Mechatronics and Robotics

Conventional mechanism (i.e. rigid link mechanisms) has limited accuracy and repeatability because of friction, backlash. Mechanism offers a relative motion between rigid links via joints. Conventionally these joints are pin, sliding, rolling, liquid film etc. These joints have inherent nonlinear frictional characteristics which are creating difficulty in control micro-nano positioning in precision mechanisms. To achieve high resolution and precision problems of friction, backlash in mechanism needs to be removed. These joints are replaced by flexible elements such as flexural hinge, flexural links which offers advantage of frictionless and smooth motion. Flexural mechanisms are developed using basic building blocks such as hinges and planar type. Flexural building blocks should be such that it offers lesser / zero resistance to motion in desired direction and maximum / infinite resistance in orthogonal direction. Motion generated in orthogonal direction is called parasitic motion. Double Flexural Manipulator (DFM) is a planar type building block which offers theoretically zero parasitic error motion with negligible amount of rotation of motion stage. This article presents design, development, system integration, system identification and PID control implementation on DFM. Developed flexural stage is integrated with desktop PC via dSPACE micro-controller. System identification (Static and Dynamic) is carried out and performance parameters such as stiffness, natural frequency, damping characteristics and frequency characterization of DFM are estimated and validated via due experimentations. Estimated transfer function of DFM is further used for development of control system, and PID control parameters are tuned. Real time PID implementation gives a position accuracy of few microns at high scanning speed of 2.5 mm/s.

Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsystems, theoretical modelling of the complete system is described. With respect to industrial application, feedforward control is used to transfer the container in horizontal direction without sloshing. The applied method requires deterministic and hard real time communication between the PLC and the servo amplifier which is realized here with Ethernet POWERLINK. The principle structure, calculations, time duration and the robustness of the basic types of input shaper are described and compared with each other. Additionally the positioning results of the two-mode system are presented. Finally, a possibility of the p...

In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is

A planetary trains for multi-speed is mainly used for automation in industries of automobile. A planetary
gear train is represented by a graph. It is identified by (i) number of vertices and their connectivity (ii) number of edges and their types and values (iii) fundamental circuits, their size and adjancy. Connectivity of individual link is a property characteristic of kinematic chain. It is possible to identify a planetary gear,therefore of using sets of labele (decimal numbers representing connectivity ) of individual link. The
connectivity of vertices , edges values and circuit values, related to design invariants which in turn indicates the possible behavior of the gear train ( for example capacity of power transmission, speed ratio and power carculation). For a specified degree – of – freedom a number of planetary gear kinematic chain (PGKCs) are selected and hence planetary gear trains (PGTs) can be formed with a given number of links
and joints so that designer must be able to select to select the best train from the view point of say velocity ratio and capacity of power transmission, space requirements etc. Synthesis of planetary gear kinematic chain and planetary gear trains has been studied(1-9). Almost all reported work deals with only
identification of distinct chains. Besides providing an atlus of chains, this in itself does not provide any help to designer in the selection of best possible gear train. In the present paper a simple method based of circuit property ( based on link-link shortest path distance and degree of links) is presented to determine the topology values of power transmission efficiency and topology power transmission capacity of five-links PGKCs and their distinct inversions

We would like to invite you to join this exciting new project as a chapter contributor. Since this is a textbook, a great deal of this chapter entails a survey on the topic under the paradigm of cyber-physical systems, what can be done onboard and remotely, the distributed nature of the system and some exercises on futurology (anticipating trends can shed some light on upcoming designs). IET will bring great visibility to your work. You are welcome to suggest another topic/chapter title if you feel it would be more suitable. Each chapter should be around 20-25 pages each and can be submitted as a Word or Latex File. The IET will send you additional information (formatting, permission form, etc.) with the contributor's agreement once you have agreed to contribute to the book. Visit http:// www.theiet.org/resources/author-hub/books/index.cfm to get all information you need as a contributor to an IET research-level book. Each book is expected to have a total number of 500 printed pages (based on approximately 550 words per page with a 20% allowance for figures and tables). We have included a tentative schedule and list of topics below. If this is something you would consider, please send me the title of your chapter, a short description/abstract of the chapter content, and your full contact details. We will expect original content and new results for this book. You can, of course, reuse published material but the percentage of material reuse for the chapter should be less than 40%. The IET will run a piracy software on the full manuscript to control that you are including original material and will reject chapters who contain a large amount of already-published material so please do take this into consideration.

(Dieser Artikel ist eine ungenau Übersetzung der Originalversion auf Englisch) gibt derOriginal hier:
https://www.academia.edu/33891653/Robots_and_Intelligence_Progress_Scope_and_Future_in_Healthcare
Leider, zum Zeitpunkt des Schreibens dieses Artikels, war ich nur 3 Monate in Deutschland - der Beweis ist die Grammatik dieses Artikels!
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Das Wort Robot wurde zuerst von dem tschechischen Schriftsteller Karel Čapek in seinem Stück R.U.R. (Rossums Universalroboter), veröffentlicht 1920. In seiner Arbeit hatte Čapek wichtige Fragen über die Ergebnisse von Robotern, die die Menschen bei der Durchführung der täglichen Arbeit ersetzen, aufgeworfen. Seitdem sind wir weit gekommen. Es war nicht einfach, aber die Menschen haben gelernt, die Tatsache zu akzeptieren, dass Computer bei bestimmten Aufgaben schneller und effizienter sein können. Wir wuchsen über die “uncanny valley”.1 Mit Robotik und Automation, die jeden Tag in unserem Jahrhundert neue Grenzen überschreiten, ist die Frage nicht mehr, ob Roboter die Mehrheit unserer heutigen Arbeitsplätze übernehmen wird. Stattdessen stellen wir nur die Frage - Wann?
Gesundheitswesen ist in dieser Hinsicht ein sensibles Thema. Es bleibt ein Feld, das höchste Sorgfalt, Effizienz, strenge Zertifizierungen, Qualitätskontrolle und Sicherheit erfordert. Solche Schutzbarrikaden haben dazu geführt, dass klinische Studien schwierig waren, wenn es darum geht, Robotik in chirurgischen Verfahren anzuwenden. Auf der helleren Seite hat es nur zu robusten Systemen geführt, die die Umsetzung erreichen. Eine tiefere Frage findet sich an den Wurzeln davon - Sind wir bereit, unsere Gesundheit zu verlassen und in den Händen von Robotern zu leben?
Warum nicht? Schon jetzt werden Entscheidungen über die Zielbezeichnung und Beseitigung auf dem Schlachtfeld der tödlichen Autonome Waffensysteme (LAWS) in Echtzeit gemacht. Wir entscheiden, wo wir Hilfe senden und wo die Ressourcen auf der Grundlage von Statistiken und Ergebnissen aus intelligenten Algorithmen generiert werden. Natürlich sind die Finanzmärkte, die Kriegsgebiete und die Krankenhäuser völlig andere Umgebungen, aber wir können nicht leugnen, dass wir schon wieder auf mehr Computer zurückgehen, als wir es vor zehn Jahren als "sicher" gesehen hatten.

Überblick
Als kurzer Überblick zu diesem Artikel werden wir kurz die Meilensteine vorstellen, die wir überschritten haben, unsere Fortschritte, wo wir heute stehen und schließlich diskutieren oder versuchen zu betrachten, was die Zukunft für Robotik im Gesundheitswesen hält. Da es bereits zahlreiche Quellen gibt, die die konkreten Beispiele für verschiedene bereits heute verwendete Systeme vermitteln und ausarbeiten können, werden wir diese Details überspringen und stattdessen auf zukünftige Herausforderungen und grundsätzliche Fragen an die Philosophie der Roboter, die Ärzte ersetzen, nachdenken (wenn das heißt Überhaupt möglich).
Es ist auch wichtig zu beachten, dass, während das Wort Robot traditionell ein Bild eines mechanischen Gerätes in Bewegung, das verschiedene Aufgaben ausführt, vermittelt,werden wir Intelligenz in unsere Perspektive einschließen. Intelligenz und die Fähigkeit zu denken, zu messen und zu entscheiden, sind wichtige Funktionen, die die Potenz von Roboter-Systemen entscheiden werden, anstatt nur ihre Fähigkeit, stärker zu sein und fähig zu sein, schwere Gegenstände zu bewegen! In Bezug auf die Gesundheitsversorgung wird dies viel wichtiger, wenn Entscheidungen von Leben und Tod getroffen werden müssen. Schon jetzt sehen wir einen Versuch, die Kognition in verschiedenen Projekten zu simulieren, die künstliche Intelligenz und neuronale Netzwerke beinhalten. Solche nicht-physischen Robotersysteme bilden das Fundament für die Entscheidungsfindung in der Zukunft.

In this study, the method of direct-motion parallel parking is introduced both in theory and in simulations for the vehicle with and without a trailer. The results show that not only a vehicle with a trailer park in parallel using direct motion, but also a vehicle with a trailer park in parallel in direct motion after the final value of the orientation angle is satisfied. Simulation results are given to verify the effectiveness of the proposed method.

Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854vszuVfu9mnrEvHsVQGBBgB

A detailed study was carried out on crankshafts used in two wheeler made from C45 (EN 8/AISI 1042) steel. Undesirable noise was heard in crankshaft when the engine is in running. This was stated as failure of crankshaft. Material has been peeled off and seemed to be scraped at the central portion of the crankpin.  It was the bearing seating place where oil hole also provided. Under analysis the crankpin was identified as tempered. Chemical composition, micro-hardness and microstructure were studied and compared with the specified properties of the crankpin material. Reason for failure is identified as wear due to lower hardness, improper lubrication and high operating oil temperature.

The Internet of things is a platform, which connects and controls the real word objects through a wireless network. This paper presents a novel approach to collect the data from the sensors, which resides on a Mechatronic devices. Using communication protocols these devices are integrated with the cloud based IoT data logger. There will be a communication between the data logger and the server. Android based application developed will monitor the action of devices.

The paper deals with a class of plug-in type repetitive controllers intended for servo systems which follow periodic reference signals or compensate periodic exogenous disturbances. Proportional-integral (PI) feedback controller is complemented by an internal model of a generic periodic signal aiming at perfect asymptotic tracking or disturbance rejection. A novel design method is proposed allowing a simultaneous tuning of the PI controller and the repetitive control part. The design requirements can be formulated in the frequency domain as proper loop-shaping inequalities defining constraints on important closed-loop sensitivity functions. These constraints are translated directly into the parametric plane of the controller allowing to derive a complete set of admissible controllers. The proposed method is demonstrated in a case study of a flexible motion system.

En este trabajo se presenta el modelado, simulación y control de un manipulador tipo RRRRR en Matlab, el cual mueve su punto central de herramienta (TCP-del inglés Tool Central Point) con una trayectoria definida, mismo que tiene una masa y una fuerza opuesta a la velocidad. Para cumplir este objetivo, en primer lugar, se realiza el modelado de la cinemática del mecanismo mediante el método de Newton, luego se ha implementado el modelado dinámico utilizando la formulación de matriz R, un integrador RK2, y finalmente se ha implementado un controlador CTC (Computed Torque Control). Palabras Clave-manipulador, TCP, Matlab, control, cinemática, dinámica, grados de libertad, ecuaciones de restricción.

In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mobile robot path tracking problem. BFS is an informed search strategy in Artificial Intelligence (AI). It has been used in many areas of intelligent systems. Here, it is used to search values of both ultimate period and ultimate gain of Ziegler-Nichols (ZN) PID Tuning Method. So, using these ultimate period and gain, PID parameters can be c from tables of ZN method. The performance measure in this problem is described as minimizing total error during any specified trajectory tracking. Thus the proposed method does not depend on the system model. It only needs error information during the tracking control. So, this method can be used to tune PID parameters of any tracking controller for a system with unknown system dynamics. The proposed method is tested with simulations in MATLAB during trajectory tracking of a mobile robot. In addition, it is compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method, and Shinskey method.

Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.

This paper presents a methodology using co-simulation to study the dynamic performance analysis of an industrial manipulator. The real time industrial manipulator “Stäubli TX40” is undertaken as an example with all physical data about the links. The joints are designed to have respective input from the control system simulated in MATLAB. The industrial manipulator is configured to feed back the position signal to MATLAB based controller. The effect of mechanical parameters like weight of link and electrical parameters like VI characteristics are seen to be performing in simulation. Thus the manipulator design, is possible to be tested for the performance before it is actually manufactured and/or any electrical/electronic component, sub-control system is tested for desired performance while placed in the application before it is procured. This simulation also enables to analyze and optimize the performance under various control philosophies. The kinematic analysis of the industrial manipulator “Stäubli TX40” is demonstrated in ADAMS in which the position and orientation of the each link is established with the help of joints. This co-simulation methodology allows simulation, development and validation of control strategy for robotic manipulator model. The cycle time and positional accuracy are the main performance indicators.

Localization and mapping at the same time is one of our problems in this century, specially in autonomous vehicles. The project revolves around implementing a SLAM algorithm on a two-wheeled robot equipped with a camera and sensor. To do this, we use the robot operating system known as ROS to simulate our robot in the real world. Our robot configuration was studied in detail using Gmapping on ROS.From the configuration we study, we believe that the combination of Kinect and sensor will be the best choice for our sensor, which is supported by empirical evidence.

Today, human activities constitute the primary environmental impact on the planet. In this context, commitments to sustainability, or minimization of damage, prove insufficient. To develop regenerative, futuring capabilities, architectural design needs to extend beyond the form and function of things and engage with the management of complex systems. Such systems involve multiple types of dynamic phenomena—biotic and abiotic, technical and cultural—and can be understood as living. Engagement with such living systems implies manipulation of pervasive and unceasing change, irrespective of whether it is valued by design stakeholders or actively managed towards homeostatic or homeorhetic conditions. On one hand, such manipulation of continuity requires holistic and persistent design involvements that are beyond natural capabilities of human designers. On the other hand, practical, political, or creative implications of reliance on automated systems capable of tackling such tasks are as yet underexplored. In response to this challenge, this paper considers an experimental approach that utilized methods of critical making and speculative designing to explore potentials of autonomous architecture. Presented experiments combined knowledge of animal architecture with intelligent behaviors of robotic devices.

En los primeros temas de Robotica solo se considera el análisis de la cinemática para determinar la posición, orientación y las matrices de transformación homogénea para un manipulador robótico, despreciando las fuerzas requeridas para producir el movimiento.
En este documento se consideran las ecuaciones de movimiento para un manipulador de manera que se produce el movimiento del manipulador debido a los momentos de torsión aplicados por los actuadores.
Es necesario calcular el volumen total, la masa total y las coordenadas del centro de gravedad de cada pieza que conforma el brazo robótico para posteriormente calcular sus tensores de inercia y estos ser añadidos al algoritmo de Newton-Euler.

Course is intended for Undergraduate Mechanical Engineering students involving on Understanding Kinematics of Mechanisms, simple mechanism study,  Velocity and acceleration analysis of mechanisms, Problem solving on Belt drives, Rope drives, Using Graphical analysis of generating Cam Profiles, Study of all types of gear drives and problem solving on spur gears, study on control and regulation of Governors.

We kindly ask you to participate in this research devoted to the adoption of service robots by travel, tourism and hospitality companies. By completing the questionnaire, you will be eligible to participate in an opportunity for one of five electronic 100-dollar gift cards, redeemable as Amazon gift vouchers, among other options. Once you have completed the survey, a separate link will be sent to you allowing you to register for the opportunity. The researchers will not be able to identify your responses to the survey questions and the identifying information you will leave for the purposes of the opportunity for the gift vouchers.

For questions about your rights as a research subject, please contact the Director, Office of Research Integrity, Ball State University, Muncie, IN 47306, (765) 285-5070 or at irb@bsu.edu. IRB Protocol Number: 1194315-1

Please complete the questionnaire if only you are at least 18 years of age.
Thank you in advance for your participation!

Here is the link to the survey:

https://bsu.qualtrics.com/jfe/form/SV_4PdOOi6ERWHw97v

Sincerely,

Dr. Craig Webster, Ball State University, USA, email: cwebster3@bsu.edu
Prof. Stanislav Ivanov, Varna University Management, Bulgaria, email: stanislav.ivanov@vumk.eu

Report from Modelling in Robotics course. Information about KUKA youBot kinematic equations along with the implementation in Simulink is provided. This document pretends to give an idea on how such system should be modeled and a possible implementation.

This paper reports on designing a simulation and control robotic harvesting platform robotic harvesting of sweet pepper. The objective was to provide a simulated environment for improvement of plant/fruit scanning and visual servoing task through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment. A simulated workspace, including an exact replica of the FANUC LR Mate 200iD robot manipulator (with six degrees of freedom), models of sweet pepper fruit and plant system, and different vision sensors were created in the Virtual Robot Experimentation Platform (V-REP). The Robot Operating System (ROS) was used for exchanging data between the simulated environment and the real workspace via it’s publish and subscribe architecture. Results provided a platform for testing new ideas in the robotic harvesting of sweet pepper, and for experimenting with different sensing instrumentation and different control strategies. Three summarized demos are provided for (i) fruit/plant scan (Demo link), (ii) for visual servo control task in detection, localization and tracking (Demo link), and (iii) for Ubuntu/VREP-ROS environment setup

Demo link: https://youtu.be/tKagjNQ9FW4).
Presentation file: https://youtu.be/sNBtU3YjGzk

In this project, six different robots were assembled, programed and tested. They are: PC Controlled Robot, Photovore Robot, Obstacle Detecting and Avoiding Robot, Basic Line Follower Robot, DTMF based Mobile Controlled Robot and Sumo Robot. This report contains the basics of automation in manufacturing processes, the robot assembly procedures and the programs that were encoded in them.

Los sistemas energéticos basados en la
transferencia de Calor y Masa es una de las disciplinas
desarrolladas desde tiempos inmemoriales, La evolución de las
técnicas para conseguir con mayor eficiencia en estos sistemas
de energía ha tenido un rápido crecimiento debido al concepto
de energías renovables. El presente proyecto un concentrador
solar parabólico lineal, ayuda a demostrar la transferencia de
calor por medio de la radiación. El principio se basara en utilizar
la radiación solar para generar energía calorífica util.

El presente artículo muestra una revisión del estado del arte sobre dispositivos mecatrónicos aplicados a la rehabilitación. Se exponen diferentes desarrollos, destacando las aplicaciones desde el punto de vista del área de la ingeniería mecatrónica. Además, se citan los trabajos más relevantes de rehabilitadores mecatrónicos para dedos, mano, brazo, cadera, rodilla y tobillo, destacando la finalidad del estudio realizado y entendiendo el impacto de éstos en el área de la fisioterapia.

— AC and DC drives play a vital role in each and every industry. This research paper shows the methodology to interface stepper, servo, AC and DC motor on a single platform. GUI is designed in MATLAB to control all motors. Directions and speed of DC motor are controlled by electromechanical relay and H BRIDGE respectively. AC motor is controlled by solid state relay, stepper motor is controlled by ULN2003 current driver and servo motor is controlled by timers of the ATMEL controller. In a nut shell, all the motors are controlled using MATLAB GUI and Arduino controller. This instrument is best for the Power electronics lab for educational purpose.

In recent years the world has witnessed significant progress in robotics, artificial intelligence, and service automation (RAISA). Such technologies are used in the manufacturing as industrial robots, in transportation as autonomous vehicles, in medicine for diagnoses and surgery, in education, in marketing, social media, search engines, in warehouses and supply chain management, in agriculture, entertainment, in military and surveillance operations etc. Social robots even enter our lives as companions and assistants for the elderly and for children with special needs. RAISA are entering into all parts of the travel, tourism and hospitality industries. They come in the form of automated restaurants and hotels, in-room digital assistants, robot concierges, robots guides, delivery drones, chatbots, etc. RAISA provide vast opportunities to travel, tourism and hospitality companies to improve their operations and productivity, deliver consistent product quality and transfer some of the service delivery process to the customers. At the same time, they raise various questions like the dehumanisation, standardisation and commodification of hospitality services, substitution of employees by robots and artificial intelligence, overdependence on computers. While the application of artificial intelligence and service automation (e.g. self-service technologies) in travel, tourism and hospitality companies have received some attention by scholars, research on the adoption of robots by them is extremely scarce. This book aims to partially fill in this gap by elaborating on the theoretical and practical aspects of robots, artificial intelligence and service automation on both strategic and operational level. If you are interested in contributing to this exciting project, please submit a 300-500 word abstract by the 31 st of March, 2017 with 10-15 key references to the emails of both editors:

Prinsloo, G.J. 2011. Inlet Air Flow Meter for an Internal Combustion Engine. Bachelor Engineering Thesis, Mechatronic Engineering, Stellenbosch University, South Africa. doi 10.13140/2.1.3010.4649.
This project focus on the design an Inlet Air Flow Meter for accurate measurement of mass flow rate of atmospheric air into an engine during engine dynamometer tests. The meter will be used to determine the air-fuel ratio and volumetric efficiency of the engine. To determine if an Inlet Air Flow Meter can be designed and constructed to be sufficiently accurate for dynamometer applications, while evaluating the potential for commercial use in high performance engine management systems. The Inlet Air Flow Meter will be used to evaluate new Biofuel formulations and their performance in internal combustion engines, for example non-edible vegetable oils extracted for fatty acid compositions and biodiesel production, and to evaluate the air flow characteristics, engine performance and emissions production of non-edible oils.

Kinematics is the study of the motion of mechanical points, bodies and systems without consideration of their associated physical properties and the forces acting on them. The study is often referred to as the geometry of motion, and it models these motions mathematically using algebra. The systems in kinematics are modeled to calculate such things as speeds and ratios. Kinematics is very useful in the conceptual design of mechanical systems. Initial geometries and velocities of bodies are a part of the model. While kinematics can help determine whether a design is theoretically possible, there are more complexities when designing something for the real world. Without consideration of materials, and the forces acting upon them, many theoretically possible designs would be prone to failure. Kinetics, in contrast to kinematics, does consider physical properties such as the mass of the bodies or the forces driving them. Kinetics is logically deduced from kinematics by way of algebraic calculation of physical properties and forces. Kinetics takes into account physical forces and properties including material properties, like mass rigidity, and tensile or compressive strength.

Our project “Unmanned Ground Vehicle” is built to undertake missions like border patrol, surveillance and in active combat both as a standalone unit (automatic) as well as in co-ordination with human soldiers (manual). It is a prototype illustrating the ever expanding need for sophisticated technology and precision driven vehicles catering to the present day needs for a first line of defence. A person from a remote place can comfortably control the motion of the robot wirelessly and in situations where manual control is not prudent, the vehicle is capable of reaching the pre-programmed destination on its own.
This defence system of ours has two units- one is the control unit (to control mobility) and the other is the motion tracking unit. Both these units have two modes- Automatic and Manual. This robot would be armed with an automatic weapon mounted onto a turret and a remote operator would be getting a live video feed from the camera to help him manually control both the above mentioned units of the rover. The rover is also capable of automatically tracking movement of objects in its range of vision. The manual modes of the rover are controlled by a human operator and live video is fed back to the base station. The turret will follow the movement of a joystick or a mouse. There is an additional ARMCON controller which helps the soldier on war field to control the rover using wireless modem. The UGV will be controlled by hand gestures which are tracked by the IMU (Inertial Measurement Unit).

In the robotic community Robotic Arm is one of the popular ideas. Robotic arms are very usual in industries where they are mainly used in assembly lines in manufacturing plants. Building a Robotic Arm is a difficult process and involves complex programming for beginners. Once we put our full focus on the thing and even if our thoughts were the same in the at start , we found it rather easy as all it takes was some time and tinkering. The robotic arm we have built in this project is fully automated to do tasks. Apart from the Microcontroller we have used Arduino Nano and servo motors, all other components. This robotic arm can color sort and for that we have used sensors.The main motto of this project is to design an efficient system that pick up right color of objects and put it down at right place to the minimizing the cost of the products, optimizes productivity and decreasing human mistakes. This paper presents an application to differentiate colored objects with a robotic arm. This robotic arm can pick different colored objects and sorts them in specified cups. It contacts with color sensor TCS 3200 and various motor modules in real time to detect the correct color object and to control the movement of arm.

The QuickBot mobile robot is presented in this paper, with main aim to be educational and research experimental tool for robotics application in multi robot scenarios. The main idea was to use fairly cheap, easy to build, differential drive robot capable to use in student courses in order to apply the theory of mobile robot to a real indoor environment. The hardware components of Quikbot (two wheels, two motors with a wheel encoders, embedded Linux computer, the BeagleBone processor board, 5 infrared (IR) range sensors) are analysed and described. The second important idea for using QuickBot is investigation the cooperation of several robot units and the possibility of obtaining a collaborative behavior by decentralized control algorithms. This idea by using MATLAB software is described by single robot behaviors and complex collective leader-follower algorithms.

Primarily intended for undergraduate and postgraduate students of Engineering to Learn system simulations by Tool MATLAB.
COURSE OBJECTIVES:
To realize the importance of Computational efficiency in simulation of Real time Mechanical systems by using GUI feature.
To Implement Statics and kinematics problems.
To Implement Dynamics and control problems in Vibratory systems.
To learn vibration pattern in vibratory systems with damping and without damping for programming effectively differential equation problems with Ode solvers.
To learn the simulation of Hydraulic systems.
To learn the simulation of mechanism systems.
To implement automation systems by virtual simulation and analysis of Real Time systems.

Resumen—El presente reporte de proyecto aborda el diseño e implementación de un sistema de control de posición angular de un mecanismo pan-tilt que permite la orientación de una cabeza robótica, cuyo objetivo es el seguimiento de un objeto esférico color rojo dentro del campo de visión de una cámara web. El sistema de actuación consta de dos articulaciones de tipo revoluta cuyos ejes están dispuestos perpendicularmente, de tal modo que se pueda orientar la cámara en un espacio de trabajo esférico. A su vez, el algoritmo de visión que define la retroalimentación del mecanismo está basado en la librería OpenCV, lo cual le confiere versatilidad a nivel de programación, aspecto que en un futuro permitiría aumentar las funcionalidades del dispositivo. Además, el sistema de control se distingue por su bajo costo de manufactura y por el uso de librerías de código libre, lo cual lo define como una plataforma de investigación accesible para implementar algoritmos de visión artificial en los lenguajes de programación soportados por la distribución Ubuntu de Linux. Palabras clave— control de posición, robótica, servomotor, visión artificial.

Logam Non Ferrous adalah logam yang bahan penyusunnya bukan 100% Logam, melainkan bahan paduan lain seperti emas, perak, titanium, dll. Meski bukan sepenuhnya logam, namun pemanfaatan logam non ferrous sangat banyak ditemukan dalam kehidupan sehari - hari.

Este artículo describe el funcionamiento de un brazo robótico de 3 grados de libertad llamado " ROBO-WRITER " al cuál se le aplica inteligencia artificial; describe las características mecánicas que se utilizaron para la implementación, así como el tipo de programación que se utilizó. También está presente la teoría de las redes neuronales, sin descartar que se explicara cada una de las funciones que se utilizaron, incluyendo el programa que contiene la red neuronal y la entrenadora. La finalidad de este prototipo es detectar dígitos del 0 al 9, los números son dibujados en una interfaz del mismo programa, el número que es dibujado será reconocido mediante la red neuronal y se desplegara una imagen del número que se dibujó, al mismo tiempo mandara una instrucción al brazo robótico para que plasme el número detectado.

PARA TODOS LOS SISTEMAS QUE A CONTINUACION SE MUESTRAN: ´
1. Realizar la simulaci´on del sistema en Simscape, u es una entrada escal´on. Con condiciones iniciales cero.
Graficar las variables de estado y la salida.
2. Obtener el modelo en el espacio del estado, de la forma: ˙x = Ax + Bu, y = Cx
3. Simular el modelo del punto 2, u es una entrada escal´on. Con condiciones iniciales cero. Comparar las variables
de estado, y la salida con la simulaci´on del punto 1.
4. Calcular el vector de estado x(t) = L
−1{(sI − A)
−1}x(0) + {(sI − A)
−1Bu(s)} y la respuesta del sistema
y(t) = Cx(t). Con condiciones iniciales cero.
5. Simular la soluci´on del punto 4, u es una entrada escal´on. Comparar las variables de estado, y la salida con la
simulaci´on del punto 1.
6. Determinar si el sistema es controlable.
7. Determinar si el sistema es observable

: sistema mec´anico traslacional, entrada u(t) = f(t),
Sistema mec´anico rotacional, la salida es y = θ1, la entrada u = T(t).