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Electric vehicles (EVs) are one of the key technolgies for a sustainable mobility, reducing fuel consumption and traffic related emissions. Until today the energy density of the traction battery is low compared to fossil fuels, resulting in a limited range of EVs. Therefore, an optimization of the overall energy consumption of an electric vehicle is crucial. This paper proposes an optimized velocity...
Estimation and enlarging the domain of attraction of nonlinear systems is one of the difficult and important challenges in the control of dynamical systems. This case efficiently influences the performance and reliability of controlled nonlinear mechatronic systems. In this paper a wide range of affine nonlinear systems has been considered and based on Zubov Theorem, a controller has been designed...
Person following ground robots can have applications in military, civil, and domestic settings. Various sensors may be used to detect a person including cameras, infrared, laser, and ultrasonic sensors. This paper describes the implementation and testing of a robotic cart that is controlled via a smart phone application and can be tele-operated, as well as set into a follower mode where it uses ultrasonic...
Piezoelectric bending actuators are suitable for a wide range of applications that require deflections in range of hundreds of microns. A variety of applications can be found in almost all fields of electrical engineering, mechanical engineering, acoustics, automation, automotive, health care and in countless further application areas of industry and daily life. Piezoceramic compacts, piezoceramic...
This scientific paper contains the analysis of common MPPT algorithms and usual data processing algorithms for the purpose of the power optimization of mobile solar generators. Furthermore according to the analysis results, an optimized MPPT algorithm, the Global High-Dynamic MPPT algorithm, is designed. The design process approaches, and superordinate algorithm theoretical principles are described.
This research aims to highlight the levers that are within the reach of Small and Medium Organizations (SMO) who have the purpose to engage in mechatronics. Subsequently, we consider to gradually build up a framework so as to enable these SMO, presently involved in the general mechanical industry, to evaluate their ability to make mechatronic products, adopt scalable evolution strategies and access...
Model-Based Testing rises hopes of project teams of meeting both eager time and budget constraints as well as achieving better system quality by thorough testing. However, toolchain and method impose a certain skill set on the project engineer. This paper presents a possible way forward and introduces the constraints to the system architecture.
This paper covers the development of a threefinger robot hand for fast and soft gripping of delicate and different shaped objects. The fingers are positioned with submillimetre accuracy at the tip within 0.3 seconds. The hand is also equipped with flexible tactile sensors featuring pressureand slip-measurement. Control algorithms for both position and force control are designed and implemented on...
This paper covers the development of the Kuutio, a 150 x 150 x150 mm autonomous balancing cube that should jump up and successfully balanced on its edge using one of its three reaction wheels. Balancing in 1 DOF was performed within submillimetre accuracy at the top corner measuring the angular rate with a gyrometer. Using high-pass and low-pass filtering, the control algorithm for motor torque was...
The topic Industrie 4.0 and the transformation of the digital world pose new challenges for teaching university students. In our experience, the students, who will need to advance this development after entering the workforce, have surprisingly little interest in it. In our paper, we will show how to implement different concepts mid- and long-term, to inspire enthusiasm for this topic in students...
This paper describes a concept for an interdisciplinary robot contest that is suitable for distance learning universities. Its usability for project tasks in bachelor courses and for research topics for bachelor theses is shown by comparing several robot contest formats. Adequacy and practicability for different levels during the bachelor courses at a distance learning university are compared. The...
The topic Industrie 4.0 and the transformation of the digital world pose new challenges for teaching university students. In our experience, the students, who will need to advance this development after entering the workforce, have surprisingly little interest in it. In our paper, we will show how to implement different concepts mid- and long-term, to inspire enthusiasm for this topic in students...
For the implementation of a 6LoWPAN Home Automation Network with sensor nodes, router, border router, home automation server and user interfaces a sensor node was required. An application which includes temperature, humidity and soil moisture measurement is a plant sensor. From such a sensor node platform, simple room temperature or humidity sensor nodes can be derived. The values of the sensor are...
The objective of this work is to introduce an autonomous Hovercraft with minimum Energy consumption. To achieve this goal, a computer simulation in addition to practical testing of a simple hovercraft model have been carried out. A mathematical model for the hovercraft is considered and simulated in the MATLAB/SIMULINK environment. A navigation system with Global Positioning System (GPS) integrated...
In this paper, a confocal radar system and its advantages especially for the range resolution in FMCW mode is presented. The confocal system offers an additional range information due to the known focus position of the lens system. The confocal system consists of two dielectric lenses like in an optical confocal system. The first lens collimates the radar beams while the second lens focuses the beams...
MARWIN is a mobile autonomous robot platform designed for performing maintenance and inspection task in a 4D environment at the European XFEL accelerator in Hamburg, Germany. MARWIN consists of a 4-wheel driven chassis and a manipulator arm providing 3 degrees of freedom. It can be operated in a pre-configured autonomous as well as a remotely controlled mode. The primary use case of MARWIN is measuring...
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