1. Web based education tool for neural network robot controlJure Čas, Darko Hercog, Riko Šafarič, izvirni znanstveni članek Opis: This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC) and the graphical user interface (GUI). Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI), running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote's user.
Ključne besede: LabVIEW, Matlab/Simulink, neural network control, remote educational tool
Objavljeno v DKUM: 19.07.2017; Ogledov: 1484; Prenosov: 92
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2. Control and robotics remote laboratory for engineering educationRiko Šafarič, Mitja Truntič, Darko Hercog, Gregor Pačnik, 2005, izvirni znanstveni članek Opis: The new tools for education of engineering emerged and one of the most promising is a remote rapid control prototyping (RRCP), which is very useful also for control and robotics development in industry and in education. Examples of introductory remote control and simple robotic. courses with integrated hand, on experiments are presented in the paper. The aim o/: integration of remote hand on experiments into control and/or robotics course is to minimize the gap between the theory and practice to teach students the use of RRCP and to decrease the education costs. Developed RRCP experiments are based on MATLAB/Simulink, xPC target, custom developed embedded target for DSP-2 controller and LabVIEW virtual instrument.
Ključne besede: education of control and robotics, rapid prototyping, remote engineering
Objavljeno v DKUM: 19.07.2017; Ogledov: 1571; Prenosov: 137
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3. Bilateral teleoperation by sliding mode control design approachAleš Hace, 2008, izvirni znanstveni članek Opis: Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master-slave telerobotic architecture. It involves a short overview of basic bilateral modes. Chattering-free SMC design procedure for force-reflecting master-slave teleoperator is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator.
Ključne besede: telerobotics, teleoperation, bilateral teleoperation, sliding mode control, remote control
Objavljeno v DKUM: 31.05.2012; Ogledov: 2042; Prenosov: 433
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4. Software and equipment for remote testing of sensorsBarbara Brezovec, Vojko Matko, 2007, izvirni znanstveni članek Opis: An improved approach for remote testing of elements and systems is presented in this article. To ensure high reliability of products, tests must be done in the production phase to detect possible errors in working mode. Because environmental testing involves long-term processes the possibility of remote observation and remote controlling of tests is very useful solution. The concept is to connect the testing chamber with a personal computer, create a reliable driver and control it remotely over the local network or Internet from other client. It is designed for performing tests on wide area of sensors and sensor based systems.
Ključne besede: sensors reliability, testing methods, remote control, virtual instruments
Objavljeno v DKUM: 31.05.2012; Ogledov: 2133; Prenosov: 353
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5. Remote lab experiment RC oscillator for learning of controlSuzana Uran, Darko Hercog, Karel Jezernik, 2006, izvirni znanstveni članek Opis: In the paper a remote lab experiment RC oscillator used to support Web based learning, to support learning by doing, to learn control design and to minimize the gap between theory and practice is presented. The experiment was designed with a special care for visualisation of important control design parameters in Bode plot and Root-Locus diagram. The experiment is based on MATLAB, LABview and DSP2 learning module. Using RC oscillator experiment RC circuit step response based or sinusoidal response based analysis, P controller design using Bode plot or Root-locus, relations between control design parameters and control performance and discrepancy between theory and practice could be covered. A homework based on RC oscillator experiment is presented and obtained experiences are discussed.
Ključne besede: control learning, RC oscillator, remote lab
Objavljeno v DKUM: 31.05.2012; Ogledov: 1986; Prenosov: 89
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