Search results for: Nedim Osmic
chapter
The goal of this paper was to design a simple Service Oriented Supervisory Control and Data Acquisition System (SCADA) that can be used to manage, control and visualize multiple heterogeneous SCADA systems. A three-tier System architecture was designed consisting of Data Access, Service and Presentation Layers. Clients on the presentation layer can communicate with the system backend via SOAP XML...
chapter
This paper presents a fault-tolerant PD tracking system for Multirotor Aerial Vehicles (MAV) based on a novel Recursive Least Squares (RLS) Fault Detection and Isolation (FDI) algorithm utilized to diagnose propulsion system faults. As a test platform we investigate an octorotor model, including rigid body dynamics, the gyroscopic effect and motor dynamics. A hover configuration control is extended...
chapter
This paper presents a detailed octorotor model derivation. The full derivation of the rigid octorotor body dynamics based on the Newton-Euler approach including the Gyroscopic effect and motor dynamics is given. We also discuss a generalization of the model thus making it applicable to any symmetric and balanced multirotor aerial vehicle (MAV) system with even number of rotors. Finally, simple stabilization...
chapter
In this paper, we present an algorithm for fully autonomous exploration and mapping of an unknown indoor robot environment. This algorithm is based on the active SLAM (simultaneous localization and mapping) approach. The mobile robot equipped with laser sensor builds a map of an environment, while keeping track of its current location. Autonomy is introduced to this system by automatically setting...
chapter
The paper proposes a wireless navigation mobile robot system for both path planning and trajectory execution within an indoor maze environment. This system consists of the mobile robot, trajectory planner, motion controller, visual sensor (CCD camera), ZigBee wireless communication device and a maze terrain. The camera is used to capture images of the mobile robot within the maze. Developed image...
chapter
It is well known that the process of tuning a fuzzy logic controller is almost always a very complex task, which is time consuming, very laborious and often requires expert knowledge of the controlled system. Mapping of fuzzy logic controller's parameters (rule base and membership functions of input(s) and output(s)) into a performance measure in a closed analytical form is near impossible to get,...
chapter
This paper deals with the identification process of an ethane-ethylene distillation column system and introduces a procedure for MIMO system identification using Matlab's IDENT toolbox. An existing, five inputs and three outputs, ninety samples dataset has been analyzed. Four separate datasets are analysed, each having a different level of noise. As a part of the proposed procedure, both nonparametric...
chapter
Determining the position of a mobile robot in every time instant from sensor data is the fundamental problem in mobile robotics. This paper considers a localization of holonomous mobile robot solved in this paper using two different approaches: odometry localization and landmark based localization. In both cases the robot is placed in known environment with landmarks whose coordinates were also known...
chapter
This paper deals with the problems of identification and control of nonlinear helicopter model. The helicopter model is achieved by closed loop identification based on grey-box structure through two steps. The first step considers experiment design to minimize the number of parameters to be estimated. It employs a genetic algorithm for parameter value estimation. In the second step, a criteria function...
chapter
This paper addresses the challenges of the disturbance observer (DOB) algorithms faced with highly nonlinear electromechanical systems which are dealing with high resolution and high speed operations. It describes the synthesis of robust and stable controllers and their applications in controlling azimuth and elevation angles of the helicopter model CE 150 supplied by Humosoft. Description of the...
chapter
This paper deals with measuring and reduction of odometry errors of a differential-drive mobile robot. For this purpose an algorithm for reducing systematic odometry errors caused by uncertainty of an effective wheelbase and unequal wheel diameters is proposed. The algorithm calculates three calibration coefficients using an optimization based on Levenberg-Marquardt algorithm. These coefficients compensate...
chapter
This paper proposes an approach of digital controller design on microcontrollers based on control surface disretization. As experimental setup a simple system composed of a DC motor, the PWM drive and a encoder was built. Identification of this simple system was done using the first order linear model and the Hammerstein-Wiener model. The quality of these models was compared based on the fitness function...
chapter
Different methods for position control of a DC servomotor are examined. Position is measured with a low-resolution incremental encoder that is a cheap solution that allows for free movement of motor shaft. This kind of measurement affects control and degrades its performance. Entire system is first identified using Matlab System Identification Toolbox. P and PD controllers, along with cascaded and...
chapter
This work considers the whole process of making a path finding simulator for Pioneer 3DX mobile robot. This simulator needs to be provided implementation of various optimal path finding algorithms and make their comparisons. For this purpose a software solution (GUI in Matlab) has been designed and tested. The simulator allows selecting mazes, different starting and finishing nodes and algorithms...
chapter
This paper focuses on problems which arise from network controlled systems within master-slave type of Communications. Since the master and slave are connected over the network, network-induced time-varying delay has negative impact on system stability and control system performance. In order to compensate an influence of delay in NCS we proposed the improvement of two control strategies, Smith predictive...
chapter
In this paper both hardware and software systems for GPRS communication and GPS navigation are developed. The hardware structure of GPS navigation module was build using Cinterion XT65 platform and appropriate electronic components. The overall navigation system is client-server based that uses GPS and GPRS communications. The GPS communication is used between client (mobile robot) and satellites,...
chapter
This paper presents the control of induction motor via PROFINET network including a remote control using the OPC (OLE for Process Control) standard. This system is composed of induction motor, encoder, frequency converter, PLC (Programmable Logic Controller) and two PCs (server and client). The motor control is PLC based with PID (Proportional-Integral-Derivative) controller, while PCs are used as...
chapter
This paper deals with a design and implementation of a remote position control system for a mobile robot. The system is composed of the mobile robot (controlled object), PC as positioning controller, camera as sensor and ZigBee based wireless communication device. The camera captures images of the mobile robot. Developed image processing algorithms (Matlab platform) determine the robot's position...
chapter
This paper describes indoor temperature regulation. Indoor environment temperature regulation is most frequent type of regulation. To achieve this goal a small scale model was built with software support as well. This system model is composed of the incubator, DC controlled dimmer, ME — RedLab data acquisition module as AD/DA converter, a Matlab-based controller, GUI (Graphical User Interface), and...
chapter
This paper explains the whole process of making a system for remote control of a robot arm with five degrees of freedom (DOF). For this purpose a hardware structure was fully designed and implemented. The hardware structure is based on microcontroller PIC16F877A and surrounding architecture that controls movement of different axis of the arm. The arm has no sensors, so the visual information from...
