Search

Predmet Mikrokrmilniki kot metode poučevanje vključuje predavanja, seminar in laboratorijske vaje. Priročnik se osredotoča na opis in delo z mikrokrmilniki MSP430, ki jih obravnavamo pri predmetu. Študentom razloži tako osnovne pojme, ki jih potrebujejo za prvo seznanitev z mikrokrmilnikom MSP430F2274, podaja pa tudi obširnejše razlage za tiste sklope mikrokrmilnika, ki so neposredno vključeni v laboratorijske vaje. Priročnik seveda ni nadomestilo za uradna tehnična navodila, ki opisujejo prav vse sklope, njihovo delovanje in programiranje v zbirnem programskem jeziku ali programskem jeziku C. Vendar so ti dokumenti na voljo v tujem strokovnem jeziku, največ v angleščini, ki seveda je »lingua franca« za inženirje po celem svetu. Tovrstna dokumentacija pa lahko po drugi strani začetnikom predstavlja precej težko branje, kar nekatere pripelje do tega, da potem ko osvojijo osnovne veščine, ne uspejo več dovolj napredovati, kot je to potrebno za gradnjo profesionalnih aplikacij. Zato je namen pričujočega priročnika, ki seveda ne vključuje prav vsega, da ponudi dovolj informacij ter razlag za uvod v delo z mikrokrmilniki MSP430 v slovenskem jeziku, da bodo lahko študentje samostojno opravljali laboratorijske vaje in seminarje pri predmetu Mikrokrmilniki.

In this paper, the problem of velocity information in bilateral teleoperation is addressed. An approach using a Phase Locked Loop (PLL) alpha beta-tracker is presented. The approach offers some advantages over the method developed in our previous research. It allows obtaining sufficient position, velocity, and force information for teleoperation by using a haptic interface. However, the main advantages of the method are simplification and possible improvements of the FPGA implementation. Such bilateral teleoperation approach with a dedicated haptic interface can significantly improve surgical robotics. The approach was experimentally validated by a simple 1-DoF laboratory bilateral teleoperation system. V delu je obravnavano bilateralno teleoperiranje s poudarkom na informaciji o hitrosti. Predstavljen je fazno zaklenjen alfa beta-sledilnik (PLL alfa beta-sledilnik). Takšen pristop omogoča prednosti pred metodo, ki smo jo predstavili v prejšnjem raziskovalnem delu. Nova metoda omogoča pridobitev zadovoljive informacije o položaju, hitrosti in sili za izvedbo teleoperatorja s haptičnim prikazovalnikom. Glavna prednost predlaganega pristopa je naslovljena na poenostavitev metode in tudi implementacije na digitalnem vezju, npr. vezju FPGA. Takšen namenski haptični prikazovalnik bi lahko bistveno izboljšal operacijo s kirurškim robotom. Predlagan pristop je bil eksperimentalno validiran s preprostim laboratorijskim sistemom 1-DoF za bilateralno teleoperiranje.

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.

This paper describes the Stepper Motor Dynamics Analyzer. The analyzer is capable of producing several typical characteristics of stepper motors, such as the step response, the static step accuracy, the micro-step accuracy and the dynamics position accuracy. The analyzer can be used in the development and production phases of stepper motors. Prikazani analizator dinamike koračnih motorjev omogoča meritev nekaj tipičnih karakteristik koračnih motorjev, kot so odziv na stopnico, statična točnost položaja, točnost mikrokoraka in dinamična točnost položaja. Analizator lahko uporabljamo tako v razvoju izdelkov s koračnimi motorji kot tudi v sami proizvodnji koračnih motorjev.

Uncalibrated, model free, robot visual servoing has been widely applicable in robot vision due to minimal requirements related to calibration and robot kinematic’ s parameters. The numerical quasy-Newton methods offer a theoretical background for problem solving, which has been proven hard as the real system has been influenced with the noise. Consequently, additional attention has to be paid which assured stability and the robustness of the proposed method. In this paper we have introduced a new, modified Broyden method for nonlinear optimization problem solving. Modified Broyden method has been achieved applying the variable parameter, which values depend on the Broyden matrix convergence condition. In this paper the standard nonlinear optimization technique (Broyden methods for nonlinear equation solving) has been adopted according to Broyden matrix convergence condition and applied for visual servoing control problem which, due to the noise regularly present in the real systems, could be hardly control by the pure Broyden itself. The developed algorithm is verified by simulations for uncalibrated vision-guided robotic control and compared with four methods from literature, which have usually been used for the similar purpose. Modified Broyden method shows performance improvement over previous methods and is more robust in the presence of noise.

This paper addresses the field of factory automation within the scope of flexible production systems. It presents a new mechatronic approach to machinecontrol, which introduces an integrated and interdisciplinary method toholistic machine design. The mechanical, electronic and informatics aspects of a production system are involved synergistically. The paper describes a distributed control architecture for a cutting machine. In addition, it applies a new approach to the development of control functions. The controllerwas built on the open QNX real-time operating system for the PC architecture. The commonly accepted graphical-user-interface environment of Microsoft Windows serves as the front-end of the HMI. The controller and the HMI are interconnected by an Ethernet TCP/IP link that is extended to the office-level of factory automation. A new method for describing logic control functions introduces a modular logic controller that is specified and formalized using a matrix representation of Petri nets. It allows a system simulation and an off-line analysis that can significantly shorten a machine control development cycle. The new method is compatible with standard programming languages for logic controllers. Furthermore, it represents a basis for the design of more efficient, reliable, and user-friendly machine control. Prispevek posega na področje proizvodne avtomatizacije v okviru prilagodljivih proizvodnih sistemov. Predstavljen je nov mehatronski postopek snovanja krmilja strojev, ki uvaja interdisciplinarni način celovitega načrtovanja strojev, pri katerih so mehanski, elektronski in informacijski vidiki proizvodnega sistema obravnavani sinergijsko. V prispevku je opisan krmilnik rezalnega stroja, ki je zasnovan na porazdeljeni zgradbi krmilja in znovimi postopki snovanja krmilnih funkcij. Zgrajen je na arhitekturi osebnega računalnika z odprtim operacijskim sistemom realnega časa QNX. Siroko razsirjeno grafično okolje Microsoft Windows rabi kot vmesnik človek - stroj. Krmilnik in uporabniški vmesnik sta povezana s protokolom Ethernet TCP/IP in se tako lahko povezujeta tudi na pisarniško raven omrežja avtomatizirane proizvodnje. Za opis logičnih krmilnih funkcij je predstavljena nova metoda, ki temelji na matričnem opisu Petrijevih mrež. Omogoča simulacijo in analizo sistema s čimer se lahko bistveno skrajsa razvojni cikel izdelave krmilja stroja, obenem pa je zdruzljiva s običajnimi načini za programiranje logičnih krmilnikov. Krmilje je tako bolj zanesljivo in učinkovito ter prijazno do uporabnika.

Trdokovinske prevleke orodij so v industriji zelo pomemben člen procesov odrezavanja. Uporabljajo se za povečevanje obstojnosti rezalnega orodja in hkrati omogočajo uporabo višjih rezalnih parametrov. V diplomskem delu je bilo izvedeno primerjanje dveh med seboj podobnih trdokovinskih prevlek. Uporabljeni so bili različni rezalni parametri za doseganje optimalnih rezalnih pogojev. Testiranje prevlek se je izvajalo na stroju nemškega proizvajalca, ki je namenjen ozobljanju zobnikov. Hardmetal coatings are a very important part of the machining process in the cutting industry. They are used to increase the durability of the cutting tool and at the same time allow us to use higher machining parameters. In the thesis a comparison of two similar hardmetal coatings was made. Various machining parameters were used to achieve the optimum machining conditions. Testing of the coatings was carried out on a machine from a German manufacturer designed for producing gears.

Vsebina magistrskega dela se nanaša na avtomatizacijo hidravličnega procesa z enim cilindrom. Opisan je postopek izdelave krmilja PLC (Programmable Logic Controller) z vizualizacijo vodenja hidravličnega cilindra. Vodenje hidravličnega cilindra je izvedeno s krmilnikom Siemens S7-1200, ki je povezan z elektrohidravličnim potnim ventilom in senzorji. Vizualizacija je izvedena z uporabo programske opreme EasyBuilder PRO. Nadzor procesa je izveden preko vizualizacijskega okna, kjer proces poteka v dveh načinih. Prvi način je avtomatski, kjer se s pritiskom na gumb izvede celotni proces. Drug način je ročni, kjer s pritiskom na virtualno končno stikalo pripeljemo cilinder v želeno pozicijo. The content of the master's thesis is related to the automation of single cylinder hydraulic process. The process of making a PLC (Programmable Logic controller) controller with visualization of hydraulic cylinder control is described. The hydraulic cylinder is controlled by a Siemens S7-1200 controller, which is connected to the electro-hydraulic travel valve and sensors. Visualization was performed using EasyBuilder PRO Software. Process control is performed through a visualization window, which runs the process in two modes. The first mode is automatic, where the entire process is executed at the touch of a button. Another method is manual mode, where pressing the virtual limit switch brings the cylinder to the desired position.

V magistrskem delu je predstavljena metoda napovedovanja in izogibanja kolizij robotskega mehanizma z replaniranjem trajektorij v realnem času. Z zasnovano metodo želimo izboljšati varnost in časovno učinkovitost kolaborativnih robotskih aplikacij. Predstavljene so tehnologije, ki so potrebne za zaznavo okolja, replaniranja poti in trajektorije, napovedovanja kolizij in vodenja robota. Pri zaznavanju kolizij je uporabljeno orodje GPU-Voxels, za namene planiranja robotskih poti pa je uporabljena knjižnica OMPL. Prikazani so eksperimentalni rezultati algoritmov planiranja in izogibanje robotskega mehanizma statičnim in dinamičnim oviram. Predstavljene so primerjave sistema z metodo brez replaniranja, ki kolizije preprečuje z ustavljanjem robota, ter uporabnost sistema pri kolaborativnih aplikacijah. The master's thesis describes a method for collision prediction and collision avoidance of a robot with real-time trajectory replanning. Designed method improves safety and time efficiency of collaborative robot applications. Overview of different technologies necessary for depth and environment sensing, path and trajectory replanning, collision prediction and robot controlling is given. GPU-Voxels software is used for collision detection and OMPL software library is used for purposes of robot path planning. Experimental results for different planning algorithms with various static and dynamic obstacles are shown. Comparison between created method and method without path replanning is made. The method is tested on a real collaborative application to evaluate its performance and versatility.