robots and modeling of their interaction with ferromagnetic plate

The mathematical model of clamping electromagnets for clamping force determination on the basis of field theory means is offered for magnetically operated movers of mobile robots (MR) for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of magnetic induction and clamping force measurements in different spatial positions of clamping magnet relative to the ferromagnetic surface are given. The developed simulation model in Maxwell software based on finite element method allows to validate the obtained functional dependences considering the gap changes between magnet and working surface caused by excrescences of shells and ferromagnetic surface thickness changes caused by its technological features, as well as helps at the stage of MRs design.

Analysis and modeling of the slip signals' registration processes based on sensors with multicomponent sensing elements

This paper is dedicated to the development of sensor registration of object slippage in the adaptive robots gripper. The structure of the registration element and the multifunctional correction block of the clamping force are described. The functional diagram and sensor hardware implementation are proposed. The device for detection of slip displacement signal simulation is tested during the execution of process operations with manipulation object using software Proteus.

Pulse-phase control system for temperature stabilization of thermoacoustic engine model driven by the waste heat energy

This paper considers the task of controlled power source creation for hot heat exchanger of thermoacoustic engine, thus making it suitable to study the waste heat driven thermoacoustic systems. Authors propose the usage of pulse-phase control system based on triac. The hardware realization of proposed system and the results of simulation are described in details.

Комплекс завдань моніторингу та автоматичного управління мобільними роботами для вертикального переміщення

There have been analyzed and formalized the tasks of monitoring and automatic control of mobile robots (MR) for their movement and execution of various types of technological operations on inclined and vertical ferromagnetic surfaces. Generalized structure of a mobile robotic complex is shown with consideration to its main subsystems. The paper presents critical analysis of the current state of the problem of development of universal structures of MRs for the various types of technological operations and elaboration of computerized systems for monitoring and control of MR movement. In particular, there is provided a review of wheeled, walking and tracked MRs with pneumatic, vacuum-propeller, magnetic and magnetically operated clamping devices to grip vertical and ceiling surfaces. The constructive features of the crawler MR with a magnetic clamping device capable of moving along inclined ferromagnetic surfaces are considered. The basic technical parameters of the MR are shown for the further synthesis of computerized monitoring and automatic control systems. Formalization of monitoring and control of the MR positioning at the processing of large ferromagnetic surfaces is considered from the point of view of the control theory.

Advanced approaches to reduce number of actors in a magnetically-operated wheel-mover of a mobile robot

This paper considers ways to reduce the number of actors of a mobile robot (MR) based on a wheel-mover for moving on inclined and vertical ferromagnetic surfaces. Peculiarities of the magnetically-operated wheel-mover take into account at the developing mechanisms for movement control. Simulation models of the MRs wheel-mover moving on an arbitrary ferromagnetic surface with various control mechanisms are designed by the authors and proposed to be used for creating a real automatic control system for such MRs movers.