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1.
Avtomatizirano doziranje na kemiji, XY manipulator s pomočjo Arduino platforme
Jan Leban, 2020, undergraduate thesis

Abstract: V diplomskem delu je opisana izdelava XY-manipulatorja za namene kromatografije. Zaradi kompleksnosti pri izdelavi je bilo treba za pomoč uporabiti programsko orodje za izdelavo virtualnega modela. Poudarek dela je na izdelavi manipulatorja od konstrukcije, izdelave, povezave električnih komponent ter programiranja do končnega izdelka z omenjanjem različnih težav pri izdelavi in rešitvah težav, ki so se med konstrukcijo in izdelavo pojavljale. Ta naprava bo omogočala kompleksno doziranje tekočin, torej hitro, natančno in koordinatno doziranje. Prednost pred ročnim doziranjem bo tudi v tem, da bo možno natančno programirati potek doziranja in gibanja v XY-koordinatah. Tako se bo prihranilo veliko časa, pa tudi natančnost oziroma preciznost bosta na mnogo višji ravni kot pri ročnem
Keywords: Kromatografija, Arduino Nano, CNC, Nextion, avtomatizacija doziranja.
Published: 26.11.2020; Views: 362; Downloads: 43
.pdf Full text (2,10 MB)

2.
Risalni robot CNC
Tadej Udrih, 2019, undergraduate thesis

Abstract: V diplomskem delu smo se ukvarjali z zahtevno izdelavo risalnega robota CNC in natančnostjo premika koračnega motorja v smer X in Y. Poglobili smo se v pravilne velikosti korakov koračnega motorja. Preverili smo možnost, ali je risalni robot, ki je izdelan iz poceni ali odpadnih materialov, lahko konkurenčen drugim podobnim napravam. Opisali smo vse pripadajoče dele in postopek celotne izgradnje risalnega robota CNC ter celoten postopek nastavitev in kako smo umerili velikost koraka. V zaključku so povzeti doseženi cilji.
Keywords: CNC, koračni motor, Arduino Uno, regulator A4988
Published: 29.08.2019; Views: 781; Downloads: 119
.pdf Full text (2,48 MB)

3.
Vodenje avtonomnega robota z interno lokalizacijo ter kartiranjem prostora
Aleš Tivadar, 2018, diploma project paper

Abstract: V tem delu so predstavljene strojne in programske rešitve za izgradnjo avtonomnega robota. Pri zajemu zunanjih podatkov okolice robot računa interno lokalizacijo ter s pomočjo informacije o prepotovani razdalji in smeri, robot kartira okolico v neznanem prostoru. V delu so opisane komponente za natančno merjenje veličin, zraven pa poudarjene regulacije, ki pripomorejo h kalibraciji sistema na zunanjo okolico.
Keywords: regulacija, avtonomni robot, labirint, zaprtozančno vodenje, tehnika flood fill
Published: 24.05.2018; Views: 933; Downloads: 107
.pdf Full text (2,54 MB)

4.
Optimalno načrtovanje dinamike nelinearnega sistema z robustnim adaptivnim sestopnim regulatorjem
Uroš Sadek, 2017, doctoral dissertation

Abstract: Disertacija predstavlja novo metodo optimalnega načrtovanja dinamike nelinearnega sistema na osnovi nelinearnega robustnega adaptivnega sestopnega regulatorja (backstepping regulatorja). Metoda temelji na obstoječi sestopni metodi vodenja (backstepping control) z uvedbo vrednotenja dinamičnega obnašanja zaprto-zančnega sistema. Takšno vrednotenje temelji na povezavi med prostimi parametri sestopnega regulatorja in parametri referenčne linearne prenosne funkcije. Z vrednotenjem dinamičnega obnašanja v kombinaciji s pristopi linearne teorije, sta predstavljena dva pristopa načrtovanja prostih parametrov regulatorja. Prvi pristop zajema načrtovanje prostih parametrov sestopnega regulatorja na osnovi želenih položajev zaprto-zančnih polov in drugi pristop na osnovi želenega dušenja ter lastne frekvence sistema. V primeru parametričnih odstopanj in motenj nelinearnega sistema je predlagana uporaba adaptivnega sestopnega regulatorja. Adaptacija takšnega regulatorja ohranja navzven linearen značaj zaprto-zančnega sistema. Parametrična odstopanja nelinearnega sistema se odražajo tudi v odstopanju parametrov linearne zaprto-zančne prenosne funkcije. V ta namen predlagana metoda vključuje postopke vrednotenja robustnosti iz linearne robustne teorije. Na osnovi kriterijev robustne stabilnosti in robustnega učinka je definirana cenilna funkcija, pri čemer je celoten problem sinteze prostih parametrov regulatorja predstavljen kot optimizacijski problem. Takšen pristop omogoča načrtovanje optimalnega dinamičnega obnašanja nelinearnega sistema.
Keywords: sestopni regulator, načrtovanje dinamike, adaptivno vodenje, robustno vodenje, optimalno vodenje, Ljapunova stabilnost
Published: 12.07.2017; Views: 862; Downloads: 114
.pdf Full text (12,35 MB)

5.
Acoustic emission detection of macro-cracks on engraving tool steel inserts during the injection molding cycle using PZT sensors
Rajko Svečko, Dragan Kusić, Tomaž Kek, Andrej Sarjaš, Aleš Hančič, Janez Grum, 2013, original scientific article

Abstract: This paper presents an improved monitoring system for the failure detection ofen graving tool steel inserts during the injection molding cycle. This system uses acoustic emission PZT sensors mounted through acoustic waveguides on the engraving insert. We were thus able to clearly distinguish the defect through measured AE signals. Two engraving tool steel inserts were tested during the production of standard test specimens, each under the same processing conditions. By closely comparing the captured AE signals on both engraving inserts during the filling and packing stages, we were able to detect the presence of macro-cracks on one engraving insert. Gabor wavelet analysis was used for closer examination of the captured AE signalsć peak amplitudes during the filling and packing stages. The obtained results revealed that such a system could be used successfully as an improved tool for monitoring the integrity of an injection molding process.
Keywords: injection molding, process monitoring, acoustic emission, PZT sensors, piezoelectric effect
Published: 22.06.2017; Views: 827; Downloads: 308
.pdf Full text (854,94 KB)
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6.
Optimal robust motion controller design using multi-objective genetic algorithm
Andrej Sarjaš, Rajko Svečko, Amor Chowdhury, 2014, original scientific article

Abstract: This paper describes the use of a multi-objective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with non-negativity conditions. Regional pole placement method is presented with the aims of controllers% structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multi-objective function is composed of different unrelated criteria such as, robust stability, controllers' stability and time performance indexes of closed loops. The design of controllers and multi-objective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm - Differential evolution.
Keywords: disturbance observer, DOB, uncertainty systems, optimal robust control, multi-objective optimization, differential evolution
Published: 15.06.2017; Views: 699; Downloads: 289
.pdf Full text (2,22 MB)
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7.
Quasipolynomial approach to simultaneous robust control of time-delay systems
Nikolaj Semenič, Andrej Sarjaš, Amor Chowdhury, Rajko Svečko, original scientific article

Abstract: A control law for retarded time-delay systems is considered, concerning infinite closed-loop spectrum assignment. An algebraic method for spectrum assignment is presented with a unique optimization algorithm for minimization of spectral abscissa and effective shaping of the chains of infinitely many closed-loop poles. Uncertainty of plant delays of a certain structure is considered in a sense of a robust simultaneous stabilization. Robust performance is achieved using mixed sensitivity design, which is incorporated into the addressed control law.
Keywords: time-delay systems, simultaneous robust control, algorithm
Published: 15.06.2017; Views: 556; Downloads: 298
.pdf Full text (2,32 MB)
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8.
An ℋ∞ optimal robust pole placement with fixed transparent controller structure on the basis of nonnegativity of even spectral polynomials
Andrej Sarjaš, Rajko Svečko, Amor Chowdhury, original scientific article

Abstract: This paper presents the synthesis of an optimal robust controller with the use of pole placement technique. The presented method includes solving a polynomial equation on the basis of the chosen fixed characteristic polynomial and introduced parametric solutions with a known parametric structure of the controller. Robustness criteria in an unstructured uncertainty description with metrics of norm ℋ∞ are for a more reliable and effective formulation of objective functions for optimization presented in the form of a spectral polynomial with positivity conditions. The method enables robust low-order controller design by using plant simplification with partial-fraction decomposition, where the simplification remainder is added to the performance weight. The controller structure is assembled of well-known parts such as disturbance rejection, and reference tracking. The approach also allows the possibility of multiobjective optimization of robust criteria, application of mixed sensitivity problem, and other closed-loop limitation criteria, where the common criteria function can be composed from different unrelated criteria. Optimization and controller design are performed with iterative evolution algorithm.
Keywords: optimal robust controller, optimization, algorithm
Published: 15.06.2017; Views: 526; Downloads: 303
.pdf Full text (3,03 MB)
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9.
Zlivanje podatkov iz pospeškometra, magnetometra in žiroskopa
Nataša Prosen, 2016, diploma project paper

Abstract: Zaradi motenj, ki jih ima signal mikroelektro-mehanskih senzorjev, pri obdelavi njihovih podatkov, pogosto uporabljamo metodo filtriranja imenovano zlivanje podatkov. V tem diplomskem delu je opisano, kako z zlivanjem podatkov s kalmanovim filtrom pridobiti orientacijske kote iz pospeškometra, magnetometra in žiroskopa. Na podlagi modela senzorja v prostoru stanj, bo na digitalni signalni krmilnik implementiran rekurzivni kalmanov filter, v obliki programske kode v C jeziku. Cilj je analizirati vpliv posameznih parametrov na končni, filtriran signal. Določitev parametrov bo potekala eksperimentalno. Glavni cilj je, nastaviti parametre filtra, tako da imajo podatki o orientacijskem kotu čim manj motenj, so bolj robustni ter pripravljeni za nadaljnjo obdelavo.
Keywords: zlivanje podakov, kalmanov filter, določitev orientacije v prostoru, odpravljanje motenj
Published: 22.03.2017; Views: 1323; Downloads: 246
.pdf Full text (2,56 MB)

10.
HITRO PROTOTIPIRANJE ALGORITMOV VODENJA V REALNEM ČASU ZA DRUŽINO MIKROKRMILNIKOV STM32 F4X V MATLAB
Primož Gerlič, 2016, undergraduate thesis

Abstract: Diplomsko delo predstavlja hitro prototipiranje algoritmov vodenja za družino mikrokrmilnikov STM32F4X v MATLAB. Pri programiranju bom uporabil že razvite knjižnice, ki jih je razvilo podjetje Aimagin Co., za primer pa bom uporabil inverzno rotacijsko nihalo Apparatus PP-300. Pri delu sem ocenil uporabnost razvitih knjižnic in orodij za hitro prototipiranje algoritmov vodenja. Kot je zapisano v delu, so se orodja izkazala kot hitro priučljiva, preprosta za uporabo in zanesljiva, kar so verjetno glavne vrline orodij za hitro prototipiranje. Uporabljena orodja bi priporočil za uporabo v namene hitrega prototipiranja algoritmov vodenja, torej v začetni fazi načrtovanja in testiranja funkcij algoritmov vodenja.
Keywords: Prototipiranje algoritmov vodenja, MATLAB, Simulink, Waijung
Published: 07.09.2016; Views: 604; Downloads: 81
.pdf Full text (2,12 MB)

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