Projects

The research includes combination of both theoretical studies and their practical applications to robotics and nonlinear systems. Some activities of the laboratory are summarized below.

MPS 500

MPS® 500-FMS provides the perfect platform for analyzing, understanding and mastering the interaction of mechanics, pneumatics, electrical engineering, control technology and communication interfaces – all absolutely critical for proper and successful management of networked systems. 

The process: The system is a factory comprising six areas linked via a transport system that produces the tried-and-tested short-stroke cylinders from the MPS®. 
Incoming goods: Cylinder bodies are delivered to the Distributing station and forwarded to the Testing station after inspection.
Processing: The Processing station, which simulates a drilling
process, represents the machining stage. The Handling station
transports the material.
Quality assurance: The camera system checks the work piece.
Assembly: An industrial robot in the Robot assembly station performs automated assembly.
Warehouse: Parts are stored in the Automatic warehouse station prior to shipping.
Outgoing goods: The Handling station transfers products from the conveyor to the Sorting station, where the products are sorted and made available for shipping.

 

ABS (Anti-lock Braking System)

Key Features

  • Laboratory model of one-wheel ABS system
  • Car velocity range from 0 to 50 km/h
  • Slip control under different road conditions
  • Rapid prototyping of real-time control algorithms (no C code programming)
  • Full integration with MATLAB © / Simulink ©. Operation in real-time in MS Windows © 95/98/NT /2000
  • Simulink models and teaching manuals included
  • Library of pre-programmed control algorithms

Description

  • Antilock Braking Systems (ABS) are designed to optimize braking effectiveness while maintaining car controllability. The performance of ABS can be demonstrated in our lab-set (see the schematic diagram and the photo) by simulation for various road condition and transition between such conditions (e.g., when emergency braking occurs and the road switches from dry to wet or vice versa).
  • The shortest braking distance corresponds to the slip equal to 100%. However, the car controllability is lost. The main goal of braking is to minimize the car braking distance following the rule: the less the slip the better car control.

Research On Robotic Manipulators

2DOF SCARA type open architecture manipulator available in the laboratory is used for experimental studies. The work involves the implementation of intelligent control approaches developed by our research team and allows making improvements on the new algorithms for practical applications. Recently, with the addition of a 5DOF CRS/Quanser open architecture manipulator to the experimental setups available in the laboratory, it has become possible to extend the domains of research even further.

Autonomous Mobile Robot Project

The three drive modules of the Robotino® are integrated in a sturdy, laser-welded stainless steel chassis. The chassis is protected against collision by means of a rubber protective guard with integrated switching sensor. Numerous additional components such as sensors, handling units or shooting devices can be mounted on a platform using prepared threaded holes. The chassis contains nine infrared distance sensors. An analogue inductive and an optical sensor is also available by means of which the Robotino® can sense an aluminium strip or a coloured line, for example. The Robotino® is supplied with a colour webcam. 

 

 

Laboratory experiment DR300 - Speed Control with Variable Load 

The laboratory experimental setup "Speed Control with Variable Load" contains the technical realization of a non-linear single-input/single-output system with appropriate actuator, sensors, measurement outputs and the possibility to connect different controllers.