Radu Tarca

Software Framework for Advanced Error Troubleshooting in Flexible Manufacturing System

This paper introduces a new type of software framework for error troubleshooting in flexible manufacturing systems using a frame marker device. Our framework system meant to resolve the failures originated from the human-machine interface and to generate self-training from previous experience.

Flight Stability Analysis of a Symmetrically-Structured Quadcopter Based on Thrust Data Logger Information

Quadcopter flight stability is achieved when all of the rotors–propellers generate equal thrust in hover and throttle mode. It requires a control system algorithm for rotor speed adjustment, which is related with the translational vector and rotational angle. Even with an identical propeller and speed, the thrusts generated are not necessarily equal on all rotors–propellers. Therefore, this study focuses on developing a data logger to measure thrust and to assist in flight control on a symmetrically-structured quadcopter. It is developed with a four load cells sensor with two-axis characterizations and is able to perform real-time signal processing. The process includes speed adjustment for each rotor, trim calibration, and a proportional integral derivative (PID) control tuning system. In the data retrieval process, a quadcopter was attached with data logger system in a parallel axis position. Various speeds between 1200 rpm to 4080 rpm in throttle mode were analyzed to determine the stability of the resulting thrust. Adjustment result showed that the thrust differences between the rotors were less than 0.5 N. The data logger showed the consistency of the thrust value and was proved by repeated experiments with 118 s of sampling time for the same quadcopter control condition. Finally, the quadcopter flight stability as the result of tuning process by the thrust data logger was validated by the flight controller data.

Quadcopter Propeller Design and Performance Analysis

In quadcopter design process, usually the selection of rotor and propeller are treated carefully because they will determine the maneuver abilities as well as the speed and maximum carry load. Among various methods used to choose the best combination of rotor and propeller, this research used Solidworks software computational method. The final result was compared with data-sheets of three commercial rotor specification for quadcopters in order to ascertain its validity. The designed propeller’s size is 16 × 5 inch with two blades, and connected to a rotor having angular velocity between 1000 and 9000 rpm. In order to analyze the air pressure around propeller, Solidworks flow simulation was conducted. Information achieved from analyzed data show that the maximum thrust was 4144 g-force (gf), with propeller’s coefficient thrust of 0.04. These data can be used to analyze the power efficiency in rotor propeller which is then useful in choosing the right size of propeller, according to the desired thrust.

Augmented Reality Used for Robot Remote Control in Educational Laboratories

One of the main aspects of teaching in engineering education, including robotics engineering, is to experiment. Due to the complexity of the equipment involved, robotics research is expensive, thus limiting the access of researchers/students to perform activities of this kind. One possibility to access these devices is to share them with other universities and research centers from different locations in the world. The research team was focused on building a telerobotic educational lab operated via the web so that interested Internet users should be able – using augmented reality – to manipulate and share with other users the robot control. In this paper the specificity of the robot’s environment is the existence of a grid, drawn on the telerobotic working space.

A Comprehensive Approach of Advanced Error Troubleshooting in Intelligent Manufacturing Systems

Production systems must be flexible and endowed with techniques and tools allowing an automatic recovery of errors. And so, the subject of error recovery in flexible manufacturing system is always an open issue. The objective of this work consists in proposing a new type of software framework for error troubleshooting in a flexible manufacturing system that is perceived as an Intelligent Space (iSpace). Our framework system is designed to solve the failures in the functioning of the FMS and to generate self-training from previous experience.

Designing a Networked Telerobotic System Using Internet

Experimentation is a very important part of education in engineering including mechatronics engineering, which is a relatively new field, combining three engineering disciplines: mechanical engineering, electrical engineering and software engineering. The equipments needed for experiments in mechatronics are usually expensive. A solution to make these expensive equipments achievable is to share them with other universities or research centers from different locations in the world.The goal of our team is to build a networked telerobot system so that the Internet users, especially researchers and students, can be able to control an autonomous robot able to explore a dynamic environment remotely from their home and share the robot system with the department. The particularity of the environment, in this case, is that the experiment uses grid lines painted on the floor, for robot navigation purpose.The system which is still under development will be able to increase the number of robots. The communication software technologies are based on PHP. A specific protocol over IP was designed for communication between the server and clients.The aim of this project is oriented toward providing a telerobot system with a high degree of local intelligence in order to overcome restricted bandwidth and transmission delay of the network.Copyright

SIMULATING THE CONTROL OF A SCARA ROBOT BY MEANS OF A 3D HAND POSITION SENSING SYSTEM

In this paper is presented a possible method for controlling a robot, in this particular case a SCARA robot by using a capacitive 3D hand positioning system. This system makes possible the control of and for virtual reality prototype with application in augmented reality systems.

The Functional Model of a Robot System Which Presents a Visual Servoing Control

This paper presents some studies regarding the functional model of a robot system that has a visual servoing control, and also the simulation results for the system model. The information given by a visual system of the position of a target, materialized by a moving light source is used to realize the robot control.