A PC based control system was developed in this work to control a hydraulic pick and place robotic arm with a high tracking accuracy. The hydraulic arm was designed, constructed and controlled through an electronic driver circuit designed by the author. The tracking control system is driven by computer software, the commands of which are connected to the arm by means of a data acquisition card to read the rotational angles of its parts and to actuate the driver circuit of its hydraulic system. The present hydraulic robot arm is controlled to carry out desired pick and place tasks. A smart control software program was designed and constructed by the author using C# programming language. The present software program is designed as a Graphical User Interface application, GUI, and therefore it can be easily operated by non-expert users. Inverse kinematics formulas, derived by the author, are processed by the software to convert the coordinates of the initial and object tracking points from Cartesian to Polar systems as needed. Experimental runs were carried out to verify the effectiveness and the accuracy of the present tracking arm. Experiments showed that nine of ten trials were successful to attain a predesigned accurate pick and place task, which is a good percentage, confirmed the high accuracy of the present tracking system.
IRJET - Controlling 4 DOF Robotic ARM with 3-Axis Accelerometer and Flex ...IRJET Journal
This document describes a study that uses an accelerometer and flex sensor to control a 4 degree of freedom robotic arm. The robotic arm is 3D printed and has a motherboard to control stepper motors in each joint. An ADXL345 acceleration sensor provides axis values from two gloves to control movement of the four joints. A flex sensor on one glove controls the gripper. The system aims to allow autonomous control of the robotic arm through human hand motions detected by the sensors. Key components of the robotic arm like the motherboard, stepper motors, and sensors are described in detail.
IRJET- Self-Reliant Railway Accident Averting Arrangeent, using MechatronicsIRJET Journal
This document describes a proposed self-reliant railway accident averting system using mechatronics. It aims to address accidents caused by train derailments, improper track maintenance, collisions at level crossings, and faults in the train track. The system utilizes a PLC-based fault detection technology with vibration monitoring and ultrasonic sensors to detect breaks or cracks in the railway track in real-time. It also automates the manual gate control system at level crossings using sensors, PLC, and gear motors to open and close gates automatically when trains approach and pass to prevent collisions. This proposed accident averting arrangement seeks to introduce reliable and safe railway operations by reducing human errors and oversight compared to current manual methods.
This document describes the design and implementation of an autonomous floor cleaning robot. The robot has two cleaning modes: autonomous and manual. In autonomous mode, the robot uses sensors like an ultrasonic sensor and laser TOF sensor to navigate rooms in a zigzag "S-shape" pattern while avoiding obstacles. It can perform both dry sweeping and wet mopping functions. In manual mode, a user controls the robot via a smartphone app and Bluetooth to navigate areas manually. The robot is built using components like an Arduino Mega microcontroller, motors, motor drivers, sensors and a vacuum/mopping unit. It aims to make cleaning more efficient by automating the process. The researchers conclude the robot demonstrates around 80% cleaning
Abstract of Project:
Automated guided vehicle (AGV) is one of material handling system that has been used in industrial applications to move the materials around a manufacturing facility or warehouse as it provides more flexibility to the system. The manual handling needed the worker to push or pull the trailer that carrying the fragmentary product. However, pushing and pulling the trolley with a load manually may cause ergonomics effects to the workers such as Low-back Disorder (LBD). Work-related LBD is one of type Work-related Musculoskeletal Disorders (MSDs) which is caused by cumulative effects of faulty body mechanics, poor posture, awkward movement and improper lifting techniques. The main objectives of this project are to build an AGV that can replace the manual handling and able to bring the fragmentary product to a particular location based on line pattern recognition systems. In this project, an AGV model is built that can move follow the line on the floor with the microcontroller as it the main brain that controls all the responses and navigation to the environment. The guide path is marked with a black tape that is placed on the floor surface, and guides path sensor is mounted on the vehicle to avoid an obstacle. Therefore, an AGV will continuously alter the speed of the wheels that continues to move along the obstacle boundary until it again comes to its predetermined path so that it will continue on its path automatically. The project implicates of designing and fabrication of the hardware and circuitry. AGV is, therefore, suitable for automating material handling in batch production and mixed model production.
Project Report for Automated Guided VehicleSOORAJ V R
The document describes the design and fabrication of an automated guided vehicle (AGV). Key points:
1) The AGV uses a microcontroller and wireless transmitter-receiver to receive commands from a central computer and navigate autonomously through a factory or warehouse along predetermined paths.
2) The mechanical design includes an aluminum chassis that can carry a 10kg payload. A differential steering system allows the AGV to turn within its width.
3) Electrical components include motors, a motor driver, microcontroller, and wireless electronics to control the motion and receive commands. Sensors provide feedback to navigate paths safely.
4) Programming algorithms allow the AGV to navigate paths as instructed through combinations of forward, backward
The document describes a proposed driverless metro train system that uses sensors and a central control system like an Arduino controller to operate the train automatically without a driver. It discusses the various components and automation levels of the driverless system, provides a block diagram and state diagram of the train's operation, and presents results from a prototype model demonstrating automatic stopping, door operation, and messaging to passengers. The driverless system aims to improve transportation efficiency and safety by reducing human errors and allowing for more accurate scheduling compared to conventional metro trains.
The document describes an optimized slot car race track that uses a PIC microcontroller to automate and regulate the speed of a slot car named PICar. It discusses using pulse width modulation controlled by the PIC to adjust the car's speed through different sections of the track based on infrared sensor triggers. The project aims to create an automated opponent for humans to race against that is difficult to beat. Programming challenges are discussed along with the circuit design and components used.
Implementation of pid control to reduce wobbling in a line following roboteSAT Journals
This document summarizes the implementation of a PID control system on a line following robot to reduce wobbling and improve tracking of the line. It describes the components of the robot including sensors, microcontroller, motors and power source. It discusses line following without PID which resulted in large deviations and inability to follow at high speeds. The document then provides details on how PID control was implemented, including definitions of target position, measured position, error, and the proportional, integral and derivative components. It explains how these factors were coded into the microcontroller to calculate motor speeds. The results showed much smoother line following with minimal wobbling even at high speeds compared to without PID control.
IRJET - Controlling 4 DOF Robotic ARM with 3-Axis Accelerometer and Flex ...IRJET Journal
This document describes a study that uses an accelerometer and flex sensor to control a 4 degree of freedom robotic arm. The robotic arm is 3D printed and has a motherboard to control stepper motors in each joint. An ADXL345 acceleration sensor provides axis values from two gloves to control movement of the four joints. A flex sensor on one glove controls the gripper. The system aims to allow autonomous control of the robotic arm through human hand motions detected by the sensors. Key components of the robotic arm like the motherboard, stepper motors, and sensors are described in detail.
IRJET- Self-Reliant Railway Accident Averting Arrangeent, using MechatronicsIRJET Journal
This document describes a proposed self-reliant railway accident averting system using mechatronics. It aims to address accidents caused by train derailments, improper track maintenance, collisions at level crossings, and faults in the train track. The system utilizes a PLC-based fault detection technology with vibration monitoring and ultrasonic sensors to detect breaks or cracks in the railway track in real-time. It also automates the manual gate control system at level crossings using sensors, PLC, and gear motors to open and close gates automatically when trains approach and pass to prevent collisions. This proposed accident averting arrangement seeks to introduce reliable and safe railway operations by reducing human errors and oversight compared to current manual methods.
This document describes the design and implementation of an autonomous floor cleaning robot. The robot has two cleaning modes: autonomous and manual. In autonomous mode, the robot uses sensors like an ultrasonic sensor and laser TOF sensor to navigate rooms in a zigzag "S-shape" pattern while avoiding obstacles. It can perform both dry sweeping and wet mopping functions. In manual mode, a user controls the robot via a smartphone app and Bluetooth to navigate areas manually. The robot is built using components like an Arduino Mega microcontroller, motors, motor drivers, sensors and a vacuum/mopping unit. It aims to make cleaning more efficient by automating the process. The researchers conclude the robot demonstrates around 80% cleaning
Abstract of Project:
Automated guided vehicle (AGV) is one of material handling system that has been used in industrial applications to move the materials around a manufacturing facility or warehouse as it provides more flexibility to the system. The manual handling needed the worker to push or pull the trailer that carrying the fragmentary product. However, pushing and pulling the trolley with a load manually may cause ergonomics effects to the workers such as Low-back Disorder (LBD). Work-related LBD is one of type Work-related Musculoskeletal Disorders (MSDs) which is caused by cumulative effects of faulty body mechanics, poor posture, awkward movement and improper lifting techniques. The main objectives of this project are to build an AGV that can replace the manual handling and able to bring the fragmentary product to a particular location based on line pattern recognition systems. In this project, an AGV model is built that can move follow the line on the floor with the microcontroller as it the main brain that controls all the responses and navigation to the environment. The guide path is marked with a black tape that is placed on the floor surface, and guides path sensor is mounted on the vehicle to avoid an obstacle. Therefore, an AGV will continuously alter the speed of the wheels that continues to move along the obstacle boundary until it again comes to its predetermined path so that it will continue on its path automatically. The project implicates of designing and fabrication of the hardware and circuitry. AGV is, therefore, suitable for automating material handling in batch production and mixed model production.
Project Report for Automated Guided VehicleSOORAJ V R
The document describes the design and fabrication of an automated guided vehicle (AGV). Key points:
1) The AGV uses a microcontroller and wireless transmitter-receiver to receive commands from a central computer and navigate autonomously through a factory or warehouse along predetermined paths.
2) The mechanical design includes an aluminum chassis that can carry a 10kg payload. A differential steering system allows the AGV to turn within its width.
3) Electrical components include motors, a motor driver, microcontroller, and wireless electronics to control the motion and receive commands. Sensors provide feedback to navigate paths safely.
4) Programming algorithms allow the AGV to navigate paths as instructed through combinations of forward, backward
The document describes a proposed driverless metro train system that uses sensors and a central control system like an Arduino controller to operate the train automatically without a driver. It discusses the various components and automation levels of the driverless system, provides a block diagram and state diagram of the train's operation, and presents results from a prototype model demonstrating automatic stopping, door operation, and messaging to passengers. The driverless system aims to improve transportation efficiency and safety by reducing human errors and allowing for more accurate scheduling compared to conventional metro trains.
The document describes an optimized slot car race track that uses a PIC microcontroller to automate and regulate the speed of a slot car named PICar. It discusses using pulse width modulation controlled by the PIC to adjust the car's speed through different sections of the track based on infrared sensor triggers. The project aims to create an automated opponent for humans to race against that is difficult to beat. Programming challenges are discussed along with the circuit design and components used.
Implementation of pid control to reduce wobbling in a line following roboteSAT Journals
This document summarizes the implementation of a PID control system on a line following robot to reduce wobbling and improve tracking of the line. It describes the components of the robot including sensors, microcontroller, motors and power source. It discusses line following without PID which resulted in large deviations and inability to follow at high speeds. The document then provides details on how PID control was implemented, including definitions of target position, measured position, error, and the proportional, integral and derivative components. It explains how these factors were coded into the microcontroller to calculate motor speeds. The results showed much smoother line following with minimal wobbling even at high speeds compared to without PID control.
This document describes a speed checker device for highways that uses lasers and light dependent resistors (LDRs) to detect the speed of passing vehicles and display their speed digitally. If a vehicle exceeds the maximum permitted speed, the device will sound an alarm. It provides the block diagram, components used, operating principles, and potential applications and future developments of the speed checker to enhance safety on highways.
This document describes the design and components of a quadcopter built by students for their diploma in mechatronics. The quadcopter uses four brushless DC motors powered by Lithium Polymer batteries to generate lift through four propellers. Key components include an electronic speed controller to control each motor, a flight control board that processes signals from the transmitter to stabilize and maneuver the quadcopter, and a transmitter-receiver system to send pilot commands. The document outlines the working principle, block diagram, function of each module, advantages, limitations, and applications of the quadcopter.
The document describes an optimized slot car race track project using a PIC microcontroller. The track was divided into sections for low, medium, and high speeds. Sensors were used to detect when the car entered each section and change the PWM duty cycle to adjust the car's speed. The PIC was programmed with an algorithm to control the car's speed based on sensor input as it raced around the track. The final circuit worked well, with the controlled car racing quickly through the different speed sections.
This document describes a summer project to build an autonomous quadcopter. A team of students designed and built a quadcopter frame with four motors and propellers mounted symmetrically. They used an Arduino and IMU sensors to program and stabilize the quadcopter using a PID algorithm. The PID algorithm calculates motor commands based on input from the transmitter and sensors to balance the quadcopter. The students faced several challenges including sensor communication speeds and reading transmitter signals, but were able to fly their autonomous quadcopter stabilized for 50-60 seconds.
automatic railway gate control system using arduinoantivirusspam
The objective of this project is to manage the control system of railway gate using the arduino. When train arrives at the sensing point alarm is triggered at the railway crossing point so that the people get intimation that gate is going to be closed. Then the control system activates and closes the gate on either side of the track once the train crosses the other end control system automatically lifts the gate.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
automatic railway gate control using magnetic sensors8688830413
This document describes an automatic railway gate control system that uses a microcontroller and magnetic sensors to open and close railway gates automatically. The system uses a transformer, rectifier, and regulator to power the microcontroller circuitry. Magnetic sensors detect approaching trains and send signals to the microcontroller. The microcontroller then controls a motor driver to open and close the gate as needed. This automatic system aims to reduce accidents, maintenance costs, and human errors compared to manual railway gate systems.
Automatic Train Control System using Wireless Sensor NetworksPrakhar Bansal
This document outlines an automatic train control system for railways using a wireless sensor network. It begins with an introduction and motivation for the project, describing the current railway signalling architecture and opportunities for improvement. The document then presents the author's field study and interactions with railway officials. It proposes a new WSN-based architecture and algorithms for train detection, clearance seeking, data aggregation and topology maintenance. It concludes with an overview of the simulation implementation in TinyOS and TOSSIM to test the proposed system and algorithms.
This document presents a technical presentation on an automatic railway gate control system. The main aim of the project is to automate unmanned railway gates so that the gate closes automatically when a train approaches and opens after the train passes. It works using IR sensors to detect the train's approach and a microcontroller that controls stepper motors to open and close the gate. When a train is detected, the gate closes to prevent accidents at the railway crossing. This automatic system helps reduce accidents by removing human error.
Gesture based vehicle movements control and alerting system .Vignan Munna
This document describes a gesture-based vehicle control and alerting system using microelectromechanical systems (MEMS) technology. A MEMS accelerometer is used to detect gestures that control the movement of a vehicle in different directions. A microcontroller processes the accelerometer readings and sends commands to motor drivers and other components. The system aims to help disabled persons by allowing contactless control of a vehicle through hand gestures. It could find applications in assisting disabled individuals and cultural/sports activities.
The document describes an automatic railway gate control system using a microcontroller. It detects when a train is approaching using sensors 5km from the gate. It then warns road users with lights and a buzzer and checks for vehicles near the gate. If no vehicles are detected, the gate closes. When the train passes 1km beyond the gate, sensors detect this and the gate reopens. The system provides safety benefits over manual operation by reducing wait times and preventing accidents.
Associated in tractor manufacturing unit and developed cognizance of manufacturing procedures. Coordinated and controlled power take-off revolutions per minute to enhance efficiency of tractors. Employed Arduino Systems and maintained an regulated, constant PTO RPM. Analysed the performance of Common Rail Direct injection based tractors. Assisted in operations of build and validation department. Collaborated in quality check and quality assurance operations.
Vehicle Speed detecter By PRAGYA AGARWALiamtheone5
The project mentioned here is “Speed checker and over speed detector for Highways”. This project is designed and developed by taking into consideration the problem mentioned above. We have used two sensors in this project. These sensors detect the vehicle speed. Condition is that, the two sensors should be installed at a distance of 100 meteres apart from one another.
Now-a-days we hear news about accidents on Highways very frequently. And in most of the cases main reason of accident is overspeed. Although all highways do have signboards indicating maximum speed limit for the sake of driver’s safety, but still people does not obey highway speed limit.
To develop a device that detect rash driving on highways and to alert the traffic authorities wirelessly the speed details and any speed violation and avoid accidents due to rash driving on highways. With the help of this system the speed will be calculated by a Microcontroller program and if the vehicle crosses the speed limit a buzzer sounds alerting the police both at the location and wirelessly at the control room.
Abstract Automatic Control of Railway Gatesvishnu murthy
The document describes an automatic control system for railway gates at level crossings. It uses infrared sensors to detect arriving and departing trains and control opening and closing gates via a motor. When the first IR sensor detects a train, traffic signals turn yellow and a buzzer activates. When the second sensor detects the train, signals turn red and the motor closes the gates. The gates reopen when the third sensor detects the train has passed. The system prevents accidents by automating gate operations instead of relying on human gatekeepers. It also uses additional sensors to detect obstacles on the tracks that could prevent gate closure.
presentation on IR based vehicle with AUTOMATIC BRAKING and DRIVER AWAKENING ...Neeraj Khatri
IR Based Vehicle With AUTOMATIC BRAKING and DRIVER AWAKENING System (2014)
In this Project When any obstacle comes in front of the vehicle in a fixed range then the automatic brakes are applied and the vehicle sounds an alarm and also a very small current is produced on the steering of the vehicle. If the vehicle met with an accident then a call is generated on the last dialled number from the phone which is placed in the vehicle.
This document describes a circuit that can be used as a speed checker for highways. The circuit uses two laser-light emitting diodes and light dependent resistors installed 100 meters apart on a highway. As a vehicle passes between the two sensors, timers measure the time taken and use this to calculate the vehicle's speed. If the calculated speed exceeds the legal speed limit, an alarm sounds to alert the driver. The circuit provides a digital display of the vehicle's speed and can be adjusted to check for limits of 40 or 60 kmph.
This document describes an automated railway gate controller project that uses infrared transmitters and receivers to automatically open and close railway gates based on the presence of an approaching train. When the train approaches the first reference point, the gate closes, and when the train passes the second reference point, the gate opens. The system utilizes amplitude shift keying modulation at 434MHz and a baud rate of 4800bps. An AT89S8253 microcontroller controls an IR transmitter LED and receiver to open and close the gate motor as trains pass through. The system aims to eliminate human error at unmanned railway crossings and reduce accidents.
automatic railway gate controll using ir sensorAnurag Reddy
This document describes an automatic railway gate control system using infrared sensors. The system uses a microcontroller, IR transmitters and receivers, a stepper motor, and LCD display. It aims to overcome issues with manual gate control like human error and delays. When a train approaches, the IR sensors detect it and send a signal to the microcontroller. The microcontroller then controls the stepper motor to automatically open and close the gate. This system reduces risks at unmanned railway crossings by automating the gate operation.
The document describes the LM1450 universal milling machine. It is a vertical-horizontal milling machine with large travel on the Z-axis up to 600mm. It has hardened three axes, motorized lift on the Z axis, and power feed on the X and Y axes. The machine is made of cast iron for precision and long service life. It can perform milling, boring, and special parts machining. Contact information is provided for the manufacturer.
The document discusses manipulation but provides no additional context or details. It is not possible to generate a meaningful 3 sentence summary without more substantive information from the source text.
This document describes a speed checker device for highways that uses lasers and light dependent resistors (LDRs) to detect the speed of passing vehicles and display their speed digitally. If a vehicle exceeds the maximum permitted speed, the device will sound an alarm. It provides the block diagram, components used, operating principles, and potential applications and future developments of the speed checker to enhance safety on highways.
This document describes the design and components of a quadcopter built by students for their diploma in mechatronics. The quadcopter uses four brushless DC motors powered by Lithium Polymer batteries to generate lift through four propellers. Key components include an electronic speed controller to control each motor, a flight control board that processes signals from the transmitter to stabilize and maneuver the quadcopter, and a transmitter-receiver system to send pilot commands. The document outlines the working principle, block diagram, function of each module, advantages, limitations, and applications of the quadcopter.
The document describes an optimized slot car race track project using a PIC microcontroller. The track was divided into sections for low, medium, and high speeds. Sensors were used to detect when the car entered each section and change the PWM duty cycle to adjust the car's speed. The PIC was programmed with an algorithm to control the car's speed based on sensor input as it raced around the track. The final circuit worked well, with the controlled car racing quickly through the different speed sections.
This document describes a summer project to build an autonomous quadcopter. A team of students designed and built a quadcopter frame with four motors and propellers mounted symmetrically. They used an Arduino and IMU sensors to program and stabilize the quadcopter using a PID algorithm. The PID algorithm calculates motor commands based on input from the transmitter and sensors to balance the quadcopter. The students faced several challenges including sensor communication speeds and reading transmitter signals, but were able to fly their autonomous quadcopter stabilized for 50-60 seconds.
automatic railway gate control system using arduinoantivirusspam
The objective of this project is to manage the control system of railway gate using the arduino. When train arrives at the sensing point alarm is triggered at the railway crossing point so that the people get intimation that gate is going to be closed. Then the control system activates and closes the gate on either side of the track once the train crosses the other end control system automatically lifts the gate.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
automatic railway gate control using magnetic sensors8688830413
This document describes an automatic railway gate control system that uses a microcontroller and magnetic sensors to open and close railway gates automatically. The system uses a transformer, rectifier, and regulator to power the microcontroller circuitry. Magnetic sensors detect approaching trains and send signals to the microcontroller. The microcontroller then controls a motor driver to open and close the gate as needed. This automatic system aims to reduce accidents, maintenance costs, and human errors compared to manual railway gate systems.
Automatic Train Control System using Wireless Sensor NetworksPrakhar Bansal
This document outlines an automatic train control system for railways using a wireless sensor network. It begins with an introduction and motivation for the project, describing the current railway signalling architecture and opportunities for improvement. The document then presents the author's field study and interactions with railway officials. It proposes a new WSN-based architecture and algorithms for train detection, clearance seeking, data aggregation and topology maintenance. It concludes with an overview of the simulation implementation in TinyOS and TOSSIM to test the proposed system and algorithms.
This document presents a technical presentation on an automatic railway gate control system. The main aim of the project is to automate unmanned railway gates so that the gate closes automatically when a train approaches and opens after the train passes. It works using IR sensors to detect the train's approach and a microcontroller that controls stepper motors to open and close the gate. When a train is detected, the gate closes to prevent accidents at the railway crossing. This automatic system helps reduce accidents by removing human error.
Gesture based vehicle movements control and alerting system .Vignan Munna
This document describes a gesture-based vehicle control and alerting system using microelectromechanical systems (MEMS) technology. A MEMS accelerometer is used to detect gestures that control the movement of a vehicle in different directions. A microcontroller processes the accelerometer readings and sends commands to motor drivers and other components. The system aims to help disabled persons by allowing contactless control of a vehicle through hand gestures. It could find applications in assisting disabled individuals and cultural/sports activities.
The document describes an automatic railway gate control system using a microcontroller. It detects when a train is approaching using sensors 5km from the gate. It then warns road users with lights and a buzzer and checks for vehicles near the gate. If no vehicles are detected, the gate closes. When the train passes 1km beyond the gate, sensors detect this and the gate reopens. The system provides safety benefits over manual operation by reducing wait times and preventing accidents.
Associated in tractor manufacturing unit and developed cognizance of manufacturing procedures. Coordinated and controlled power take-off revolutions per minute to enhance efficiency of tractors. Employed Arduino Systems and maintained an regulated, constant PTO RPM. Analysed the performance of Common Rail Direct injection based tractors. Assisted in operations of build and validation department. Collaborated in quality check and quality assurance operations.
Vehicle Speed detecter By PRAGYA AGARWALiamtheone5
The project mentioned here is “Speed checker and over speed detector for Highways”. This project is designed and developed by taking into consideration the problem mentioned above. We have used two sensors in this project. These sensors detect the vehicle speed. Condition is that, the two sensors should be installed at a distance of 100 meteres apart from one another.
Now-a-days we hear news about accidents on Highways very frequently. And in most of the cases main reason of accident is overspeed. Although all highways do have signboards indicating maximum speed limit for the sake of driver’s safety, but still people does not obey highway speed limit.
To develop a device that detect rash driving on highways and to alert the traffic authorities wirelessly the speed details and any speed violation and avoid accidents due to rash driving on highways. With the help of this system the speed will be calculated by a Microcontroller program and if the vehicle crosses the speed limit a buzzer sounds alerting the police both at the location and wirelessly at the control room.
Abstract Automatic Control of Railway Gatesvishnu murthy
The document describes an automatic control system for railway gates at level crossings. It uses infrared sensors to detect arriving and departing trains and control opening and closing gates via a motor. When the first IR sensor detects a train, traffic signals turn yellow and a buzzer activates. When the second sensor detects the train, signals turn red and the motor closes the gates. The gates reopen when the third sensor detects the train has passed. The system prevents accidents by automating gate operations instead of relying on human gatekeepers. It also uses additional sensors to detect obstacles on the tracks that could prevent gate closure.
presentation on IR based vehicle with AUTOMATIC BRAKING and DRIVER AWAKENING ...Neeraj Khatri
IR Based Vehicle With AUTOMATIC BRAKING and DRIVER AWAKENING System (2014)
In this Project When any obstacle comes in front of the vehicle in a fixed range then the automatic brakes are applied and the vehicle sounds an alarm and also a very small current is produced on the steering of the vehicle. If the vehicle met with an accident then a call is generated on the last dialled number from the phone which is placed in the vehicle.
This document describes a circuit that can be used as a speed checker for highways. The circuit uses two laser-light emitting diodes and light dependent resistors installed 100 meters apart on a highway. As a vehicle passes between the two sensors, timers measure the time taken and use this to calculate the vehicle's speed. If the calculated speed exceeds the legal speed limit, an alarm sounds to alert the driver. The circuit provides a digital display of the vehicle's speed and can be adjusted to check for limits of 40 or 60 kmph.
This document describes an automated railway gate controller project that uses infrared transmitters and receivers to automatically open and close railway gates based on the presence of an approaching train. When the train approaches the first reference point, the gate closes, and when the train passes the second reference point, the gate opens. The system utilizes amplitude shift keying modulation at 434MHz and a baud rate of 4800bps. An AT89S8253 microcontroller controls an IR transmitter LED and receiver to open and close the gate motor as trains pass through. The system aims to eliminate human error at unmanned railway crossings and reduce accidents.
automatic railway gate controll using ir sensorAnurag Reddy
This document describes an automatic railway gate control system using infrared sensors. The system uses a microcontroller, IR transmitters and receivers, a stepper motor, and LCD display. It aims to overcome issues with manual gate control like human error and delays. When a train approaches, the IR sensors detect it and send a signal to the microcontroller. The microcontroller then controls the stepper motor to automatically open and close the gate. This system reduces risks at unmanned railway crossings by automating the gate operation.
The document describes the LM1450 universal milling machine. It is a vertical-horizontal milling machine with large travel on the Z-axis up to 600mm. It has hardened three axes, motorized lift on the Z axis, and power feed on the X and Y axes. The machine is made of cast iron for precision and long service life. It can perform milling, boring, and special parts machining. Contact information is provided for the manufacturer.
The document discusses manipulation but provides no additional context or details. It is not possible to generate a meaningful 3 sentence summary without more substantive information from the source text.
machining operations and machine tools.Mihir Dixit
This document discusses various machining operations and machine tools used in manufacturing. It describes turning operations which use a single point cutting tool on a lathe to generate cylindrical parts. Milling operations employ a rotating cutting tool with multiple edges to cut planar surfaces. Other operations covered include drilling, boring, tapping and shaping. A variety of machine tools are discussed for performing these operations, including lathes, milling machines, drill presses, shapers and sawing machines. The document provides detailed explanations of each machining process along with example applications and illustrations.
The document describes a student project to build a hydraulic arm that can grip objects. It explains that the arm uses a hydraulic drive system consisting of a pump, valves, and hydraulic cylinders to amplify force and move the arm. The arm is controlled through hand gestures by a simple algorithm. The project aims to demonstrate how hydraulic systems can be used to power robotic arms for industrial applications like assembly lines.
This document provides an overview of milling and turning operations. It discusses the principles and types of milling machines like horizontal and vertical mills. Common milling operations include plain, face, side, profile, end and gang milling. Turning operations covered are facing, parting, grooving, boring, knurling, drilling, reaming, threading, taper and polygonal turning. Both milling and turning remove material using rotary cutters or single point tools on workpieces mounted on machine tools.
This document discusses milling machines and their components and operations. It defines milling as a machining process that uses a rotating multi-tooth cutter to remove material from a workpiece as it travels along different axes relative to the workpiece. It describes the different types of milling machines, milling parameters such as cutting speed and feed, common milling operations including peripheral, face and end milling, and components like the worktable, saddle, knee, and head.
This document is a project report on the manufacturing of a hydraulic robotic arm. It was submitted by Bijoy Mondal to fulfill the requirements for a diploma in mechanical engineering from Elitte Institute of Engineering and Management. The report details the components of the robotic arm including hydraulic cylinders, fluid lines, arms, grippers, a chassis, motor, and wheels. It also discusses the principles of hydraulic systems, classification of hydraulic robots, materials used, and the advantages and disadvantages of the design.
Hydraulic arm (slmcop)5th sem... gulahmed ÂHméd Mêmøñ
it is a hydraulic arm which is hydraulically operated .... a very easy presentation for hydraulic arm . it is also be presented by all students other then engineering .
The document describes a robotic arm activity where visitors build and operate robotic arms using pneumatics or hydraulics. Participants will use materials like wooden blocks, dowels, syringes and tubing to construct arms that can lift and move styrofoam balls. The activity can be a short, structured demonstration or a longer workshop where participants problem-solve design challenges. Safety notes include supervision and avoiding small parts as choking hazards.
This document describes the design of a pick and place robotic arm. It begins with an introduction to pick and place robots and their importance in industry. It then discusses the hardware components used in the robotic arm, including the ATmega16 microcontroller, motors, sensors and other electrical components. The document explains how these components are connected and how the robotic arm will function. It concludes with a discussion of the software tools used and future applications of the robotic arm.
This document describes the design and development of a syringe-actuated mechanical arm. It consists of various wooden and metal parts connected to allow movement via hydraulic actuation from syringes. The arm uses a rack and pinion mechanism to provide rotational movement and a slotted mechanism to increase its range of motion and efficiency in picking up and placing items. Detailed instructions are provided on cutting and assembling each part, including the base, support structures, long arm, grabber arms, and syringes. The overall design allows the arm to move in multiple degrees of freedom to manipulate objects using fluid pressure from the syringes.
This document describes a student project to build a hydraulic robotic arm. The main goals of the project were to create an arm that could grip objects using hydraulic controls and gestures. The arm uses a hydraulic system with syringes, tubes, and cylinders to amplify pressure and move the arm. The document outlines the components, principles, applications, and safety precautions for the project. It concludes that the students successfully created a basic hydraulic arm that could pick up and move objects.
Automation for Horizontal Plastic Injection Moulding industries at to pick and place sprue (plastic waste) from plastic IMM to granulator within 8 sec reducing cycle time and thus enhancing productivity.Robot works on electro-pneumatic circuit operated by C programmed micro-controller.Design was validated in CATIA V5. The model works on 2 to 4 bar pressure air compressor with flow controlled.The model was designed for 40 to 65 ton machines. Different existing models were studied, industrial survey of 14 companies was done and by design synthesis, swing arm horizontal prototype was made with 1/2 kg payload for sprue.The robust mild steel body had miter bevel gear for power transmission and Teflon slider on aluminium arm.
The best design innovation was that through gravity use, gripper wrist rotation and vertical descend stroke for sprue release was eliminated in motion sequence by adopting swing arm horizontal robot configuration instead of conventional swing arm vertical movement. Also, effective trajectory planning for swing arm cylinder was done.
Milling is a machining process that uses rotary cutters to remove material from a workpiece by feeding the workpiece into a spinning tool. There are two main types of milling machines: horizontal and vertical. Horizontal milling machines have a horizontally mounted spindle and cutter above the worktable, while vertical milling machines have a vertically oriented spindle and cutter that can plunge to cut the workpiece. The type of milling machine used depends on factors like the shape, size, and number of sides needing machining of the workpiece.
The document discusses the design of a pick and place mechanical arm for loading and packing lead batteries at a workstation. It provides background on the history and components of mechanical arms, including their structure, power sources, actuation methods, touch and vision capabilities, and types of manipulation end effectors. The document outlines the steps to be taken in designing the mechanical arm, including selecting the product, defining the workspace, determining degrees of freedom, selecting parts, and interfacing the arm with humans.
The document discusses different types of milling processes and machines. It describes peripheral milling and face milling operations. Peripheral milling involves rotating the cutter parallel to the workpiece surface, and can be slab milling, slotting, side milling or straddle milling. Face milling produces a surface perpendicular to the cutter axis using cutter face and periphery. The document also covers different milling cutters, machines, and basic cutting conditions for milling operations.
This document provides information about various machining processes and machine tools. It describes machining as a metal removing process using machine tools and cutting tools. Lathe machines are commonly used to produce cylindrical surfaces and other operations like turning, drilling, boring, etc. Other machine tools discussed include milling machines, drilling machines, grinding machines, shaping machines, and planning machines. The document provides detailed descriptions of various operations that can be performed on these machines.
This document provides information about milling machines and milling operations. It describes the major parts and differences between horizontal and vertical milling machines. Various milling operations like face milling, end milling and slot milling are explained along with principles of up and down milling. Different types of milling cutters are classified and their applications discussed. Specifications of milling machines like worktable size, movements in X, Y and Z directions and motor power are also covered.
Shareware is a type of proprietary software that is provided to users for free for a limited trial period. During the 1980s, Bob Wallace produced the first major shareware product called PC-Write. Shareware is typically lower cost than purchased software, ranging from $1 to $500 depending on the size and functionality, and provides users a way to try software before paying for it. The main differences between shareware and open source software are that shareware maintains the developer's proprietary rights and does not make its source code available while open source involves public availability of source code and a community of developers.
A Study of Secure Efficient Ad hoc Distance Vector Routing Protocols for MANETsIJMER
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.
The document describes the development of an improved accurate trajectory control system for an industrial hydraulic robotic arm. Key points:
1) A PC-based control system was developed to control a hydraulic robotic arm for pick and place tasks with high tracking accuracy. The system uses sensors to measure the arm positions and a control software program to send commands to actuate the arm.
2) The arm has five hydraulic cylinders that rotate its links and an end effector. Sensors provide feedback on link positions to the control software connected to the system via a data acquisition card.
3) Experiments showed the system successfully completed 9 out of 10 pick and place trials, demonstrating its high tracking accuracy for industrial applications.
Design and implementation of Arduino based robotic armIJECEIAES
This study presents the model, design, and construction of the Arduino based robotic arm, which functions across a distance as it is controlled through a mobile application. A six degree of freedom robotic arm has been designed and implemented for the purpose of this research. The design controlled by the Arduino platform receives orders from the user’s mobile application through wireless controlling signals, that is Bluetooth. The arm is made up of five rotary joints and an end effector, where rotary motion is provided by the servomotor. Each link has been first designed using solid works and then printed by 3D printer. The assembly of the parts of the robot and the motor’s mechanical shapes produce the final prototype of the arm. The Arduino has been programmed to provide rotation to each corresponding servo motor to the sliders in the designed mobile application for usage from distance.
Design and Implementation of Robot Arm Control Using LabVIEW and ARM ControllerIOSR Journals
This document describes the design and implementation of a robot arm control system using LabVIEW and an ARM microcontroller. The robot arm has 5 degrees of freedom and is modeled mathematically using an analytical inverse kinematics approach in LabVIEW. The inverse kinematic model calculates the required joint angles to position the end effector. LabVIEW sends the joint angle values to an ARM microcontroller via a parallel communication port. The ARM controller generates PWM signals to control 5 servo motors and move the robot arm joints based on the received angle values. The system was implemented to allow manual control of the robot arm position through a graphical user interface in LabVIEW.
Robots can be autonomous, semi-autonomous or
remotely controlled [6].
The robot arm is widely used in many industries and dangerous areas. Automatic control of the robotic
manipulator involves study of kinematic. The kinematic problem is defined as the transformation from the
Cartesian space to the joint space and vice versa This system include the kinematic control which is used for
picking and placing the object in its workspace. There are many types of robot arm in the world of engineering.
This research describes design of jointed robot arm control system using kinematic modelling. The main focus of
this system is to control the end-effector of robot arm to achieve the desired position in the workspace using
MATLAB programming, microcontroller and inverse kinematic modelling. The MATLAB window(GUI) is used
the inverse kinematic for the requirement data for the specified angle of the arm and displayed on the computer.
The description of this system is to implement the hardware components for the moving process and to control
servo motors with pulse width driving circuit. PIC and Max-232 been used to drive for the servo motors of the
control system and receiving serial data from the computer. The control program is written in Mikro-C
programming language.
IRJET- Design and Fabrication of PLC and SCADA based Robotic Arm for Material...IRJET Journal
This document describes the design and fabrication of a PLC and SCADA-controlled robotic arm for material handling. The robotic arm uses pneumatic cylinders connected by joints to move along three axes (X, Y, and Z). A mechanical gripper is attached to the end of the arm to grip objects on a conveyor belt. The movements of the pneumatic cylinders and gripper are controlled by a PLC based on sensor inputs from the conveyor belt. The PLC and robotic arm are integrated with a SCADA system for centralized control and monitoring. The robotic arm is intended to automate repetitive picking and placing tasks to reduce labor costs compared to manual operations.
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.
Hand Motion Controlled Robotic Vehicle with Obstacle DetectionIRJET Journal
This document describes a hand motion controlled robotic vehicle that can detect obstacles. The system uses an accelerometer mounted on a glove to detect the wearer's hand motions and transmit signals to control the movement of the robotic vehicle. The vehicle is also equipped with ultrasonic sensors to detect obstacles and prevent collisions. The system allows the user to control vehicle movement in forward, backward, left, and right directions through hand gestures alone without pressing buttons. Future applications could include using it as a travel assistant or for hazardous work and surveys where remote control is needed.
ROBOTIC ARM CONTROL WITH WEIGHING SCALEIRJET Journal
1. The document describes a pick and place robotic arm that can measure the weight of objects it picks up using a load cell.
2. The robotic arm uses an electromagnet end effector to pick up metallic objects, and sensors to detect objects. When an object is detected, the arm rotates to pick it up while simultaneously measuring its weight.
3. The arm then rotates to place the object at a target location, and displays the object's weight on an LCD screen. This system allows objects to be sorted by weight.
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.
Unit II Solved Question Bank - Robotics Engineering -Sanjay Singh
This Question Bank for Robotics Engineering is only for academic purpose and not for any commercial use. Students of Anna University and other Universities can use it for reference and knowledge.
IJERD (www.ijerd.com) International Journal of Engineering Research and Devel...IJERD Editor
This document describes a system to control a robotic arm wirelessly using gestures detected by an accelerometer. The system uses an ADXL335 accelerometer attached to a human arm to capture gestures. An Arduino microcontroller digitizes the analog accelerometer and flex sensor data and sends the data wirelessly to an LPC1768 Cortex M3 microcontroller board. The LPC1768 controls the movements of a 5-axis robotic arm through motor drivers based on the received gesture character commands. The goal is to allow more intuitive control of industrial robots through wireless gesture recognition compared to traditional teach pendants.
IJERD (www.ijerd.com) International Journal of Engineering Research and Devel...IJERD Editor
The document describes the design and implementation of an electronic gesture recognition system using an accelerometer to control a robotic arm. The system uses an ADXL335 3-axis accelerometer attached to a human arm to capture gestures. The accelerometer outputs analog voltages that are converted to digital signals and transmitted wirelessly to an LPC1768 microcontroller. The microcontroller controls a KSR10 robotic arm in response to the received signals. Experiments showed the system could successfully control the robotic arm movements in both dynamic and static modes using human gestures detected by the accelerometer.
Two wheeled self balancing robot for autonomous navigationIAEME Publication
This document summarizes a research paper on the design and testing of a two-wheeled self-balancing robot capable of autonomous navigation. The robot balances using a PID control loop applied to data from an inertial measurement unit. A complementary filter fuses gyroscope and accelerometer readings to estimate the robot's tilt angle in real-time. Autonomous navigation is achieved using an ultrasonic distance sensor and image processing system to detect obstacles and determine the robot's path. The stability of the balancing system is analyzed using real-time data plotting in MATLAB, allowing tuning of the PID controller constants.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
IRJET- Development of Robotic Arm using Arduino and Matlab R2016aIRJET Journal
This document describes the development of a robotic arm using Arduino and MATLAB R2016a. The robotic arm is controlled through a graphical user interface in MATLAB. Commands to move the arm left, right, up, down and to grip or release objects are sent from the GUI to an Arduino Uno board connected to the computer. A camera mounted on the arm allows the user to see the position of objects and guide movements. The arm uses three motors for accurate movement and an object detection system to facilitate pick and place tasks.
Bluetooth Controlled Garbage Collection Robot ArmIRJET Journal
We've designed a semi-autonomous robotic arm that can collect scrap materials. The robotic arm has 5 degrees of freedom and is controlled via an Arduino board and Bluetooth module. It uses servo motors and stepper motors to manipulate the arm and a claw to pick up scrap. The arm was 3D printed using PLA plastic. An Android app was created to send commands to the Arduino via Bluetooth to control the arm's movement and allow remote operation. The goal was to develop an affordable robotic system to assist with scrap collection in a safe and efficient manner.
Tri-Rotor UAV Stabilisation and ControlIRJET Journal
This document summarizes a research project on developing a tri-rotor unmanned aerial vehicle (UAV) for remote aerial surveillance. The project involves designing a tri-rotor UAV with vertical take-off and landing capability along with a control system to stabilize and direct its flight. A wireless camera attached to the UAV transmits live video to a ground station for monitoring purposes. The ground station allows an operator to view the video and generate control signals to adjust the camera position and direct the UAV's path of flight. The document describes the hardware components of the UAV and ground station as well as the communication system and flight control algorithms used to control the tri-rotor UAV.
This document summarizes a research paper on designing a metal detector mobile robot using a microcontroller. It includes the following key points:
1) The robot has three main systems - a mechanical system comprising two robot arms and a vehicle carriage, an electrical system with motors, batteries and a temperature sensor, and a control system using a PIC microcontroller.
2) The microcontroller controls the robot's movement and detects metal underground using a temperature sensor. It is programmed using PIC BASIC Pro language for manual and automatic operation.
3) The document provides details on the robot's design, components, programming and potential applications of using a microcontroller to control a metal detecting robot.
A microcontroller is a small and low-cost computer built for the purpose of dealing with
specific tasks. Microcontrollers are mainly used in products that require a degree of control to be
exerted by the user. It is generally built using a technology known as Complementary Metal Oxide
Semiconductor. A metal detector robot designed as a new application of microcontroller. It used the
microcontroller to control its mechanism movement. The robot has two links and two joints
supported on moving table to make its movement easy. A carriage vehicle used for carrying robot
which used the skid steered wheeled types to make its movement easy and safety on ground open
area. The robot’s movement orientation done very accurate depending on link between the
microcontroller and the user’s hand remote.
Similar to An Improved Accurate Trajectory Control System for Industrial Hydraulic Robotic Arms (20)
A Study on Translucent Concrete Product and Its Properties by Using Optical F...IJMER
- Translucent concrete is a concrete based material with light-transferring properties,
obtained due to embedded light optical elements like Optical fibers used in concrete. Light is conducted
through the concrete from one end to the other. This results into a certain light pattern on the other
surface, depending on the fiber structure. Optical fibers transmit light so effectively that there is
virtually no loss of light conducted through the fibers. This paper deals with the modeling of such
translucent or transparent concrete blocks and panel and their usage and also the advantages it brings
in the field. The main purpose is to use sunlight as a light source to reduce the power consumption of
illumination and to use the optical fiber to sense the stress of structures and also use this concrete as an
architectural purpose of the building
Developing Cost Effective Automation for Cotton Seed DelintingIJMER
A low cost automation system for removal of lint from cottonseed is to be designed and
developed. The setup consists of stainless steel drum with stirrer in which cottonseeds having lint is mixed
with concentrated sulphuric acid. So lint will get burn. This lint free cottonseed treated with lime water to
neutralize acidic nature. After water washing this cottonseeds are used for agriculter purpose
Study & Testing Of Bio-Composite Material Based On Munja FibreIJMER
The incorporation of natural fibres such as munja fiber composites has gained
increasing applications both in many areas of Engineering and Technology. The aim of this study is to
evaluate mechanical properties such as flexural and tensile properties of reinforced epoxy composites.
This is mainly due to their applicable benefits as they are light weight and offer low cost compared to
synthetic fibre composites. Munja fibres recently have been a substitute material in many weight-critical
applications in areas such as aerospace, automotive and other high demanding industrial sectors. In
this study, natural munja fibre composites and munja/fibreglass hybrid composites were fabricated by a
combination of hand lay-up and cold-press methods. A new variety in munja fibre is the present work
the main aim of the work is to extract the neat fibre and is characterized for its flexural characteristics.
The composites are fabricated by reinforcing untreated and treated fibre and are tested for their
mechanical, properties strictly as per ASTM procedures.
Hybrid Engine (Stirling Engine + IC Engine + Electric Motor)IJMER
Hybrid engine is a combination of Stirling engine, IC engine and Electric motor. All these 3 are
connected together to a single shaft. The power source of the Stirling engine will be a Solar Panel. The aim of
this is to run the automobile using a Hybrid engine
Fabrication & Characterization of Bio Composite Materials Based On Sunnhemp F...IJMER
This document summarizes research on the fabrication and characterization of bio-composite materials using sunnhemp fibre. The document discusses how sunnhemp fibre was used to reinforce an epoxy matrix through hand lay-up methods. Various mechanical properties of the bio-composites were tested, including tensile, flexural, and impact properties. The results of the mechanical tests on the bio-composite specimens are presented. Potential applications of the sunnhemp fibre bio-composites are also suggested, such as in fall ceilings, partitions, packaging, automotive interiors, and toys.
Geochemistry and Genesis of Kammatturu Iron Ores of Devagiri Formation, Sandu...IJMER
The Greenstone belts of Karnataka are enriched in BIFs in Dharwar craton, where Iron
formations are confined to the basin shelf, clearly separated from the deeper-water iron formation that
accumulated at the basin margin and flanking the marine basin. Geochemical data procured in terms of
major, trace and REE are plotted in various diagrams to interpret the genesis of BIFs. Al2O3, Fe2O3 (T),
TiO2, CaO, and SiO2 abundances and ratios show a wide variation. Ni, Co, Zr, Sc, V, Rb, Sr, U, Th,
ΣREE, La, Ce and Eu anomalies and their binary relationships indicate that wherever the terrigenous
component has increased, the concentration of elements of felsic such as Zr and Hf has gone up. Elevated
concentrations of Ni, Co and Sc are contributed by chlorite and other components characteristic of basic
volcanic debris. The data suggest that these formations were generated by chemical and clastic
sedimentary processes on a shallow shelf. During transgression, chemical precipitation took place at the
sediment-water interface, whereas at the time of regression. Iron ore formed with sedimentary structures
and textures in Kammatturu area, in a setting where the water column was oxygenated.
Experimental Investigation on Characteristic Study of the Carbon Steel C45 in...IJMER
In this paper, the mechanical characteristics of C45 medium carbon steel are investigated
under various working conditions. The main characteristic to be studied on this paper is impact toughness
of the material with different configurations and the experiment were carried out on charpy impact testing
equipment. This study reveals the ability of the material to absorb energy up to failure for various
specimen configurations under different heat treated conditions and the corresponding results were
compared with the analysis outcome
Non linear analysis of Robot Gun Support Structure using Equivalent Dynamic A...IJMER
Robot guns are being increasingly employed in automotive manufacturing to replace
risky jobs and also to increase productivity. Using a single robot for a single operation proves to be
expensive. Hence for cost optimization, multiple guns are mounted on a single robot and multiple
operations are performed. Robot Gun structure is an efficient way in which multiple welds can be done
simultaneously. However mounting several weld guns on a single structure induces a variety of
dynamic loads, especially during movement of the robot arm as it maneuvers to reach the weld
locations. The primary idea employed in this paper, is to model those dynamic loads as equivalent G
force loads in FEA. This approach will be on the conservative side, and will be saving time and
subsequently cost efficient. The approach of the paper is towards creating a standard operating
procedure when it comes to analysis of such structures, with emphasis on deploying various technical
aspects of FEA such as Non Linear Geometry, Multipoint Constraint Contact Algorithm, Multizone
meshing .
Static Analysis of Go-Kart Chassis by Analytical and Solid Works SimulationIJMER
This paper aims to do modelling, simulation and performing the static analysis of a go
kart chassis consisting of Circular beams. Modelling, simulations and analysis are performed using 3-D
modelling software i.e. Solid Works and ANSYS according to the rulebook provided by Indian Society of
New Era Engineers (ISNEE) for National Go Kart Championship (NGKC-14).The maximum deflection is
determined by performing static analysis. Computed results are then compared to analytical calculation,
where it is found that the location of maximum deflection agrees well with theoretical approximation but
varies on magnitude aspect.
In récent year various vehicle introduced in market but due to limitation in
carbon émission and BS Séries limitd speed availability vehicle in the market and causing of
environnent pollution over few year There is need to decrease dependancy on fuel vehicle.
bicycle is to be modified for optional in the future To implement new technique using change in
pedal assembly and variable speed gearbox such as planetary gear optimise speed of vehicle
with variable speed ratio.To increase the efficiency of bicycle for confortable drive and to
reduce torque appli éd on bicycle. we introduced epicyclic gear box in which transmission done
throgh Chain Drive (i.e. Sprocket )to rear wheel with help of Epicyclical gear Box to give
number of différent Speed during driving.To reduce torque requirent in the cycle with change in
the pedal mechanism
Integration of Struts & Spring & Hibernate for Enterprise ApplicationsIJMER
This document discusses integrating the Spring, Struts, and Hibernate frameworks to develop enterprise applications. It provides an overview of each framework and their features. The Spring Framework is a lightweight, modular framework that allows for inversion of control and aspect-oriented programming. It can be used to develop any or all tiers of an application. The document proposes an architecture for an e-commerce website that integrates these three frameworks, with Spring handling the business layer, Struts the presentation layer, and Hibernate the data access layer. This modular approach allows for clear separation of concerns and reduces complexity in application development.
Microcontroller Based Automatic Sprinkler Irrigation SystemIJMER
Microcontroller based Automatic Sprinkler System is a new concept of using
intelligence power of embedded technology in the sprinkler irrigation work. Designed system replaces
the conventional manual work involved in sprinkler irrigation to automatic process. Using this system a
farmer is protected against adverse inhuman weather conditions, tedious work of changing over of
sprinkler water pipe lines & risk of accident due to high pressure in the water pipe line. Overall
sprinkler irrigation work is transformed in to a comfortableautomatic work. This system provides
flexibility & accuracy in respect of time set for the operation of a sprinkler water pipe lines. In present
work the author has designed and developed an automatic sprinkler irrigation system which is
controlled and monitored by a microcontroller interfaced with solenoid valves.
On some locally closed sets and spaces in Ideal Topological SpacesIJMER
This document introduces and studies the concept of δˆ s-locally closed sets in ideal topological spaces. Some key points:
- A subset A is δˆ s-locally closed if A can be written as the intersection of a δˆ s-open set and a δˆ s-closed set.
- Various properties of δˆ s-locally closed sets are introduced and characterized, including relationships to other concepts like generalized locally closed sets.
- It is shown that a subset A is δˆ s-locally closed if and only if A can be written as the intersection of a δˆ s-open set and the δˆ s-closure of A.
- Theore
Intrusion Detection and Forensics based on decision tree and Association rule...IJMER
This paper present an approach based on the combination of, two techniques using
decision tree and Association rule mining for Probe attack detection. This approach proves to be
better than the traditional approach of generating rules for fuzzy expert system by clustering methods.
Association rule mining for selecting the best attributes together and decision tree for identifying the
best parameters together to create the rules for fuzzy expert system. After that rules for fuzzy expert
system are generated using association rule mining and decision trees. Decision trees is generated for
dataset and to find the basic parameters for creating the membership functions of fuzzy inference
system. Membership functions are generated for the probe attack. Based on these rules we have
created the fuzzy inference system that is used as an input to neuro-fuzzy system. Fuzzy inference
system is loaded to neuro-fuzzy toolbox as an input and the final ANFIS structure is generated for
outcome of neuro-fuzzy approach. The experiments and evaluations of the proposed method were
done with NSL-KDD intrusion detection dataset. As the experimental results, the proposed approach
based on the combination of, two techniques using decision tree and Association rule mining
efficiently detected probe attacks. Experimental results shows better results for detecting intrusions as
compared to others existing methods
Natural Language Ambiguity and its Effect on Machine LearningIJMER
This document discusses natural language ambiguity and its effect on machine learning. It begins by introducing different types of ambiguity that exist in natural languages, including lexical, syntactic, semantic, discourse, and pragmatic ambiguities. It then examines how these ambiguities present challenges for computational linguistics and machine translation systems. Specifically, it notes that ambiguity is a major problem for computers in processing human language as they lack the world knowledge and context that humans use to resolve ambiguities. The document concludes by outlining the typical process of machine translation and how ambiguities can interfere with tasks like analysis, transfer, and generation of text in the target language.
Today in era of software industry there is no perfect software framework available for
analysis and software development. Currently there are enormous number of software development
process exists which can be implemented to stabilize the process of developing a software system. But no
perfect system is recognized till yet which can help software developers for opting of best software
development process. This paper present the framework of skillful system combined with Likert scale. With
the help of Likert scale we define a rule based model and delegate some mass score to every process and
develop one tool name as MuxSet which will help the software developers to select an appropriate
development process that may enhance the probability of system success.
Material Parameter and Effect of Thermal Load on Functionally Graded CylindersIJMER
The present study investigates the creep in a thick-walled composite cylinders made
up of aluminum/aluminum alloy matrix and reinforced with silicon carbide particles. The distribution
of SiCp is assumed to be either uniform or decreasing linearly from the inner to the outer radius of
the cylinder. The creep behavior of the cylinder has been described by threshold stress based creep
law with a stress exponent of 5. The composite cylinders are subjected to internal pressure which is
applied gradually and steady state condition of stress is assumed. The creep parameters required to
be used in creep law, are extracted by conducting regression analysis on the available experimental
results. The mathematical models have been developed to describe steady state creep in the composite
cylinder by using von-Mises criterion. Regression analysis is used to obtain the creep parameters
required in the study. The basic equilibrium equation of the cylinder and other constitutive equations
have been solved to obtain creep stresses in the cylinder. The effect of varying particle size, particle
content and temperature on the stresses in the composite cylinder has been analyzed. The study
revealed that the stress distributions in the cylinder do not vary significantly for various combinations
of particle size, particle content and operating temperature except for slight variation observed for
varying particle content. Functionally Graded Materials (FGMs) emerged and led to the development
of superior heat resistant materials.
Energy Audit is the systematic process for finding out the energy conservation
opportunities in industrial processes. The project carried out studies on various energy conservation
measures application in areas like lighting, motors, compressors, transformer, ventilation system etc.
In this investigation, studied the technical aspects of the various measures along with its cost benefit
analysis.
Investigation found that major areas of energy conservation are-
1. Energy efficient lighting schemes.
2. Use of electronic ballast instead of copper ballast.
3. Use of wind ventilators for ventilation.
4. Use of VFD for compressor.
5. Transparent roofing sheets to reduce energy consumption.
So Energy Audit is the only perfect & analyzed way of meeting the Industrial Energy Conservation.
An Implementation of I2C Slave Interface using Verilog HDLIJMER
This document describes the implementation of an I2C slave interface using Verilog HDL. It introduces the I2C protocol which uses only two bidirectional lines (SDA and SCL) for communication. The document discusses the I2C protocol specifications including start/stop conditions, addressing, read/write operations, and acknowledgements. It then provides details on designing an I2C slave module in Verilog that responds to commands from an I2C master and allows synchronization through clock stretching. The module is simulated in ModelSim and synthesized in Xilinx. Simulation waveforms demonstrate successful read and write operations to the slave device.
Discrete Model of Two Predators competing for One PreyIJMER
This paper investigates the dynamical behavior of a discrete model of one prey two
predator systems. The equilibrium points and their stability are analyzed. Time series plots are obtained
for different sets of parameter values. Also bifurcation diagrams are plotted to show dynamical behavior
of the system in selected range of growth parameter
Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...shadow0702a
This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
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Design and optimization of ion propulsion dronebjmsejournal
Electric propulsion technology is widely used in many kinds of vehicles in recent years, and aircrafts are no exception. Technically, UAVs are electrically propelled but tend to produce a significant amount of noise and vibrations. Ion propulsion technology for drones is a potential solution to this problem. Ion propulsion technology is proven to be feasible in the earth’s atmosphere. The study presented in this article shows the design of EHD thrusters and power supply for ion propulsion drones along with performance optimization of high-voltage power supply for endurance in earth’s atmosphere.
Digital Twins Computer Networking Paper Presentation.pptxaryanpankaj78
A Digital Twin in computer networking is a virtual representation of a physical network, used to simulate, analyze, and optimize network performance and reliability. It leverages real-time data to enhance network management, predict issues, and improve decision-making processes.
Gas agency management system project report.pdfKamal Acharya
The project entitled "Gas Agency" is done to make the manual process easier by making it a computerized system for billing and maintaining stock. The Gas Agencies get the order request through phone calls or by personal from their customers and deliver the gas cylinders to their address based on their demand and previous delivery date. This process is made computerized and the customer's name, address and stock details are stored in a database. Based on this the billing for a customer is made simple and easier, since a customer order for gas can be accepted only after completing a certain period from the previous delivery. This can be calculated and billed easily through this. There are two types of delivery like domestic purpose use delivery and commercial purpose use delivery. The bill rate and capacity differs for both. This can be easily maintained and charged accordingly.
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
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IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
AI for Legal Research with applications, toolsmahaffeycheryld
AI applications in legal research include rapid document analysis, case law review, and statute interpretation. AI-powered tools can sift through vast legal databases to find relevant precedents and citations, enhancing research accuracy and speed. They assist in legal writing by drafting and proofreading documents. Predictive analytics help foresee case outcomes based on historical data, aiding in strategic decision-making. AI also automates routine tasks like contract review and due diligence, freeing up lawyers to focus on complex legal issues. These applications make legal research more efficient, cost-effective, and accessible.
Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
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Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
An Improved Accurate Trajectory Control System for Industrial Hydraulic Robotic Arms
1. International
OPEN ACCESS Journal
Of Modern Engineering Research (IJMER)
| IJMER | ISSN: 2249–6645 | www.ijmer.com | Vol. 4 | Iss.10| Oct. 2014 | 18|
An Improved Accurate Trajectory Control System for Industrial Hydraulic Robotic Arms Osama A. Montasser Mechanical Power Engineering Department, Faculty of Engineering, Ain Shams University, Egypt, On leave to join the British University in Egypt, BUE,
I. INTRODUCTION
Robotics term is practically defined as the study, design and use of robot systems for manufacturing [5]. Performing unpleasant tasks such that, unsafe, hazardous, and highly repetitive are generally done by robots. They have many different functions such as material handling, assembly, arc welding, resistance welding, machine tool load and unload functions, painting, spraying, etc. Service robot and an industrial robotic are mainly the two different kinds of robots. Excluding manufacturing operations, service robot operates fully or semi autonomously services useful to human being, [6]. On the other hand, industrial robot is an automatically controlled multipurpose multi axis manipulator [5]. Programmed motions are designed for industrial robots to pick and place or move pieces of different shapes to perform several kinds of tasks. An industrial robot system includes not only the design of industrial robots but also the optimum selecting of any devices and/or sensors required for the robot to perform its tasks. Dancing hand, weight lifting, and color classification, industrial robots were designed by [1] as an example. Eight degrees of freedom robot arm was developed, as well, to be able to pick and place many objects with a lot of shapes [8]. Massive attention of the robot localization problem is clearly observed in the recent robotic literatures. Localization deals with the estimation of the robot position and orientation, its pose, relative to a given proposed trajectory. This is achieved using position sensors. Compensation for sensors noise and errors is an essential matter for accurate tracing operation [9]. Global localization problem is encountered when the initial robot pose is unknown, otherwise it is called pose tracking problem [7]. Approaches providing solutions to global localization problem are proposed by [2, 3 and 10]. The particle filter, Monte Carlo method, has been applied with great success in mobile robot localization [3, and 4], fault detection [11], and map building [12]. In the present work, a PC based control system is designed and implemented, for accurate tracking control of a hydraulic robotic arm. The robotic arm is driven by five hydraulic cylinders to rotate its parts and to open and close its grippers. Motion of the hydraulic cylinders are controlled using 4/3 flow control valves actuated by electric solenoids from both sides. Electronic circuit was designed and implemented by the author to control the valves solenoids using digital voltage signals decided by the control software.
Abstract: A PC based control system was developed in this work to control a hydraulic pick and place robotic arm with a high tracking accuracy. The hydraulic arm was designed, constructed and controlled through an electronic driver circuit designed by the author. The tracking control system is driven by computer software, the commands of which are connected to the arm by means of a data acquisition card to read the rotational angles of its parts and to actuate the driver circuit of its hydraulic system. The present hydraulic robot arm is controlled to carry out desired pick and place tasks. A smart control software program was designed and constructed by the author using C# programming language. The present software program is designed as a Graphical User Interface application, GUI, and therefore it can be easily operated by non-expert users. Inverse kinematics formulas, derived by the author, are processed by the software to convert the coordinates of the initial and object tracking points from Cartesian to Polar systems as needed. Experimental runs were carried out to verify the effectiveness and the accuracy of the present tracking arm. Experiments showed that nine of ten trials were successful to attain a predesigned accurate pick and place task, which is a good percentage, confirmed the high accuracy of the present tracking system. Keywords: Hydraulic controlled systems, industrial robotic arms, inverse kinematics, PC based control systems, pick and place handling robots
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The control system hardware consists of the solenoids driving circuit and feedback sensors, to measure the rotational angle of the arm parts. A control software program was designed and constructed by the author to read sensors signals, to calculate the actual rotational angles of all the arm parts, and to decide and send appropriate control action to the solenoids driver circuit. The control soft and hard ware are connected to each other using a data acquisition card, DAC, attached to a host computer. Limit switches are attached to the arm parts and automatically operated by the control program to ensure safe arm operation. This paper is organized as follows. The mechanical construction description of the present robotic arm is presented in the following section, number II. In section III, the inverse kinematics of the present arm mechanical geometry configuration is detailed. The present control hard and soft wares are overviewed in section IV. Results of the present experimental work are discussed in section V. In the last section the conclusions of the present work are summarized. References are listed at the end of this paper.
II. MECHANICAL CONSTRUCTION OF THE PRESENT ARM
2.1 Layout of the arm mechanical design
A pick and place arm manipulator is designed and constructed, in this work, as a four bar mechanism with a rotatable base. It is driven by a five hydraulic linear double acting cylinders. Four of the cylinder pistons linear motions are converted to limited rotational swing motions to rotate the arm links, base, shoulder, elbow, and wrist around their hinges. The fifth cylinder is used with the arm gripper as it is mentioned later in this section. Layout of the construction assembly of the present arm is shown in Fig. 1 below;
Figure 1 Construction assembly of the present hydraulic arm The arm is designed to lift approximately a maximum load of 20 kg keeping it balanced over its base. Lengths of arm shoulder, elbow, and wrist bars are designed to be 57.7 cm, 61.7, and 45 cm respectively. Motion of the arm hydraulic cylinders are controlled using 4/3 flow control valves, actuated by electric solenoids from both sides, so it can be moved forward, or backward, or stopped. Electronic circuit was designed and implemented by the author to control the valves solenoids using digital voltage signals decided by the control software. Four optical encoders of high resolution of 0.044 degree are installed, each on each of the arm links. Encoders’ signals for the relative angular motion of each of the link are used as the feedback signal of the closed loop tracking control mode. Limit switches are attached to the hinges of arm parts and sends their signals to the control program to ensure safe arm operation. The control software is connected to the arm to read the signals of the encoders and limit switches and to send appropriate commands to the solenoids driver circuit through a data acquisition card attached to a host computer. Fig. 2, below, shows a schematic diagram for the present arm control system.
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Figure 2 Schematic diagram for the present arm control system, DAC: for Data Acquisition Card
2.2 Gripper of the arm
The gripper end-effectors usually costs about 4-8% of the total cost of any robot. Specially designed end-effectors can cost up to 20% of the total robot cost. End-of-arm tooling in a robot work cell should have the following characteristics:
1. The tooling must be capable of gripping, lifting and releasing an industrial object or family of objects required by the manufacturing process.
2. The tooling may sense the presence of a part in the gripper, using sensors located either on the tooling or at a fixed position in the work cell.
3. Tooling weight must be kept to a minimum because it is added to the picked object weight, the summation of which should not exceed the maximum allowed payload.
4. Containment of the part held by the gripper must be ensured as it affects the maximum acceleration of the gripper and results in loss of the gripper power.
5. The simplest gripper that meets the first four criteria should be the one that should be implemented.
Most commonly used mechanical finger grippers, can be angular or parallel, are listed as; two fingers grippers, external or internal gripping. Three fingers grippers, simulates the action of thumb, index finger and third finger. Four finger grippers, grasp square and rectangular parts easily.
The two fingers gripper is chosen in this work due to its simplicity and adequacy for our applications. The gripper is connected to the arm wrist link the free end of the arm. The linear motion of the fifth cylinder
Wire Connection Terminal board
Hydraulic System
Solenoids Driver Circuit
To DAC
Limit Switches
Optical Encoders
Manual Operating Panel
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piston is used to open or close the gripper as shown in Fig. 3 below. The gripper is rotated around its axis using a geared stepper motor.
Figure 3 Mechanism of Opening-closing the gripper
III. KINEMATICS ANALYSIS FOR THE PRESENT ARM GEOMETRICAL CONFIGURATION
Kinematics is the analytical study of the geometry of motion of a robot, with respect to a fixed reference coordinates system, without taking into consideration the forces or moments that cause the motion. In order to be able to trajectory control the present hydraulic arm, kinematics study for the present robotic arm is carried out as follows; Cartesian and polar coordinates, x, y, z, and and, 0, 1, 2, and 3 of the present arm are selected as shown in Fig. 4 below. Where: 0 ; is the rotational angle of the base, 1 ; is the rotational angle of the shoulder bar, 2 ; is the rotational angle of the elbow bar, and 3 ; is the rotational angle of the wrist bar, ; is the angle of attack of the end-effectors. l1; is the shoulder bar length, 57.7 cm, l2; is the elbow bar length, 61.7 cm, and l3; is the wrist bar length, 45.0 cm.
Figure 4 Hydraulic arm Cartesian and polar coordinates
3.1 Arm home position
The home position of the present robotic arm is defined as the position at which all the hydraulic cylinders are fully retracted. Defining the coordinates of vertical plan as X and Y and those of the horizontal
o
Hydraulic Cylinder
Opened Gripper
Closed Gripper
Cylinder Piston
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plant as X and Z, the home position is shown in Fig 5 below. When all the hydraulic cylinders are fully
extended the maximum rotational angular motions, relative to the corresponding home position are 80o for
each of the base, and the shoulder and the elbow bars, while it is equal to 60o for the wrist bar. Angular motion
is given a positive sign for counter clock wise rotation, CCW, and a negative sign for clock wise rotation, CW.
Values for the home and maximum angular positions are listed in Table 1 below.
Figure 5 Home position of the present robotic arm
Table 1: Home and maximum angular positions of the present arm links
Link angle
Home
angle, (o)
Maximum
available angle,
(o)
Base, 0 -55 25
Shoulder, 1 47 127
Elbow, 2 223 303
Wrist, 3 30 90
Kinematics is classified into two main categorizes, namely, forward and inverse kinematics. In
forward kinematics, conversion from polar to Cartesian coordinates are carried out, while Cartesian to polar
coordinates conversion is achieved by applying the inverse kinematic analysis. Derivation of both kinds’
formulas for the present arm geometrical configuration is explained as follows:
3.2 Forward kinematics formulas
Forward kinematics formulas calculate unknown values for x, y, z, and from known values for the
length of each of the arm parts, l1, l2, and l3, and 0, 1, 2, and 3. Very simple formulas are derived for the
position coordinates, x, y, z, and the angle of attack, as follows:
x l cos l cos ( ) l cos ( ) 1 1 2 1 2 3 1 2 3
(1)
y l sin l sin ( ) l sin ( ) 1 1 2 1 2 3 1 2 3
(2)
0 z x sin
(3)
1 2 3
(4)
3.3 Inverse Kinematics formulas
Formulas of inverse kinematics are used to calculate unknown polar coordinates, 0, 1, 2, and 3
values, given known values for l1, l2, l3, x, y, z, and . Very simple formula for 0 is presented below.
Shoulder
Wrist
Elbow
Base
1
2
3
o
Gripper
R
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x
z
sin 1
0
(5)
Formulas for 1, 2, and 3 are not so easy to be derived in a single step and need to be performed through a
sequence of derivation steps as shown below:
Step 1: Rearranging the Forward Kinematics formulas, (1) and (2)
x l cos ( ) l cos l cos ( ) 3 1 1 2 1 2
(6)
y l sin( ) l sin l sin ( ) 3 1 1 2 1 2
(7)
Step 2: Recasting (6) and (7) in one formula
Defining, x and y as follows:
x x l cos ( ) 3
(8)
y y l sin( ) 3
(9)
(6) and (7) can be written as:
x l cos l cos ( ) 1 1 2 1 2
(10)
y l sin l sin( ) 1 1 2 1 2
(11)
Squaring and adding (10) and (11) gives:
2l x cos 2l y sin x y l l 0 2
2
2
1
2 2
1 1 1 1
(12)
Step 3: Solving (12) to get 1
Defining variables P, Q, and R as:
2
2
2
1
2 2
1 1 P 2l x , Q 2l y, and R x y l l
(13)
Form of (12) is simplified to:
Pcos Qsin R 0 1 1
(14)
To solve (14) in 1, is defined as:
2 2 2 2 P Q
P
,
P Q
Q
atan2
(15)
Using (15), (14) can be rewritten as
0
P Q
R
cos cos sin sin
2 2
1 1
(16)
Using triangle relation gives:
2 2
1
P Q
R
cos
(17)
And thus formula for 1 is obtained as:
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, where 1
P Q
R
cos
2 2
1
1
(18)
1 therefore has two solutions and thus 2 should also has a corresponding couple of solutions so that the
summation of 1 and 2 gives give the same (x, y) coordinates for the reference point. This result is shown in
Fig. 6 below.
Step 4: Deriving formulas for 2 and 3
Using (10) and (11), it is easy to get 2 formula as:
1
2
1 1
2
1 1
2 l
x l cos
,
l
y l sin
atan2
(19)
3 is simply calculated using 1, 2, and values using the relation:
3 1 2
(20)
Figure 6 Two solutions for 1 and 2 give the same (x,y) coordinates for the reference point
IV. PRESENT TRAJECTORY CONTROL SYSTEM
The present control system hardware consists of feedback sensors, to measure the rotational angle of
each of the arm parts, and the hydraulic system control circuit. A control software program was designed and
constructed by the author to read the actual rotational angles and to decide and send appropriate control action
to the hydraulic cylinder actuators to stop/rotate, in the proper direction, each of the arm parts. The control soft
and hard wares are connected to each other using a data acquisition card, DAC, attached to a host computer.
Limit switches are attached to the arm parts and automatically operated by the control program to ensure safe
arm operation.
The robotic arm is driven by five hydraulic cylinders to rotate its parts, base, shoulder, elbow and
wrist bars, around their hinges and to open and close the fingers of its grippers. The linear motion direction of
the arm hydraulic cylinders are controlled using 4/3 flow control valves actuated by electric solenoids from
both sides. The cylinders can be therefore moved forward, extended, or backward, retracted, or stopped. Simple
mechanical mechanisms are used to convert the cylinder linear motions to rotational movements of limited
swing angles. A schematic diagram for the present hydraulic circuit contains two cylinders as a sample is
shown in Fig. 7 below.
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Figure 7 Sample of the present hydraulic circuit contains two cylinders Electronic circuit was designed and implemented by the author to control the valves solenoids using digital voltage signals decided by the control software. Signals for rotating the arm parts in clock wise, CW, or counter clock wise, CCW, directions are sent by the control program to trace the required object position. Fig. 8 below shows a schematic diagram for a circuit driver to control one solenoid as an example. The cylinders driver circuit contains ten units of that shown in Fig. 8. A digital signal decided by the control program and is sent to the circuit, through the data acquisition card, DAC, to turn on or off the solenoid. To enable an individual cylinder piston to advance, the right solenoid of the 4/3 directional valve is enabled while the left one is disabled. To enable retract motion the action that mentioned in the previous sentence is reversed. Both solenoids are disabled to stop moving the cylinder piston. It is worth noting that turning any of the arm elements in CW or CCW direction is corresponding to move the relevant cylinder piston in advance of retract motion respectively.
Figure 8 Electronic driver circuit of one solenoid valve, DAC: data acquisition card
Solenoid Valve
From DAC
Indicating Lamp
Relay
Buffer
Protection
Hydraulic Tank
Solenoid Valve
Solenoid Valve
Solenoid Valve
Solenoid Valve
Piston
Piston
Speed control
Motor
Gear Pump
Filter
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Reaching the target position is achieved through implementing pre-decided individual rotational tasks for each of the arm parts. Control soft ware sends command to immediately stop moving the arm part as soon as it finishes its individual task. The present control software program was designed using C# programming language. It is constructed to be used as a Graphical User Interface application, GUI, so it can be operated by un-trained persons. Users just simply choose the control mode and inter the corresponding tracking data, even in Polar or in Cartesian coordinates to achieve the arm pick and place tracking task. Inverse kinematics formulas, derived by the author, are processed by the program to convert the coordinates of the start and end tracking points from Cartesian to Polar systems as needed. The program is prepared to do the calibration process, which results in attaining the off line prepared lookup tables, and to construct the specific learning procedures as well. The control system is designed to be operated in the following control modes:
1- Feedback control mode:
Four optical encoders with a very high resolution, of 0.044 degree, are mounted to the base and to the other four hinged arm links, to measure their angle of rotations and feed them back to the control soft ware program. The required rotational angle of each link is calculated as the difference between the relevant required target coordinate and the corresponding initial position coordinates, Δt arget. The software sends commands to rotate all of the arm links in CCW or CW directions according to the sign of the corresponding required Δt arget, positive or negative respectively. Data for the actual increase, in each of the arm links angular position, obtained from reading the relevant encoder signal, is compared to the corresponding required Δt arget. When the actual and the target Δ becomes of equal values for any of the arm parts, the software stops the motion of this part immediately. The flow chart of the feedback control program is shown in Fig. 9, presented in the next page.
2- Open loop control mode:
The open loop control does not use the encoders’ signals for the current angular position. It uses, instead, lockup tables that are off line prepared tables for the angle of rotations of each arm part via the corresponding time consumed. The lookup tables are prepared by performing the calibration process.
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Figure 9 Flow chart of the present feedback tracking control system Details of calibration process: Since for any angular movement, the moving angle is related to the moving time interval corresponding to the angular speed of the link. Calibration is performed for arm links, link after link.
Get the Cartesian or Polar coordinates of each of the first and end tracking points, x, y, z, and or 0, 1, 2, and 3
HOMING; send home commands to the arm; Initial data, (0, 1, 2, and 3) initial, is the home coordinates
Convert from Cartesian of Polar coordinates as needed
Calculate the current angular position of each of the arm parts By adding the relevant encoder’s data to the corresponding initial data, current = initial + Δ encoder
Stop moving the part/s of which current = target
current < target for any arm part
Yes
Read the encoders data for each of the arm parts, the angle deviation from the initial position, (Δ0, Δ1, Δ2, and Δ3)encoder
Target data, (0, 1, 2, and 3) target, is that of the first tracking point
Calculate individual motion task of each of the arm elements, as the difference of its target data than the initial data, Δt arget = target - initial
Send commands to move all of the arm elements, in CCW if the relevant Δt arget is positive or in CW if it is negative
First tracking point is reached Initial data is that of the first point coordinates, current date Target data, (0, 1, 2, and 3)target, is that of the end tracking point
End point is reached
Yes
No
No
Stop
Start
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The software sends a command to move an individual link starting from its home position and ending at its maximum allowable position, presented in table I above. The software stores readings for the link rotational angle increments of about 0.25 degree, obtained by reading its relevant encoder, against the corresponding elapsed time interval. The calibration process of this link is repeated for five times. The mean values of these five trials are taken as the final lookup table of the calibrated link. The same procedure is repeated for the other three links to get lookup tables of all the arm links. A graph for the look up data is shown in Fig. 10 below. The software decides the rotational time interval and motion direction required for each of the arm parts corresponding to the required Δ, sign and value. This is achieved using the lookup tables, offline pre prepared and stored in the computer memory, as mentioned above, interpolation are done as needed. The software sends commands to move each of the arm links, in the proper moving direction during the time interval picked up from the lookup tables corresponding to required Δ. This executed for link after another since the calibration was done for only one link moving at a time. The software stops the motion of the part immediately after the required time interval is elapsed. If more than one part is moved together their speed will be slower than that were available at the calibration time, and therefore the calibration data will be misleading of no use.
Figure 10 Lookup data for all the arm links
3- Pre-learned control mode:
Learning mode is used to achieve highly repeatable pick and place tasks. The control program uses a stored procedure as a sequence of points in the working space, according to which the arm goes one after another. The procedure is stored as a series of polar coordinates, 0, 1, 2, and 3, while the arm was feedback controlled to move starting from pick up to place tracking points. The soft ware sends commands to move the relevant arm parts to execute the stored path while running the feedback or the open loop control modes.
V. EXPERIMENTAL RESULTS
Meany experimental runs were carried out to check the present arm operation under different control modes. Experiments were performed using the graphical user interface soft ware, prepared to control the present robotic arm, as follows; Note: positive and negative signs are assigned to counter clock wise and clock wise rotational angle respectively.
1- Click the HOMING button of the GUI application to move the robotic arm to its home position, the end of retract strokes of all the arm cylinders, 0 = -55, 1 = 47, 2 = 223, and 3 = 30 in polar coordinates.
2- Choose the control mode from a list contains: feedback control, or pre-learned control, or open loop control modes.
Time interval, ms
Angular position, o
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3- Inter the Cartesian or the polar coordinates of the first and end tracking points, pick up and place points respectively. The control software, thus, performs a sequence of operations as follows:
a. Converts from Cartesian to polar coordinates, if needed, using the inverse kinematic formulas derived for the present arm mechanical configuration. Values for 0, 1, 2, and 3 for both the first and end points are now known.
b. Sends a command to open the gripper.
c. Calculate and send commands to execute the angular motion needed for each of the arm parts, Δ0, Δ1, Δ2, and Δ3 to reach the pickup point starting from its home position.
d. Sends a command to close the gripper to catch the experimental object.
e. Calculate and execute the angular motion needed for each of the arm parts, Δ0, Δ1, Δ2, and Δ3 to reach the object release point starting from the pickup position.
f. Sends a command to open the gripper to release the experimental object at last.
Figure 11 Experiment 2, pick up the screw driver Figure 12 Experiment 2, place the screw driver inside a bottle of small diameter hole
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Samples of the carried out experiments are presented as follows: Experiment 1: It is carried out to pick up a large object, big size book, from a start point of x1 = 70 cm, y1 = 5 cm, z1 = -10 cm and 1 = 30o to release it in the center of a wide plastic pot at an end point of x2 = 70 cm, y2 = 15 cm, z2 = -50 cm and 2 = 30o.
a. The experiment has been tried for many times without any noticeable error when applying the feedback control mode.
b. Open loop control mode results in an error of ± 0.5o in each of the arm parts movements. This sum up to a small error relative to this easy pick and place task. The release point is not so far from the pot center.
c. Results of applying the pre-learned control mode were found to be better than the open loop mode with respect of releasing the book very near the pot center.
Experiment 2: This experiment was carried out to achieve a hard pick and place task. A thin screw driver with a diameter 5 mm is held to be placed inside a water bottle of a small opening hole of 15 mm diameter. The coordinates of pick up and place positions are x1 = 80 cm, y1 = 3 cm, z1 = -20 cm and 1 = 30o and x2 = 80 cm, y2 = 30 cm, z2 = -60 cm and 2 = 30o respectively.
a. Applying the feedback control mode, the experiment was repeated ten times, nine of which were successful. The unsuccessful trial is most probably to human error in putting the driver or the bottle in their proper position as it is given to the software. Thus this is a good percentage pointing out the high accuracy of the present tracking system to achieve such a hard pick and place task.
b. The error associated with applying the open loop control mode is considered large here and therefore only five of ten trials were successful.
c. Results of applying the pre-learned control mode, based on feedback sensor signals, were found to be almost the same as that of the feedback control mode. This is because that feedback signals are still be used.
A successful trial of experiment 2, is shown in photos 10 and 11 present in the previous page.
VI. CONCLUSION
A PC based accurate tracking control for hydraulic robotic arms is designed and implemented in the present work. A pick and place arm manipulator is designed and constructed as a four bar mechanism mounted on a rotatable base and driven by a hydraulic system. The present control system hardware consists of feedback sensors, to measure the rotational angle of the arm links, and an electronic driver circuit to control its hydraulic system. A control software program was designed and constructed by the author to read the actual rotational angles of the arm parts and to decide and send appropriate control actions to the its hydraulic driver circuit. The control soft ware is connected to the arm using a data acquisition card attached to a host computer. Inverse kinematics formulas, derived by the author, are processed by the software program to convert the coordinates of the initial and object tracking points from Cartesian to Polar systems when needed. The present control system is designed to be operated as a feedback control, or an open loop control, using offline prepared lookup tables, or executing a pre-decided stored sequence of points in the working space in the learning mode. Experimental runs were carried out to verify the effectiveness and the accuracy of the present tracking arm. Conclusions of these experiments results are summarized as follows:
1- Experiments, to pick up a big book object from a predefined position to place it in a wide pot in another end position, have been tried for many times without any noticeable error.
2- Experiments for accurate pick and place tasks were carried out to catch a thin screw driver with a diameter 5 mm to place it inside a water bottle of a small opening hole of 15 mm diameter. The experiment was repeated ten times, nine of which were successful, which is a good percentage referring to the high accuracy of the present tracking system.
3- The open loop control mode and open loop based learning modes were experimentally examined and found to be successful but, as expected, they are of less accuracy than the feedback control mode.
4- Lookup tables need to be updated from time to time due to the unsteady operating conditions such as the oil viscosity, pump discharge, oil pressure, and mechanical friction. These conditions have a great effect on the arm parts speed and therefore on the time consumed to reach certain rotational angles.
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