This document describes an automatic control system for nano-positioning stages used in micromanufacturing. An ARM microcontroller interfaces with a piezoelectric ultrasonic nano-positioning stage driven by a PI line controller. The microcontroller provides a user interface on an LCD screen to allow the user to choose geometric patterns for the stage movement. Different tuning parameters for the PI controller were evaluated to achieve optimal step response of the positioning stage. The system allows for precise positioning, trajectory planning, and task repetition for micromanufacturing applications such as laser machining.
performance assessment of a wind turbine using fuzzy logic and artificial net...INFOGAIN PUBLICATION
This paper makes a comparison between two control methods for maximum power point tracking (MPPT) of a wind turbine modules using Permanent Magnet Synchronous Generators(PMSG) under fixed and different wind condition: the Fuzzy Logic (FL) and the Artificial Neural Network control (ANN). Both techniques have been simulated and analyzed by using Matlab/Simulink software. The simulated power transitions and the power tracking time realized by the fuzzy logic controller and the neural network controller has been evaluated in comparison with Tip Speed Ratio controller (TSR).
Speed Tracking of Field Oriented Control Permanent Magnet Synchronous Motor U...IJPEDS-IAES
The field oriented control theory and space vector pulse width modulation technique make a permanent magnet synchronous motor can achieve the performance as well as a DC motor. However, due to the nonlinearity of the permanent magnet synchronous motor drive characteristics, it is difficult to control by using conventional proportional-integral-derivative controller. By this reason in this paper an online neural network controller for the permanent magnet synchronous motor is proposed. The controller is designed to tracks variations of speed references and also during load disturbance. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-simulink program. The simulation results show that the proposed controller can reduce the overshoot, settling time and rise time. It can be concluded that the performance of the controller is improved.
Rotor Resistance Adaptation Scheme Using Neural Learning Algorithm for a Fuzz...IOSR Journals
This document presents a rotor resistance adaptation scheme using a neural learning algorithm for a fuzzy logic based sensorless vector control of an induction motor. It proposes using a fuzzy logic controller for speed control of the induction motor drive to provide superior transient performance compared to a PI controller. It also uses a neural network to estimate the rotor resistance online and adapt to variations caused by temperature changes. Simulation results show that the fuzzy logic controller has faster response to speed changes than the PI controller. The neural network is also able to accurately estimate changes in rotor resistance and the adapted system is robust to rotor resistance variations of up to 100%.
This document summarizes a research paper on using fuzzy logic to control the speed of a DC motor. It begins by describing the objectives of designing a high-current driver circuit for the motor and using an efficient fuzzy logic algorithm to accurately track motor velocity. It then provides mathematical analysis of the separately excited DC motor and describes implementing a fuzzy logic controller using FPGA. Membership functions, rule inference, and defuzzification are implemented in VHDL. Feedback is provided by an optical encoder to measure motor speed. Simulation results show the fuzzy controller can accurately control motor speed. In conclusion, the fuzzy logic approach provides an efficient and accurate method for DC motor speed control that does not require an accurate mathematical model of the motor.
Co-simulation of self-adjusting fuzzy PI controller for the robot with two-ax...TELKOMNIKA JOURNAL
This paper presents the co-simulation of the self-adjusting fuzzy PI controller to control a two-axes system. Each axis was driven by a permanent magnet linear synchronous motor (PMLSM). The position and speed controller used the fuzzy PI algorithm with parameters adjusted by a radial basis function neural network (RBFNN). The vector control was applied to the decoupled effect of the PMLSM. The field programmable gate array (FPGA) was used to control both axes of the system. The very high-speed integrated circuit-hardware description language (VHDL) was developed in the Quartus II software environment, provided by Altera, to analyze and synthesize designs. Firstly, the mathematical model of PMLSM and fuzzy PI was introduced. Secondly, the RBFNN adjusted the knowledge base of the fuzzy PI. Thirdly, the motion trajectory was introduced for testing the control algorithm. Fourthly, the implementation of the controller based on FPGA with the FSM method and the structure of co-simulation between Matlab/Simulink and ModelSim were set up. Finally, discussion about the results proved the effectiveness of the control system, determining the exact position and trajectory of the XY axis system. This research was successful in implementing a two-motor controller within one chip.
This document summarizes a study that uses Takagi-Sugeno fuzzy logic control as a speed controller for indirect field oriented control of an induction motor drive. The study builds a simulation model of indirect field oriented control for an induction motor in MATLAB Simulink. Takagi-Sugeno fuzzy logic is then applied as the speed controller using error and derivative error as inputs and change of torque command as the output. Simulation results show zero overshoot, a rise time of 0.4 seconds, and a settling time of 0.4 seconds. The steady state error is 0.01% indicating the speed can accurately follow the reference speed. The fuzzy logic controller provides effective speed control for the induction motor drive.
Dynamic Simulation of Induction Motor Drive using Neuro Controlleridescitation
Induction Motors are widely used in Industries, because of the low maintenance
and robustness. Speed Control of Induction motor can be obtained by maximum torque and
efficiency. Apart from other techniques Artificial Intelligence (AI) techniques, particularly
the neural networks, improves the performance & operation of induction motor drives. This
paper presents dynamic simulation of induction motor drive using neuro controller. The
integrated environment allows users to compare simulation results between conventional,
Fuzzy and Neural Network controller (NNW).The performance of fuzzy logic and artificial
neural network based controller's are compared with that of the conventional proportional
integral controller. The dynamic Modeling and Simulation of Induction motor is done using
MATLAB/SIMULINK and the dynamic performance of induction motor drive has been
analyzed for artificial intelligent controller.
Nowadays, A lot of industry requires Multi Motor System (MMS) applications such as propulsion and traction power, HEV, conveyer and air-conditioner. The Conventional arrangement for MMS usually done by cascading the motors drives which each drives has individual inverter. Part of MMS, Dual-Motor drives fed by a single inverter is being paid attention by the researchers. Dual-motor drives using a single three-leg inverter has its limitation in the case of different operating conditions and independent speed control requirement. Therefore, dual-Motor drives using a single Five-leg Inverter (FLI) was proposed for independent control for both motors. In PMSM drives, the information of the feedback speed and rotor angular position is compulsory for variable speed drives. Conventional solution is by using speed sensor which will increase size, cost, extra hardwire and feedback devices, especially for the case of dual-PMSM drives. The best solution to overcome this problem is by eliminating the usage of speed and position sensors for Dual-motor drives. This paper presents a new sensorless strategy using speed and position estimator for Independent Dual- Permanent Magnet Synchronous Machine (PMSM) drives which utilize Five-Leg Inverter (FLI). The proposed strategy is simulated using MATLAB/Simulink to evaluate the overall motor drive performance. Meanwhile the experimental set-up is connected to dSPACE 1103 Board. The experimental results demonstrate that the proposed estimator is successfully managed to control the Dual-PMSM drives for variation of speed and for different direction applications.
performance assessment of a wind turbine using fuzzy logic and artificial net...INFOGAIN PUBLICATION
This paper makes a comparison between two control methods for maximum power point tracking (MPPT) of a wind turbine modules using Permanent Magnet Synchronous Generators(PMSG) under fixed and different wind condition: the Fuzzy Logic (FL) and the Artificial Neural Network control (ANN). Both techniques have been simulated and analyzed by using Matlab/Simulink software. The simulated power transitions and the power tracking time realized by the fuzzy logic controller and the neural network controller has been evaluated in comparison with Tip Speed Ratio controller (TSR).
Speed Tracking of Field Oriented Control Permanent Magnet Synchronous Motor U...IJPEDS-IAES
The field oriented control theory and space vector pulse width modulation technique make a permanent magnet synchronous motor can achieve the performance as well as a DC motor. However, due to the nonlinearity of the permanent magnet synchronous motor drive characteristics, it is difficult to control by using conventional proportional-integral-derivative controller. By this reason in this paper an online neural network controller for the permanent magnet synchronous motor is proposed. The controller is designed to tracks variations of speed references and also during load disturbance. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-simulink program. The simulation results show that the proposed controller can reduce the overshoot, settling time and rise time. It can be concluded that the performance of the controller is improved.
Rotor Resistance Adaptation Scheme Using Neural Learning Algorithm for a Fuzz...IOSR Journals
This document presents a rotor resistance adaptation scheme using a neural learning algorithm for a fuzzy logic based sensorless vector control of an induction motor. It proposes using a fuzzy logic controller for speed control of the induction motor drive to provide superior transient performance compared to a PI controller. It also uses a neural network to estimate the rotor resistance online and adapt to variations caused by temperature changes. Simulation results show that the fuzzy logic controller has faster response to speed changes than the PI controller. The neural network is also able to accurately estimate changes in rotor resistance and the adapted system is robust to rotor resistance variations of up to 100%.
This document summarizes a research paper on using fuzzy logic to control the speed of a DC motor. It begins by describing the objectives of designing a high-current driver circuit for the motor and using an efficient fuzzy logic algorithm to accurately track motor velocity. It then provides mathematical analysis of the separately excited DC motor and describes implementing a fuzzy logic controller using FPGA. Membership functions, rule inference, and defuzzification are implemented in VHDL. Feedback is provided by an optical encoder to measure motor speed. Simulation results show the fuzzy controller can accurately control motor speed. In conclusion, the fuzzy logic approach provides an efficient and accurate method for DC motor speed control that does not require an accurate mathematical model of the motor.
Co-simulation of self-adjusting fuzzy PI controller for the robot with two-ax...TELKOMNIKA JOURNAL
This paper presents the co-simulation of the self-adjusting fuzzy PI controller to control a two-axes system. Each axis was driven by a permanent magnet linear synchronous motor (PMLSM). The position and speed controller used the fuzzy PI algorithm with parameters adjusted by a radial basis function neural network (RBFNN). The vector control was applied to the decoupled effect of the PMLSM. The field programmable gate array (FPGA) was used to control both axes of the system. The very high-speed integrated circuit-hardware description language (VHDL) was developed in the Quartus II software environment, provided by Altera, to analyze and synthesize designs. Firstly, the mathematical model of PMLSM and fuzzy PI was introduced. Secondly, the RBFNN adjusted the knowledge base of the fuzzy PI. Thirdly, the motion trajectory was introduced for testing the control algorithm. Fourthly, the implementation of the controller based on FPGA with the FSM method and the structure of co-simulation between Matlab/Simulink and ModelSim were set up. Finally, discussion about the results proved the effectiveness of the control system, determining the exact position and trajectory of the XY axis system. This research was successful in implementing a two-motor controller within one chip.
This document summarizes a study that uses Takagi-Sugeno fuzzy logic control as a speed controller for indirect field oriented control of an induction motor drive. The study builds a simulation model of indirect field oriented control for an induction motor in MATLAB Simulink. Takagi-Sugeno fuzzy logic is then applied as the speed controller using error and derivative error as inputs and change of torque command as the output. Simulation results show zero overshoot, a rise time of 0.4 seconds, and a settling time of 0.4 seconds. The steady state error is 0.01% indicating the speed can accurately follow the reference speed. The fuzzy logic controller provides effective speed control for the induction motor drive.
Dynamic Simulation of Induction Motor Drive using Neuro Controlleridescitation
Induction Motors are widely used in Industries, because of the low maintenance
and robustness. Speed Control of Induction motor can be obtained by maximum torque and
efficiency. Apart from other techniques Artificial Intelligence (AI) techniques, particularly
the neural networks, improves the performance & operation of induction motor drives. This
paper presents dynamic simulation of induction motor drive using neuro controller. The
integrated environment allows users to compare simulation results between conventional,
Fuzzy and Neural Network controller (NNW).The performance of fuzzy logic and artificial
neural network based controller's are compared with that of the conventional proportional
integral controller. The dynamic Modeling and Simulation of Induction motor is done using
MATLAB/SIMULINK and the dynamic performance of induction motor drive has been
analyzed for artificial intelligent controller.
Nowadays, A lot of industry requires Multi Motor System (MMS) applications such as propulsion and traction power, HEV, conveyer and air-conditioner. The Conventional arrangement for MMS usually done by cascading the motors drives which each drives has individual inverter. Part of MMS, Dual-Motor drives fed by a single inverter is being paid attention by the researchers. Dual-motor drives using a single three-leg inverter has its limitation in the case of different operating conditions and independent speed control requirement. Therefore, dual-Motor drives using a single Five-leg Inverter (FLI) was proposed for independent control for both motors. In PMSM drives, the information of the feedback speed and rotor angular position is compulsory for variable speed drives. Conventional solution is by using speed sensor which will increase size, cost, extra hardwire and feedback devices, especially for the case of dual-PMSM drives. The best solution to overcome this problem is by eliminating the usage of speed and position sensors for Dual-motor drives. This paper presents a new sensorless strategy using speed and position estimator for Independent Dual- Permanent Magnet Synchronous Machine (PMSM) drives which utilize Five-Leg Inverter (FLI). The proposed strategy is simulated using MATLAB/Simulink to evaluate the overall motor drive performance. Meanwhile the experimental set-up is connected to dSPACE 1103 Board. The experimental results demonstrate that the proposed estimator is successfully managed to control the Dual-PMSM drives for variation of speed and for different direction applications.
Performance Comparison of Conventional Controller with Fuzzy Logic Controller...ijeei-iaes
It is often difficult to develop an accurate mathematical model of DC motor due to unknown load variation, unknown and unavoidable parameter variations or nonlinearities due to saturation temperature variations and system disturbances. Fuzzy logic application can handle such nonlinearities so that the controller design is fundamentally robust which is not possible in conventional controllers. The knowledge base of a fuzzy logic controller (FLC) encapsulates expert knowledge and consists of the Data base (membership functions) and Rule-Base of the controller. Optimization of both these knowledge base components is critical to the performance of the controller and has traditionally been achieved through a process of trial and error. Such an approach is convenient for FLCs having low numbers of input variables however for greater numbers of inputs, more formal methods of knowledge base optimization are required. In this work, we study the challenging task of controlling the speed of DC motor. The feasibility of such controller design is evaluated by simulation in the MATLAB/Simulink environment. In this study Conventional Proportional Integral Derivative controller, Fuzzy logic controller using a chopper circuit and Fuzzy tuned PID controller are analyzed and compared. Simulation software like MATLAB with Simulink has been used for modeling and simulation purpose. The performance comparison of conventional controller with Fuzzy logic controller using chopper circuit and Fuzzy tuned PID controller has been done in terms of several performance measures Such as Settling time, Rise time and Overshoot.
Design and control of ems magnetic levitation train using fuzzy mras and pid ...Mustefa Jibril
1) The document describes a study on using fuzzy logic, PID, and MRAS controllers to improve passenger comfort and handling of a magnetic levitation train system.
2) A MATLAB Simulink model is used to simulate and compare the performance of the three controllers. The MRAS controller has the shortest settling time while the PID controller has the lowest percentage overshoot.
3) Tables and figures show the output responses, stability analysis, and change in air gap over time for the different controller designs. The study demonstrates the effectiveness of using fuzzy logic control for the magnetic levitation train system.
Modeling and control of double star induction machine by active disturbance r...TELKOMNIKA JOURNAL
This paper aims to contribute to the modeling and control of the double star induction machine (DSIM) by a robust method called active disturbance rejection control (ADRC). The ADRC has become in the last decade one of the most important techniques of regulation. This method is based on the use of an ESO (Extended State Observer) which estimates in real-time and at the same time the external disturbances and the errors due to the variations of the parameters of the machine and to the uncertainties of modeling. The two stators of DSIM are powered by three-phase inverters based on transistors and MLI control and the entire system is modeled in Park's reference. We analyze in the Matlab/Simulink environment the dynamic behavior of the system and the different ADRC controllers under different operating conditions. The result has demonstrated the performance and effectiveness of the ADRC.
Embedded intelligent adaptive PI controller for an electromechanical systemISA Interchange
In this study, an intelligent adaptive controller approach using the interval type-2 fuzzy neural network (IT2FNN) is presented. The proposed controller consists of a lower level proportional - integral (PI) controller, which is the main controller and an upper level IT2FNN which tuning on-line the parameters of a PI controller. The proposed adaptive PI controller based on IT2FNN (API-IT2FNN) is implemented practically using the Arduino DUE kit for controlling the speed of a nonlinear DC motor-generator system. The parameters of the IT2FNN are tuned on-line using back-propagation algorithm. The Lyapunov theorem is used to derive the stability and convergence of the IT2FNN. The obtained experimental results, which are compared with other controllers, demonstrate that the proposed API-IT2FNN is able to improve the system response over a wide range of system uncertainties.
Autonomous Terrain Mapping Using COTS HardwareJames Anderson
Undergraduate paper submission for 2012 International Telemetering Conference
Abstract: The paper describes the development of a robotic platform which can autonomously map terrain using a COTS infrared imaging and ranging system. The robotic system is based on an omni-directional platform, and can navigate typical commercial indoor environments. An on-board processor performs surface reconstruction, and condenses the point clouds generated by the ranging system to mesh models which can be more easily stored and transmitted. The processor then correlates new frames with the existing world model by using sensor odomerty. The robot will autonomously determine the best areas of the environment to map, and gather complete three dimensional color models of arbitrary environments.
IRJET- Control of Induction Motor using Neural NetworkIRJET Journal
This document describes research into using neural networks to control induction motors. It begins by introducing the topic and noting limitations of traditional PI controllers for induction motor control. It then provides details on the experimental setup, which uses an artificial neural network (ANN) to mimic a PI controller for speed control of an induction motor drive system. Simulation results are presented comparing the performance of the ANN controller to a traditional PI controller under different dynamic operating conditions. The document concludes that the ANN mapping controller provides superior performance to the PI controller.
IRJET - Flyback Converter based BLDC Motor Drives for Power Device ApplicationsIRJET Journal
This document discusses a brushless DC (BLDC) motor drive system using a flyback converter and fuzzy logic controller. BLDC motors have advantages over brushed DC motors like higher efficiency, higher power density, and less maintenance. A literature review covers different sensorless control methods for BLDC motors. A MATLAB/Simulink model is developed for a BLDC motor using a fuzzy logic speed controller. Simulation results show the motor speed is controlled to within 5 rpm of the reference speed using this method. The fuzzy logic controller provides better performance than traditional PID control. In conclusion, fuzzy logic control is effective for BLDC motor drives and this method can be implemented at low cost.
Comparisons of fuzzy mras and pid controllers for ems maglev trainMustefa Jibril
This document compares the performance of fuzzy logic, PID, and MRAS controllers for controlling an electromagnetic suspension (EMS) system on a maglev train. It presents the mathematical models for the maglev train system and controller designs. Simulation results show that the MRAS controller has the shortest settling time and rise time, while the PID controller has the lowest percentage overshoot. The controllers are able to maintain stability of the train and track changes in the air gap over time. The fuzzy logic controller provides effective control but with longer settling and rise times than the MRAS controller.
Cellular Based Automated Industrial Control and Monitoring Systemaciijournal
Graphical User Interface (GUI) based systems are flourishing their popularity in the industrial area in present days. If it is possible to integrate the GUI based systems with a Global System for Mobile (GSM) modem for controlling and monitoring, it will be magnificently acceptable communication system. In this paper a method is presented on a distant machine and motor control system monitoring and controlling, using a GSM modem and GUI. PIC microcontroller is used to bridge and synchronize the operation of GUI and GSM systems.
NAVIGATION SYSTEM FOR MULTI FLOOR POSITIONING USING MEMSEditor IJMTER
This Project is proposed to develop a navigation system based on inertial sensors to track
the movement and direction of soldiers or fire fighters accurately within a multi floor building. This
system does not require Global Positioning System(GPS). The System consists of 6 DOF(Degree of
Freedom) Digital MEMS Geo Magnetic Module which includes 3-axis MEMS accelerometer and
magnetometer to provide direction and movement of the soldier. Barometric Pressure Sensor is used
to determine the altitude. ARM Processor controls all the units. RF Transceiver is for the
communication purpose. By this work the movement (left, right, up and down) and altitude of all the
soldiers would be known to the military troop outside the building. Applications include a militant
seeking operation or even in a fire fighting operation. This system would help to rescue the injured
person in much lesser time.
The neural network-based control system of direct current motor driverIJECEIAES
This article aims to propose an adaptive control system for the direct current motor driver based on the neural network. The control system consists of two neural networks: the first neural network is used to estimate the speed of the direct current motor and the second neural network is used as a controller. The plant in this research includes motor and the driver circuit so it is a complex model. It is difficult to determine the exact parameters of the plant so it is difficult to build the controller. To solve the above difficulties, the author proposes an adaptive control system based on the neural network to control the plant reach the high quality in the case of unknowing the parameters of the plant. The results are that the control quality of the system is very good, the response speed always follows the desired speed and the transition time is small. The simulation results of the neural network control system are shown and compared with that of a PID controller to demonstrate the advantages of the proposed method.
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
This document summarizes a research paper that compares PI and neuro-fuzzy controllers for direct torque control of induction motor drives. It first provides background on direct torque control and issues with PI controllers, such as complex tuning and overshoot problems. It then introduces neuro-fuzzy control as an alternative approach to address these issues. The document outlines the proposed neuro-fuzzy controller structure and simulation results comparing its performance to a PI controller under various operating conditions. The results showed that the neuro-fuzzy controller reduced overshoot and improved performance relative to the PI controller.
This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.
Effect of fuzzy PID controller on feedback control systems based on wireless ...IJECEIAES
Wireless Networked control system (WNCS) has an important in all aspects of the life and in the research fields of Engineering. In this article, a real-time implementation of the wireless feedback control system (WFCS) is performed. The stability issue in the closed-loop control system still suffer from noise, disturbances, and need careful considerations to handle it. Three cases to discover the ability of a Fuzzy PID controller to maintain better angular position control system (PCS) is addressed and controlled by a personal computer through a wireless sensor network(WSN) constructed by ZigBee platforms. The practical issues related with the design and implementation of the wireless computerized control system (WCCS) is discussed and analyzed. The simulation results carried out with Matlab/ Simulink 2018b. Different parameters effect such as maximum overshoot, sampling frequency, distance and delay time have been studied. These effects on overall system performance would be discussed. Improving the efficient use of ZigBee platform for WFCS. The simulation and experimental results prove the proposed algorithm in the field of wireless control system.
This document summarizes a paper that designed and implemented fuzzy logic controllers for DC motor speed control using MATLAB-GUI. The authors developed hardware to interface a DC motor with a computer. They designed fuzzy logic controllers and integrated fuzzy logic controllers in MATLAB to control the motor speed. The MATLAB GUI allows tuning controller parameters in real-time and observing the motor performance. Experimental results showed the integrated fuzzy logic controller provided better performance than the fuzzy logic controller in terms of rise time, settling time, overshoot and undershoot for speed control applications.
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
In this paper, DTC is applied for two-level inverter fed IM drives based on neuronal hysteresis comparators and The Direct Torque Control (DTC) is known to produce quick and robust response in AC drive system. However, during steady state, torque, flux and current ripple. An improvement of electric drive system can be obtained using a DTC method based on ANNs which reduces the torque and flux ripples, the estimated the rotor speed using the KUBOTA observer method based on measurements of electrical quantities of the motor. The validity of the proposed methods is confirmed by the simulation results.The THD (Total Harmonic Distortion) of stator current, torque ripple and stator flux ripple are determined and compared with conventional DTC control scheme using Matlab/Simulink environment.
Apply hibernate to model and persist associations mappings in document versio...csandit
To implement any system using hibernate, a XML (Extensible Markup Language) mapping is
defined that specifies how the various objects will persist in the database. The XML specifies
mapping between classes and tables, properties and columns, association and foreign keys. In
this paper we primarily focus on how different association among classes should be mapped in
XML configuration file for persistence. A particular type of association should be specified in
XML configuration file using valid elements and tags provided by hibernate. Such a defined
XML document then create the valid schema, and the constraints between respective tables in
the database to implement any system. Here we present how the different types of associations
should be implemented in hibernate to have desired effect on the database. We also tested the
use cases those may violate the constraints specified by XML configuration and studied the
results
This document presents research on tackling single node failures in distributed database systems. It discusses existing gossiping algorithms like randomized, perfect knowledge, and virtual tree algorithms and their problems, particularly when dealing with single node failures. The objectives of the presented research are to bypass information in cases of single node failures and compare performance between systems with and without failures. The proposed system works by connecting databases to each other and creating backup links so that in a single node failure, other databases can share or retrieve data using the backup links. Experimental results show information retrieval takes longer with single node failures compared to without failures.
Performance Comparison of Conventional Controller with Fuzzy Logic Controller...ijeei-iaes
It is often difficult to develop an accurate mathematical model of DC motor due to unknown load variation, unknown and unavoidable parameter variations or nonlinearities due to saturation temperature variations and system disturbances. Fuzzy logic application can handle such nonlinearities so that the controller design is fundamentally robust which is not possible in conventional controllers. The knowledge base of a fuzzy logic controller (FLC) encapsulates expert knowledge and consists of the Data base (membership functions) and Rule-Base of the controller. Optimization of both these knowledge base components is critical to the performance of the controller and has traditionally been achieved through a process of trial and error. Such an approach is convenient for FLCs having low numbers of input variables however for greater numbers of inputs, more formal methods of knowledge base optimization are required. In this work, we study the challenging task of controlling the speed of DC motor. The feasibility of such controller design is evaluated by simulation in the MATLAB/Simulink environment. In this study Conventional Proportional Integral Derivative controller, Fuzzy logic controller using a chopper circuit and Fuzzy tuned PID controller are analyzed and compared. Simulation software like MATLAB with Simulink has been used for modeling and simulation purpose. The performance comparison of conventional controller with Fuzzy logic controller using chopper circuit and Fuzzy tuned PID controller has been done in terms of several performance measures Such as Settling time, Rise time and Overshoot.
Design and control of ems magnetic levitation train using fuzzy mras and pid ...Mustefa Jibril
1) The document describes a study on using fuzzy logic, PID, and MRAS controllers to improve passenger comfort and handling of a magnetic levitation train system.
2) A MATLAB Simulink model is used to simulate and compare the performance of the three controllers. The MRAS controller has the shortest settling time while the PID controller has the lowest percentage overshoot.
3) Tables and figures show the output responses, stability analysis, and change in air gap over time for the different controller designs. The study demonstrates the effectiveness of using fuzzy logic control for the magnetic levitation train system.
Modeling and control of double star induction machine by active disturbance r...TELKOMNIKA JOURNAL
This paper aims to contribute to the modeling and control of the double star induction machine (DSIM) by a robust method called active disturbance rejection control (ADRC). The ADRC has become in the last decade one of the most important techniques of regulation. This method is based on the use of an ESO (Extended State Observer) which estimates in real-time and at the same time the external disturbances and the errors due to the variations of the parameters of the machine and to the uncertainties of modeling. The two stators of DSIM are powered by three-phase inverters based on transistors and MLI control and the entire system is modeled in Park's reference. We analyze in the Matlab/Simulink environment the dynamic behavior of the system and the different ADRC controllers under different operating conditions. The result has demonstrated the performance and effectiveness of the ADRC.
Embedded intelligent adaptive PI controller for an electromechanical systemISA Interchange
In this study, an intelligent adaptive controller approach using the interval type-2 fuzzy neural network (IT2FNN) is presented. The proposed controller consists of a lower level proportional - integral (PI) controller, which is the main controller and an upper level IT2FNN which tuning on-line the parameters of a PI controller. The proposed adaptive PI controller based on IT2FNN (API-IT2FNN) is implemented practically using the Arduino DUE kit for controlling the speed of a nonlinear DC motor-generator system. The parameters of the IT2FNN are tuned on-line using back-propagation algorithm. The Lyapunov theorem is used to derive the stability and convergence of the IT2FNN. The obtained experimental results, which are compared with other controllers, demonstrate that the proposed API-IT2FNN is able to improve the system response over a wide range of system uncertainties.
Autonomous Terrain Mapping Using COTS HardwareJames Anderson
Undergraduate paper submission for 2012 International Telemetering Conference
Abstract: The paper describes the development of a robotic platform which can autonomously map terrain using a COTS infrared imaging and ranging system. The robotic system is based on an omni-directional platform, and can navigate typical commercial indoor environments. An on-board processor performs surface reconstruction, and condenses the point clouds generated by the ranging system to mesh models which can be more easily stored and transmitted. The processor then correlates new frames with the existing world model by using sensor odomerty. The robot will autonomously determine the best areas of the environment to map, and gather complete three dimensional color models of arbitrary environments.
IRJET- Control of Induction Motor using Neural NetworkIRJET Journal
This document describes research into using neural networks to control induction motors. It begins by introducing the topic and noting limitations of traditional PI controllers for induction motor control. It then provides details on the experimental setup, which uses an artificial neural network (ANN) to mimic a PI controller for speed control of an induction motor drive system. Simulation results are presented comparing the performance of the ANN controller to a traditional PI controller under different dynamic operating conditions. The document concludes that the ANN mapping controller provides superior performance to the PI controller.
IRJET - Flyback Converter based BLDC Motor Drives for Power Device ApplicationsIRJET Journal
This document discusses a brushless DC (BLDC) motor drive system using a flyback converter and fuzzy logic controller. BLDC motors have advantages over brushed DC motors like higher efficiency, higher power density, and less maintenance. A literature review covers different sensorless control methods for BLDC motors. A MATLAB/Simulink model is developed for a BLDC motor using a fuzzy logic speed controller. Simulation results show the motor speed is controlled to within 5 rpm of the reference speed using this method. The fuzzy logic controller provides better performance than traditional PID control. In conclusion, fuzzy logic control is effective for BLDC motor drives and this method can be implemented at low cost.
Comparisons of fuzzy mras and pid controllers for ems maglev trainMustefa Jibril
This document compares the performance of fuzzy logic, PID, and MRAS controllers for controlling an electromagnetic suspension (EMS) system on a maglev train. It presents the mathematical models for the maglev train system and controller designs. Simulation results show that the MRAS controller has the shortest settling time and rise time, while the PID controller has the lowest percentage overshoot. The controllers are able to maintain stability of the train and track changes in the air gap over time. The fuzzy logic controller provides effective control but with longer settling and rise times than the MRAS controller.
Cellular Based Automated Industrial Control and Monitoring Systemaciijournal
Graphical User Interface (GUI) based systems are flourishing their popularity in the industrial area in present days. If it is possible to integrate the GUI based systems with a Global System for Mobile (GSM) modem for controlling and monitoring, it will be magnificently acceptable communication system. In this paper a method is presented on a distant machine and motor control system monitoring and controlling, using a GSM modem and GUI. PIC microcontroller is used to bridge and synchronize the operation of GUI and GSM systems.
NAVIGATION SYSTEM FOR MULTI FLOOR POSITIONING USING MEMSEditor IJMTER
This Project is proposed to develop a navigation system based on inertial sensors to track
the movement and direction of soldiers or fire fighters accurately within a multi floor building. This
system does not require Global Positioning System(GPS). The System consists of 6 DOF(Degree of
Freedom) Digital MEMS Geo Magnetic Module which includes 3-axis MEMS accelerometer and
magnetometer to provide direction and movement of the soldier. Barometric Pressure Sensor is used
to determine the altitude. ARM Processor controls all the units. RF Transceiver is for the
communication purpose. By this work the movement (left, right, up and down) and altitude of all the
soldiers would be known to the military troop outside the building. Applications include a militant
seeking operation or even in a fire fighting operation. This system would help to rescue the injured
person in much lesser time.
The neural network-based control system of direct current motor driverIJECEIAES
This article aims to propose an adaptive control system for the direct current motor driver based on the neural network. The control system consists of two neural networks: the first neural network is used to estimate the speed of the direct current motor and the second neural network is used as a controller. The plant in this research includes motor and the driver circuit so it is a complex model. It is difficult to determine the exact parameters of the plant so it is difficult to build the controller. To solve the above difficulties, the author proposes an adaptive control system based on the neural network to control the plant reach the high quality in the case of unknowing the parameters of the plant. The results are that the control quality of the system is very good, the response speed always follows the desired speed and the transition time is small. The simulation results of the neural network control system are shown and compared with that of a PID controller to demonstrate the advantages of the proposed method.
For Induction motor is a system that works at their speed, nevertheless there are applications at which the speed operations are needed. The control of range of speed of induction motor techniques is available. The robust control is used with induction motor and the performance of the system with the controller will be improved. The mathematical model to the controller, which were coded in MATLAB. The modeling and controller will be shown by the conditions of robustness of be less than one.
This document summarizes a research paper that compares PI and neuro-fuzzy controllers for direct torque control of induction motor drives. It first provides background on direct torque control and issues with PI controllers, such as complex tuning and overshoot problems. It then introduces neuro-fuzzy control as an alternative approach to address these issues. The document outlines the proposed neuro-fuzzy controller structure and simulation results comparing its performance to a PI controller under various operating conditions. The results showed that the neuro-fuzzy controller reduced overshoot and improved performance relative to the PI controller.
This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.
Effect of fuzzy PID controller on feedback control systems based on wireless ...IJECEIAES
Wireless Networked control system (WNCS) has an important in all aspects of the life and in the research fields of Engineering. In this article, a real-time implementation of the wireless feedback control system (WFCS) is performed. The stability issue in the closed-loop control system still suffer from noise, disturbances, and need careful considerations to handle it. Three cases to discover the ability of a Fuzzy PID controller to maintain better angular position control system (PCS) is addressed and controlled by a personal computer through a wireless sensor network(WSN) constructed by ZigBee platforms. The practical issues related with the design and implementation of the wireless computerized control system (WCCS) is discussed and analyzed. The simulation results carried out with Matlab/ Simulink 2018b. Different parameters effect such as maximum overshoot, sampling frequency, distance and delay time have been studied. These effects on overall system performance would be discussed. Improving the efficient use of ZigBee platform for WFCS. The simulation and experimental results prove the proposed algorithm in the field of wireless control system.
This document summarizes a paper that designed and implemented fuzzy logic controllers for DC motor speed control using MATLAB-GUI. The authors developed hardware to interface a DC motor with a computer. They designed fuzzy logic controllers and integrated fuzzy logic controllers in MATLAB to control the motor speed. The MATLAB GUI allows tuning controller parameters in real-time and observing the motor performance. Experimental results showed the integrated fuzzy logic controller provided better performance than the fuzzy logic controller in terms of rise time, settling time, overshoot and undershoot for speed control applications.
Three phase induction motor Induction is one of the widest spread motor due to its
robustness, simple construction, no need for complex circuits for starting. With several
available speed control techniques, this paper presents a new Proportional-Integral (PI)
controller and Artificial Neural Network (ANNs) control system based on vector control
scheme. MATLAB/SIMULINK software may be used to create a 3phase induction engine
model. To achieve the effectiveness of the controller, the system is subjected to external
disturbance. Experimental results are presented and satisfied with the controller results.
In this paper, DTC is applied for two-level inverter fed IM drives based on neuronal hysteresis comparators and The Direct Torque Control (DTC) is known to produce quick and robust response in AC drive system. However, during steady state, torque, flux and current ripple. An improvement of electric drive system can be obtained using a DTC method based on ANNs which reduces the torque and flux ripples, the estimated the rotor speed using the KUBOTA observer method based on measurements of electrical quantities of the motor. The validity of the proposed methods is confirmed by the simulation results.The THD (Total Harmonic Distortion) of stator current, torque ripple and stator flux ripple are determined and compared with conventional DTC control scheme using Matlab/Simulink environment.
Apply hibernate to model and persist associations mappings in document versio...csandit
To implement any system using hibernate, a XML (Extensible Markup Language) mapping is
defined that specifies how the various objects will persist in the database. The XML specifies
mapping between classes and tables, properties and columns, association and foreign keys. In
this paper we primarily focus on how different association among classes should be mapped in
XML configuration file for persistence. A particular type of association should be specified in
XML configuration file using valid elements and tags provided by hibernate. Such a defined
XML document then create the valid schema, and the constraints between respective tables in
the database to implement any system. Here we present how the different types of associations
should be implemented in hibernate to have desired effect on the database. We also tested the
use cases those may violate the constraints specified by XML configuration and studied the
results
This document presents research on tackling single node failures in distributed database systems. It discusses existing gossiping algorithms like randomized, perfect knowledge, and virtual tree algorithms and their problems, particularly when dealing with single node failures. The objectives of the presented research are to bypass information in cases of single node failures and compare performance between systems with and without failures. The proposed system works by connecting databases to each other and creating backup links so that in a single node failure, other databases can share or retrieve data using the backup links. Experimental results show information retrieval takes longer with single node failures compared to without failures.
Marketing pessoal: Muito além do networkingMarcello Pepe
Empresas não fazem negócios com empresas.
Pessoas é que fazem negócios com pessoas.
Aprenda como ir além do networking, criando mais que uma rede de contatos.
Este documento habla sobre la importancia de los bolsos para las mujeres y las diferentes marcas populares. Los bolsos son un accesorio esencial que refleja el estilo y gusto de cada mujer. Se mencionan varias marcas de lujo como Louis Vuitton, Chanel, Dolce&Gabbana, Prada, Gucci y Hermès, y se nombran algunas celebridades que usan bolsos de esas marcas. Finalmente, el documento indica que las mujeres gastan más dinero en bolsos que los hombres y que a men elegir un bolso
Este documento describe el desarrollo de la sexualidad en la adolescencia en tres áreas: física, psicológica y social. También discute la identidad de género y sexual, factores que pueden afectar una sana identidad sexual, y comportamientos sexuales comunes en la adolescencia. Finalmente, cubre temas como el uso de anticonceptivos, embarazos en la adolescencia y sus consecuencias.
O documento discute como problematizar um tema de pesquisa em dois passos. Primeiro, o pesquisador deve problematizar o tema explicando porque precisa ser pesquisado e formulando uma pergunta norteadora. Segundo, o pesquisador deve elaborar hipóteses provisórias que poderão ser comprovadas ou refutadas durante a pesquisa. O documento fornece ainda exemplos de como formular problemas de pesquisa e hipóteses.
Jesus was asked by disciples if he was the Messiah they had been waiting for or if another was still to come. Jesus referred to himself as the "Lord of the Sabbath" when questioned about his disciples plucking grain on the Sabbath. A woman told Jesus that even dogs eat the crumbs from their master's table when Jesus said he was sent only for the lost sheep of Israel.
Design of Embedded Control System Using Super- Scalar ARM Cortex-A8 for Nano-...sipij
1) The document describes an embedded control system using an ARM Cortex-A8 processor to control nano-positioning stages for micro-manufacturing. A BeagleBone board containing the ARM processor provides visual servo control and user interface.
2) A joystick and LCD screen are connected to an LPC2478 microcontroller to allow user input and display choices for controlling the stages' movement patterns. A camera tracks the stage position via image processing on the BeagleBone.
3) The system aims to give the user control over positioning, tracking and planning of a piezo-electric nano-positioning stage used for micro-fabrication tasks like laser machining with improved portability, size and power
A microsystem design for controlling a DC motor by pulse width modulation us...IJECEIAES
This paper proposes a microsystem based on the field programmable gate arrays (FPGA) electronic board. The preliminary objective is to manipulate a programming language to achieve a control part capable of controlling the speed of electric actuators, such as direct current (DC) motors. The method proposed in this work is to control the speed of the DC motor by a purely embedded architecture within the FPGA in order to reduce the space occupied by the circuit to a minimum and to ensure the reliability of the system. The implementation of this system allows the embedded MicroBlaze processor to be installed side by side with its memory blocks provided by Xilinx very high-speed integrated circuit (VHSIC) hardware description language (VHDL), Embedded C. The control signal of digital pulse-width modulation pulses is generated by an embedded block managed by the same processor. This potential application is demonstrated by experimental simulation on the Vertix5 FPGA chip.
IRJET - Vector Control of Permenant Magnet Synchronous MotorIRJET Journal
This document discusses vector control techniques for permanent magnet synchronous motors (PMSM). It describes field oriented control, direct torque control, voltage vector control, and passivity based control. It then discusses the components of a PMSM drive system, including the motor, inverter, and PID speed controller. It presents the mathematical model and torque equation for vector control of PMSM. Finally, it discusses simulating the PMSM drive system in MATLAB/Simulink using reverse Park transformations, hysteresis current control, and testing in the constant torque region of operation.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
Fuzzy gain scheduling control apply to an RC Hovercraft IJECEIAES
The Fuzzy Gain Scheduling (FGS) methodology for tuning the ProportionalIntegral-Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional-Integral-Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller.
2.a neuro fuzzy based svpwm technique for pmsm (2)EditorJST
In the present scenario, static frequency converter based variable speed synchronous motors has
become very familiar and advantage to other drive system, especially low speed and high power applications.
Unlike the induction motor, the synchronous motor can be operated at variable power factor (leading, lagging
or unity) as desired. So, there is an increasing use of synchronous motors as adjustable speed drives. The PWM
technique is very useful to VSI drive for achieving efficient and smooth operation and free from torque
pulsations and cogging, lower volume and weight and provides a higher frequency range compared to CSI
drives. Even for voltage source inverter, the commutation circuit is not needed, if the self-extinguishing
switching devices are used. This paper proposes a concept of Neuro-fuzzy based control strategy which is used
for controlling the PMSM. The total work mainly concentrates on optimum control of PMSM with maximum
voltage utilization with less switching losses.
Design and implementation of antenna control servo system for satellite grouIAEME Publication
This document summarizes the design and implementation of an antenna control servo system for a satellite ground station. It describes the modeling and analysis of the system both theoretically and experimentally. Key aspects include designing the drive control system for the antenna, integrating drive chains for elevation and azimuth axes, optimizing the system through mathematical modeling and simulation, and testing the operational system by tracking real satellite passes. Both simulation and experimental results showed the system providing stable and accurate antenna positioning to receive satellite data as required.
Application of Synchronized Phasor Measurements Units in Power Systemstheijes
The last decades, electric power industry is undergoing multiple changes due to the process of deregulation, providing efficient power generation, technological innovations, and eventually lower retail prices. In this environment, dynamic phenomena in power systems have made ever more urgent the development of reliable tools for their monitoring and control. An effective tool for the close monitoring of their operation conditions is the state estimator. The traditional estimators are based on real time measurements obtained through SCADA (Supervisory Control and Data Acquisition) system. These measurements are commonly provided by the remote terminal units (RTUs) installed at the high voltage substations. The phase angle of bus voltages can not be easily measured due to technical difficulties associated with the synchronization of measurements at RTUs. Global Positioning System (GPS) alleviated these difficulties and led to the development of Phasor Measurement Units (PMUs). This weakness was eliminated with the arrival of GPS, which led to the development of Phasor Measurement Units. A PMU unit, equipped with a GPS receiver, provides high accuracy voltage and current phasor measurements with respect to a common reference phase angle. In the first part of the paper, an overview of the PMU technology and a review about the optimal allocation of PMUs in power network are presented. The most important issues regarding design and operation of PMUs are discussed and an analysis of their commercial penetration in the electric energy markets is made. The second part of the paper presents a wide range of applications related with the choice of the strategic PMU placement as well as an algorithm for finding the optimal number of PMUs needed for full observability
Research on wireless Deviation Mode of Foundation Pit Surveying SystemIJRESJOURNAL
ABSTRACT: Aiming at the working principle and measurement method of the active inclinometer which is widely used in the foundation pit engineering, a new automatic inclinometer method is proposed for ZigBee, which is a close-range wireless communication technology. Using the tilt sensor SCA100T, through the DTU data transmission module, the real-time measured data through the microprocessor STC12C5630AD processing sent to the ZigBee network, to achieve the computer's remote monitoring and automatic tilt measurement.
Indirect Vector Control of Induction Motor Using Pi Speed Controller and Neur...IJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
Implementation of fuzzy logic using mems accelerometer for controlling bldcIAEME Publication
This document summarizes a study that implemented a fuzzy logic controller using an accelerometer to control the speed of a brushless DC motor. The system uses an Arduino microcontroller to read analog accelerometer data and convert it to digital values. A fuzzy logic table maps accelerometer readings to motor duty cycles. An RF transmitter sends the duty cycle data wirelessly to an MSP430 microcontroller. The MSP430 controls the motor speed using an L293D driver circuit. Experimental results showed the fuzzy logic controller could successfully map accelerometer gestures to different motor duty cycles and speeds. The system demonstrates using fuzzy logic and wireless transmission for contactless motor speed control.
Implementation of fuzzy logic using mems accelerometer for controlling bldcIAEME Publication
This document summarizes a study that implemented a fuzzy logic controller using an accelerometer to control the speed of a brushless DC motor. The system uses an Arduino microcontroller to read analog accelerometer data and convert it to digital values. A fuzzy logic table maps accelerometer readings to motor duty cycles. An RF transmitter sends the duty cycle value wirelessly to an MSP430 microcontroller. The MSP430 controls the motor speed using an L293D driver circuit. Experimental results showed the fuzzy logic controller could successfully map accelerometer gestures to different motor duty cycles and speeds. The system demonstrates using fuzzy logic and wireless transmission for motor control based on accelerometer input.
Implementation of fuzzy logic using mems accelerometer for controlling bldcIAEME Publication
This document summarizes a study that implemented a fuzzy logic controller using an accelerometer to control the speed of a brushless DC motor. The system used an Arduino microcontroller to read accelerometer data and transmit it wirelessly to an MSP430 microcontroller. The MSP430 then controlled the motor speed using a L293D driver based on fuzzy logic rules relating accelerometer readings to motor duty cycles between 0-100%. Experimental results demonstrated the controller could successfully vary motor speed based on accelerometer orientation and gestures.
Design and Implementation of a Self-Balancing Two-Wheeled Robot Driven by a F...IRJET Journal
This document describes the design and implementation of a self-balancing two-wheeled robot controlled by a feed-forward backpropagation neural network. The robot uses an Arduino, gyroscope, accelerometer, and two DC motors. Two control approaches are tested: a PID controller and a feed-forward neural network trained using backpropagation. Testing found the neural network approach learned to balance with fewer oscillations and was more elegant than the PID controller. The neural network demonstrated the effectiveness of artificial intelligence for complex learning tasks.
Cellular Based Automated Industrial Control and Monitoring Systemaciijournal
This document describes a cellular based automated industrial control and monitoring system using a graphical user interface (GUI) and global system for mobile communications (GSM) modem. A PIC microcontroller bridges the GUI and GSM systems to control machines and monitor motor speed via short message service (SMS) or the GUI. The GUI was developed in Visual Basic and controls motor speed and direction via pulse width modulation signals from the PIC microcontroller to a motor driver. The system allows both wired control via the GUI and wireless control through an integrated GSM modem to remotely control industrial processes.
IRJET- Design & Development of Two-Wheeled Self Balancing RobotIRJET Journal
This document describes the design and development of a two-wheeled self-balancing robot. An inertial measurement unit (IMU) containing an accelerometer and gyroscope is used to measure the robot's tilt angle. A PID controller applies motor speed adjustments to correct any error between the desired setpoint and actual tilt angle, balancing the robot. The PID controller is able to balance the robot with some limitations. Simulation results are compared to the hardware performance. PID tuning is also performed to improve balancing. Key components include an Arduino, motor driver, motors, IMU, and Bluetooth module. The system architecture integrates these components to enable self-balancing.
Steady state stability analysis and enhancement of three machine nine bus pow...eSAT Journals
This document presents an analysis of steady state stability for the IEEE 3-machine 9-bus test power system. It first describes the mathematical modeling of the system using linearization and state space representation. Eigenvalue analysis shows the system is purely oscillatory without damping. A thyristor controlled phase shifter (TCPS) FACTS device-based controller is then modeled to enhance stability. The system is analyzed with and without the controller. Results show the controller provides damping, improving stability as seen in eigenvalue analysis and time domain simulations following a disturbance.
Arduino based Dual Axis Smart Solar TrackerIJAEMSJORNAL
Solar energy is rapidly advancing as an important means of renewable energy resource. It is radiant light and heat from the Sun that is harnessed using a range of ever-evolving technologies such as solar heating, photovoltaic, solar thermal energy, solar architecture, molten salt power plants and artificial photosynthesis. Trackers direct solar panels or modules toward the sun. These devices change their orientation throughout the day to follow the sun’s path to maximize energy capture. The use of solar trackers can increase electricity production by around a third, and some claim by as much as 40% in some regions, compared with modules at a fixed angle. In any solar application, the conversion efficiency is improved when the modules are continually adjusted to the optimum angle as the sun traverses the sky. This paper presents the designing of a solar tracking system which is based on Arduino UNO and which provides movement of solar panel in the direction of maximum sun light incident. As a result of which we get more efficient system which is compact, low cost as well as easy to use.
To design and implementation of variable and constant with no load for induction motor (IM) that is the goal in this work. This paper was including three parts, first the simulation model with no load for IM, Second the simulation model with constant load for IM, Third the simulation model with variable load for IM. In addition, this work includes comparative between two different controllers (PI and fuzzy logic control (FLC). The simulation results clearly the implementation of variable and constant with no load for IM. The simulation response of the system achieves better results when choosing to use type fuzzy-PI controller technique comparison with conventional PI controller and improve the performance of the system at different operation conditions.
ANFIS Control of Energy Control Center for Distributed Wind and Solar Generat...IRJET Journal
This document describes a proposed system to control distributed wind and solar generators using an artificial neuro fuzzy interface system (ANFIS) within an energy control center (ECC) architecture based on a multi-agent system. The system would use ANFIS within the ECC to monitor voltages from the distributed generators and control circuit breakers connecting the generators to loads or energy storage like batteries. This would allow the system to optimize energy distribution based on generator output. The multi-agent system would include software agents running on different computers to manage each distributed generator and exchange information through the ECC. MATLAB/Simulink would be used to simulate the system and test ANFIS control of connecting generators to loads.
Similar to Arm based automatic control system of nano positioning stage for micromanufacturing (20)
What is an RPA CoE? Session 1 – CoE VisionDianaGray10
In the first session, we will review the organization's vision and how this has an impact on the COE Structure.
Topics covered:
• The role of a steering committee
• How do the organization’s priorities determine CoE Structure?
Speaker:
Chris Bolin, Senior Intelligent Automation Architect Anika Systems
Discover top-tier mobile app development services, offering innovative solutions for iOS and Android. Enhance your business with custom, user-friendly mobile applications.
Connector Corner: Seamlessly power UiPath Apps, GenAI with prebuilt connectorsDianaGray10
Join us to learn how UiPath Apps can directly and easily interact with prebuilt connectors via Integration Service--including Salesforce, ServiceNow, Open GenAI, and more.
The best part is you can achieve this without building a custom workflow! Say goodbye to the hassle of using separate automations to call APIs. By seamlessly integrating within App Studio, you can now easily streamline your workflow, while gaining direct access to our Connector Catalog of popular applications.
We’ll discuss and demo the benefits of UiPath Apps and connectors including:
Creating a compelling user experience for any software, without the limitations of APIs.
Accelerating the app creation process, saving time and effort
Enjoying high-performance CRUD (create, read, update, delete) operations, for
seamless data management.
Speakers:
Russell Alfeche, Technology Leader, RPA at qBotic and UiPath MVP
Charlie Greenberg, host
AppSec PNW: Android and iOS Application Security with MobSFAjin Abraham
Mobile Security Framework - MobSF is a free and open source automated mobile application security testing environment designed to help security engineers, researchers, developers, and penetration testers to identify security vulnerabilities, malicious behaviours and privacy concerns in mobile applications using static and dynamic analysis. It supports all the popular mobile application binaries and source code formats built for Android and iOS devices. In addition to automated security assessment, it also offers an interactive testing environment to build and execute scenario based test/fuzz cases against the application.
This talk covers:
Using MobSF for static analysis of mobile applications.
Interactive dynamic security assessment of Android and iOS applications.
Solving Mobile app CTF challenges.
Reverse engineering and runtime analysis of Mobile malware.
How to shift left and integrate MobSF/mobsfscan SAST and DAST in your build pipeline.
Skybuffer SAM4U tool for SAP license adoptionTatiana Kojar
Manage and optimize your license adoption and consumption with SAM4U, an SAP free customer software asset management tool.
SAM4U, an SAP complimentary software asset management tool for customers, delivers a detailed and well-structured overview of license inventory and usage with a user-friendly interface. We offer a hosted, cost-effective, and performance-optimized SAM4U setup in the Skybuffer Cloud environment. You retain ownership of the system and data, while we manage the ABAP 7.58 infrastructure, ensuring fixed Total Cost of Ownership (TCO) and exceptional services through the SAP Fiori interface.
Introduction of Cybersecurity with OSS at Code Europe 2024Hiroshi SHIBATA
I develop the Ruby programming language, RubyGems, and Bundler, which are package managers for Ruby. Today, I will introduce how to enhance the security of your application using open-source software (OSS) examples from Ruby and RubyGems.
The first topic is CVE (Common Vulnerabilities and Exposures). I have published CVEs many times. But what exactly is a CVE? I'll provide a basic understanding of CVEs and explain how to detect and handle vulnerabilities in OSS.
Next, let's discuss package managers. Package managers play a critical role in the OSS ecosystem. I'll explain how to manage library dependencies in your application.
I'll share insights into how the Ruby and RubyGems core team works to keep our ecosystem safe. By the end of this talk, you'll have a better understanding of how to safeguard your code.
Driving Business Innovation: Latest Generative AI Advancements & Success StorySafe Software
Are you ready to revolutionize how you handle data? Join us for a webinar where we’ll bring you up to speed with the latest advancements in Generative AI technology and discover how leveraging FME with tools from giants like Google Gemini, Amazon, and Microsoft OpenAI can supercharge your workflow efficiency.
During the hour, we’ll take you through:
Guest Speaker Segment with Hannah Barrington: Dive into the world of dynamic real estate marketing with Hannah, the Marketing Manager at Workspace Group. Hear firsthand how their team generates engaging descriptions for thousands of office units by integrating diverse data sources—from PDF floorplans to web pages—using FME transformers, like OpenAIVisionConnector and AnthropicVisionConnector. This use case will show you how GenAI can streamline content creation for marketing across the board.
Ollama Use Case: Learn how Scenario Specialist Dmitri Bagh has utilized Ollama within FME to input data, create custom models, and enhance security protocols. This segment will include demos to illustrate the full capabilities of FME in AI-driven processes.
Custom AI Models: Discover how to leverage FME to build personalized AI models using your data. Whether it’s populating a model with local data for added security or integrating public AI tools, find out how FME facilitates a versatile and secure approach to AI.
We’ll wrap up with a live Q&A session where you can engage with our experts on your specific use cases, and learn more about optimizing your data workflows with AI.
This webinar is ideal for professionals seeking to harness the power of AI within their data management systems while ensuring high levels of customization and security. Whether you're a novice or an expert, gain actionable insights and strategies to elevate your data processes. Join us to see how FME and AI can revolutionize how you work with data!
Dandelion Hashtable: beyond billion requests per second on a commodity serverAntonios Katsarakis
This slide deck presents DLHT, a concurrent in-memory hashtable. Despite efforts to optimize hashtables, that go as far as sacrificing core functionality, state-of-the-art designs still incur multiple memory accesses per request and block request processing in three cases. First, most hashtables block while waiting for data to be retrieved from memory. Second, open-addressing designs, which represent the current state-of-the-art, either cannot free index slots on deletes or must block all requests to do so. Third, index resizes block every request until all objects are copied to the new index. Defying folklore wisdom, DLHT forgoes open-addressing and adopts a fully-featured and memory-aware closed-addressing design based on bounded cache-line-chaining. This design offers lock-free index operations and deletes that free slots instantly, (2) completes most requests with a single memory access, (3) utilizes software prefetching to hide memory latencies, and (4) employs a novel non-blocking and parallel resizing. In a commodity server and a memory-resident workload, DLHT surpasses 1.6B requests per second and provides 3.5x (12x) the throughput of the state-of-the-art closed-addressing (open-addressing) resizable hashtable on Gets (Deletes).
zkStudyClub - LatticeFold: A Lattice-based Folding Scheme and its Application...Alex Pruden
Folding is a recent technique for building efficient recursive SNARKs. Several elegant folding protocols have been proposed, such as Nova, Supernova, Hypernova, Protostar, and others. However, all of them rely on an additively homomorphic commitment scheme based on discrete log, and are therefore not post-quantum secure. In this work we present LatticeFold, the first lattice-based folding protocol based on the Module SIS problem. This folding protocol naturally leads to an efficient recursive lattice-based SNARK and an efficient PCD scheme. LatticeFold supports folding low-degree relations, such as R1CS, as well as high-degree relations, such as CCS. The key challenge is to construct a secure folding protocol that works with the Ajtai commitment scheme. The difficulty, is ensuring that extracted witnesses are low norm through many rounds of folding. We present a novel technique using the sumcheck protocol to ensure that extracted witnesses are always low norm no matter how many rounds of folding are used. Our evaluation of the final proof system suggests that it is as performant as Hypernova, while providing post-quantum security.
Paper Link: https://eprint.iacr.org/2024/257
Main news related to the CCS TSI 2023 (2023/1695)Jakub Marek
An English 🇬🇧 translation of a presentation to the speech I gave about the main changes brought by CCS TSI 2023 at the biggest Czech conference on Communications and signalling systems on Railways, which was held in Clarion Hotel Olomouc from 7th to 9th November 2023 (konferenceszt.cz). Attended by around 500 participants and 200 on-line followers.
The original Czech 🇨🇿 version of the presentation can be found here: https://www.slideshare.net/slideshow/hlavni-novinky-souvisejici-s-ccs-tsi-2023-2023-1695/269688092 .
The videorecording (in Czech) from the presentation is available here: https://youtu.be/WzjJWm4IyPk?si=SImb06tuXGb30BEH .
Your One-Stop Shop for Python Success: Top 10 US Python Development Providersakankshawande
Simplify your search for a reliable Python development partner! This list presents the top 10 trusted US providers offering comprehensive Python development services, ensuring your project's success from conception to completion.
[OReilly Superstream] Occupy the Space: A grassroots guide to engineering (an...Jason Yip
The typical problem in product engineering is not bad strategy, so much as “no strategy”. This leads to confusion, lack of motivation, and incoherent action. The next time you look for a strategy and find an empty space, instead of waiting for it to be filled, I will show you how to fill it in yourself. If you’re wrong, it forces a correction. If you’re right, it helps create focus. I’ll share how I’ve approached this in the past, both what works and lessons for what didn’t work so well.
Freshworks Rethinks NoSQL for Rapid Scaling & Cost-EfficiencyScyllaDB
Freshworks creates AI-boosted business software that helps employees work more efficiently and effectively. Managing data across multiple RDBMS and NoSQL databases was already a challenge at their current scale. To prepare for 10X growth, they knew it was time to rethink their database strategy. Learn how they architected a solution that would simplify scaling while keeping costs under control.
Conversational agents, or chatbots, are increasingly used to access all sorts of services using natural language. While open-domain chatbots - like ChatGPT - can converse on any topic, task-oriented chatbots - the focus of this paper - are designed for specific tasks, like booking a flight, obtaining customer support, or setting an appointment. Like any other software, task-oriented chatbots need to be properly tested, usually by defining and executing test scenarios (i.e., sequences of user-chatbot interactions). However, there is currently a lack of methods to quantify the completeness and strength of such test scenarios, which can lead to low-quality tests, and hence to buggy chatbots.
To fill this gap, we propose adapting mutation testing (MuT) for task-oriented chatbots. To this end, we introduce a set of mutation operators that emulate faults in chatbot designs, an architecture that enables MuT on chatbots built using heterogeneous technologies, and a practical realisation as an Eclipse plugin. Moreover, we evaluate the applicability, effectiveness and efficiency of our approach on open-source chatbots, with promising results.
5th LF Energy Power Grid Model Meet-up SlidesDanBrown980551
5th Power Grid Model Meet-up
It is with great pleasure that we extend to you an invitation to the 5th Power Grid Model Meet-up, scheduled for 6th June 2024. This event will adopt a hybrid format, allowing participants to join us either through an online Mircosoft Teams session or in person at TU/e located at Den Dolech 2, Eindhoven, Netherlands. The meet-up will be hosted by Eindhoven University of Technology (TU/e), a research university specializing in engineering science & technology.
Power Grid Model
The global energy transition is placing new and unprecedented demands on Distribution System Operators (DSOs). Alongside upgrades to grid capacity, processes such as digitization, capacity optimization, and congestion management are becoming vital for delivering reliable services.
Power Grid Model is an open source project from Linux Foundation Energy and provides a calculation engine that is increasingly essential for DSOs. It offers a standards-based foundation enabling real-time power systems analysis, simulations of electrical power grids, and sophisticated what-if analysis. In addition, it enables in-depth studies and analysis of the electrical power grid’s behavior and performance. This comprehensive model incorporates essential factors such as power generation capacity, electrical losses, voltage levels, power flows, and system stability.
Power Grid Model is currently being applied in a wide variety of use cases, including grid planning, expansion, reliability, and congestion studies. It can also help in analyzing the impact of renewable energy integration, assessing the effects of disturbances or faults, and developing strategies for grid control and optimization.
What to expect
For the upcoming meetup we are organizing, we have an exciting lineup of activities planned:
-Insightful presentations covering two practical applications of the Power Grid Model.
-An update on the latest advancements in Power Grid -Model technology during the first and second quarters of 2024.
-An interactive brainstorming session to discuss and propose new feature requests.
-An opportunity to connect with fellow Power Grid Model enthusiasts and users.
Digital Banking in the Cloud: How Citizens Bank Unlocked Their MainframePrecisely
Inconsistent user experience and siloed data, high costs, and changing customer expectations – Citizens Bank was experiencing these challenges while it was attempting to deliver a superior digital banking experience for its clients. Its core banking applications run on the mainframe and Citizens was using legacy utilities to get the critical mainframe data to feed customer-facing channels, like call centers, web, and mobile. Ultimately, this led to higher operating costs (MIPS), delayed response times, and longer time to market.
Ever-changing customer expectations demand more modern digital experiences, and the bank needed to find a solution that could provide real-time data to its customer channels with low latency and operating costs. Join this session to learn how Citizens is leveraging Precisely to replicate mainframe data to its customer channels and deliver on their “modern digital bank” experiences.
2. 376 Computer Science & Information Technology (CS & IT)
positioning, orientation, picking, placing, and insertion of the different micro objects in grids or in
between plates[13].
Figure 1: Femtosecond Laser Micromanufacturing Setup
Enabling a 2 DOF through a Piezo actuator can foray its use in Characterization of micro-
devices, Manufacturing and assembly of micro devices, High resolution industrial applications
such as optical fiberalignment, biological cell manipulation, and scanning probe microscopy
(SPM)[2,3,4,13].
Authors propose the use of a 32 bit ARM microcontroller to establish a serial connection with the
PILine Controller C867 which essentially uses the PID servo control to drive the PI stage M663.
A joystick (interfaced with the microcontroller) is used to choose the controls displayed on an
LCD screen (also interfaced to the same micro controller).Thus the system features the
piezoelectric ultrasonic standing wave motor driven by a PILine Controller taking commands
from the user through the microcontroller. Paper is divided into nine sections; Section 2 is the
description of the hardware involved in the micromanufacturing workcell. Section 3 discusses
the flow of signal to analyse the control elements of the system and explains graphically the
conclusions of the experiments conducted by tuning the PID controller .Section 4 is the description
how the communication between the components of the automatic control system was designed.
Section 5 includes the process of realizing different geometries. Section 6 explains the execution
of the tasks in the micromanufacturing system. Section 7 gives information about the future scope
of the experiments conducted and the last section concludes the work.
2. DESCRIPTION OF THE MICROMANUFACTURING WORKCELL
The Fig.1 shows the entire set up of the micromanufacturing system,employed by the author, at
work .The Fig. 2 shows briefly the structure and the main blocks of this system .
Figure 2: Block Daigram of the Micro Figure 3: Control Architecture of the Ultrasonic Motor
manufacturing System
3. Computer Science & Information Technology (CS & IT) 377
2.1 LPC2478
It is a 16/32 bit RISC microcontroller that has 512 kB of on-chip high-speed flash mem- ory. A
development board named Embedded Artists’ LPC2478-32 OEM Board v1.3 is used. The board
includes: 3.2 inch QVGA TFT colour LCD with touch screen panel, RS232 male terminal, 5-key
joystick, Ethernet connector (RJ45), MMC/SD interface & connector, CAN interface & connector
and many other useful features.[5]
2.2 PILine Controller
The C-867 controller is a compact case enclosing both, the driver electronics for the PUN motors
and components for controlling and communication. The controller can be operated by a host PC
either via a USB port or a RS-232 interface or manually by a joy-stick [6].Two controllers
connected in daisy chain topology have been used to drive 2 Piezo-motors which enable a 2 DOF.
2.3 PI Stage
The advantages of using Piezo-actuators have already been discussed in the introduction. The PI
M-663 is a Precision-class micropositioning stage with a non-contact optical linear encoder for
measuring the distance travelled by the stage. The minimum incremental motion is 300 nanometer
and sensor resolution is 100 nanometer. The maximum velocity it can obtain is 400 mm/sec. Its
travel range is 19mm [7]. Two PI stages have been placed on top of each other to ascertain a 2
DOF. The movement of each stage can be individually controlled.
2.4 Femtosecond Laser
Ultrashort laser pulses have ability for minimal damage and precise processing. Because of the
melting effects around the machined site and the unacceptable degradation in the edge quality of
the microstructure, the use of nanosecond pulses was discouraged and was replaced by
femtosecond / picosecond lasers [8]. The TI: Sapphire CPA series femtosecond version of the
laser by Clark-MXR, Inc was used. This assembly produces a laser pulse having energy of less
than .8mJ at 1 kHz and pulse width of less than 150fs. [9]
3. CONTROL STRATEGY
To devise the control strategy of this assembly, the signal flow in the system is traced and further
used to determine or estimate the transfer functions of the controller and the plant.
3.1 Working of the Plant
The PUN actuator used here is entirely defined as a Standing Wave Ultrasonic Piezo-electric
Linear Motor. The working of this rare class of motors can be briefly described as follows. Two
orthogonal vibration components, when coupled, create a 2-D standing wave in the piezo-ceramic
(PIC181) electrodes. [16], An alumina tip placed on top of these electrodes follows an elliptical
trajectory, as a result of these vibrations, The aluminium plate which is in contact with the tip
receives micro-impulses from it during the course of the tip’s trajectory, which causes it to move
forward or backward according to the angles which these impulses are given.[15] If seen in
4. 378 Computer Science & Information Technology (CS & IT)
analogy with any motor, the peizoceramic electrodes play the role of the stator, where as the
moving aluminium plate becomes the rotor. Researchers have generated mathematical models for
this motor considering it as a spring-mass-damper system [14]. This trajectory is generally
trapezoidal, meaning there is acceleration till the desired velocity is reached, the velocity remains
constant till a certain position, and then there is a deceleration as controlled by the closed loop
servo control.
3.2 Study of Controller Dynamics
There are traditional methods of extracting the plant dynamics, if the transfer function of the
controller is estimated . However, few of these can be applied to the system in consideration due
to the constraints in the type of input signal applied, adjustments in fundamental frequency, and
non availability of certain piezo-electric constants necessary for mathematical modelling. The
Proportional(P), Integral(I) and Derivative(D) constants are changed using the PI Tuning Tool in
the PI Mikromove application. The graphs below are plotted using MATLAB. They show the
time-domain response of the moving stage using three different sets of P, I, D terms. The Graph
4(a) shows the behaviour of the stage using P-10, I-15, D-15. Here the settling time was
unacceptably long and there is a noticeable overshoot making the system under-damped. Graph
4(b) is plotted using P-30, I-100,D-90. It shows an overdamped system with damping factor greater
than 1. However there is a slight increase in the rise time of this time response.
(a) (b) (c)
Figure 4: Responses of PID
Graph 4(c) is the behaviour of the stage using a combination of the sets mentioned above.The
time domain response of this combination shows an overdamped system with a rise time better
than in Fig. 4(b) and a settling time lesser than in Fig. 4(a).This implies that 2 or more than 2 P,I,D
sets should be used for the actuator to ensure no vibrations and optimized rise time and settling
time. The analysis of the Fig. 4(a) and (b) provides a solution for optimizing the rise time and the
settling time. A combination of these 2 sets in a manner such that when the target position is
relatively far the P,I,D values in the set 1 are used and when the target position close the P,I,D
values in the set 2 are used .
3.3 Control Architecture
The signal flow from the microcontroller to the actuator is described in steps below and in Fig.
3. The user uses the joystick to make choices maximum velocity, acceleration and the geometry
to be traced. The microcontroller converts these decisions into macros. It plans the trajectory of
the coupled stages and selects the appropriate stage to be moved according to the geometry, The
5. Computer Science & Information Technology (CS & IT) 379
target position, maximum velocity and the maximum acceleration of each of the stages will be
sent to their individual PILine controllers, According to the target position the stage is moved.
The encoder obtains the actual position is obtained at .2 ms. The difference between the actual
position and the target position is the error signal e (t). This error signal is fed to the PID
controller according to which the control signal u (t) is generated, The control signal is a voltage
in the range of -10 to +10 V which is applied as an excitation voltage to the piezoceramic plates.
This brings about the movement in the stage, When the geometry chosen is completely realised,
an acknowledgement signal is generated and sent to the user. Thus the user will be able to
continue with his next task.
4. DESIGN OF THE AUTOMATIC CONTROL SYSTEM
The Fig. 5 highlights the flow of data from the microcontroller to the actuator.
The automatic control system is an amalgamation of optimal tuning of the PI Line controller
and the transfer of commands through the microcontroller. The knowledge of UART is
essential for this design. A few points were kept in mind while communicating through
LPC2478. The PILine Controller recognizes text based commands sent in a specific
Figure 5: Setup for the Embedded Figure 6: Embedded Control System
Control System
format as specified by the PI General Command Set, One or more sets of these
commands can be stored in a file and/or transmitted over RS-232 with the baud rate set
the same as that of the PI Line controller, Each controller in a daisy chain topology has
a unique address. While in daisy chain topology the addresses of the target controller and
the sender are required in every command line. [6], The number of data bits, parity bit
and stop bit settings are also made considering mode switches in the front panel of the
Line Controller (in our case 8 data bits, no parity and one stop bit), The ASCII character
of the sequence ” n” for a new line has to be sent after every command line.
5. REALIZATION OF DIFFERENT GEOMETRIES
The Fig. 7(a), 7(b), 7(c) and 7(d) display the basic algorithms adopted by the user interface
routine to realize different geometrical patterns. As seen, the user can make the stages move in
different geometries and set individual velocities for each task without switching the servo motor
6. 380 Computer Science & Information Technology (CS & IT)
on/off, till he decides to exit. The pattern that will be made by the laser on the work piece is
plotted roughly in the Fig. 8. This plotting is done using image processing. The red spot made by
the laser beam was tracked when the 2 stages were in movement.
5.1 Software Design of the User Interface
The choice of realizing different geometrical patterns using the 5 position joystick is displayed on
the LCD provided on the board. The current co-ordinates of the stage are also shown on the LCD
and hence tracking of the stage is assured. Assigning the velocity(max 400mm/sec)and the
acceleration with which the stage is moving is also facilitated. Fig. 9 shows the different windows
created for the user interface. Window (A) is the first screen informing the user that the XY
stages have been initialized and the instruction for moving to the exit screen has been displayed at
the bottom. Window (B) is the home screen where the user can make choices for diferent
geometrical patterns and also choose the velocity at which the stages must move. Window (C)
displays the tracking co-ordinates of the stages when the stages were moving in circular geometry.
Window (D) shows the exit window after the user decides that he has executed all of his tasks.
As is seen at every stage except for window (D) the user can go back to the home screen
increasing repeatability.
Figure 7: Flowcharts for Different Geometries
7. Computer Science & Information Technology (CS & IT) 381
Figure 8: Pattern Made by the Movement Figure 9: Different Windows of the
of the Stages User Interface
(a) (b)
Figure 10: Manufactured Silicon Workpiece
6. EXECUTION OF TASKS IN MICRO-MANUFACTURING SYSTEM
The program was first run on a very raw set up where the 2 stages were not yet placed on top of
each other.The movement of the 2 stages was verified to be correct. The stages were then
assembled as shown in Fig. 3. The routine was run to verify the joint movement of the stages.
Once verified , the set up was placed below the femtosecond laser and the material on which the
pattern had to be made was placed on top of the stage, as shown in the Fig.1.The femtosecond
laser is acting on the material in short bursts and hence can be co-ordinated well with the
movement of the stages. The stages move to expose a different portion of the material to the laser
each time which subsequently leads to the creation of the pattern on the materials. Fig. 10 are the
photographs of the manufactured material taken inside the light microscope. The line as shown
in part (a) was burnt on the material whilst the stages were moving from one extreme end to the
other. The part (b) is the circle with a radius of approximately 90 micron.
7. FUTURE SCOPE
The kinematics of the micro parts see to it that surface interaction and friction force become
more prominent. Also there is a significant problem of spring back characteristics. Hence
complex geometries are needed for the tools for increased tolerances and good surface quality
[11]. The creation of patterns in three dimensions made by a powerful femtosecond laser pulse,
allows us to delve deeper and create further advancements in the fields of fabrication of
integrated circuits, Micro electromechanical systems (MEMS), biosensors, Power MEMS and
energy harvesters/scavengers[8,13]. Future experiments include plotting and analyzing step
8. 382 Computer Science & Information Technology (CS & IT)
responses using the optimized P, I, D set of constants, also analyzing the behaviour of the stage
under different load conditions. The ARM microcontrollers have a number of integrated
peripherals which will help us develop a generalized platform for the user interface.
8. CONCLUSION
The software necessary to communicate with 2 controllers was not more than 40 kB in size. The
steady state error and the rise time of the time domain response was optimized for a particular
experiment. The user interface was self- explanatory and had the option of returning to the home
screen after every task. Tracking of the position of the actuator was achieved as shown in Fig. 9
Window (C). The assembly was highly portable. The repeatability was marginally increased along
with saving a precious amount of time.
ACKNOWLEDGEMENT
Authors thank CSIR for funding the research program under Network Project, NWP-30 and CEERI
Pilani for creating supporting facilities for the project. Authors also wish to thank Dr. P. Bhanu
Prasad, Mr. Talebar Singh and S Mohan Mahalaxmi Naidu & Amit Patwardhan professors at
International Institute of Information Technology, Pune for their valuable discussion and support
towards this project.
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