SERVO MOTOR

The valve timing is a very closely studied event and effects the performance of an IC Engine greatly with respect to the Brake Power Produced, Volumetric Efficiency and Emissions etc. The valve event if varied and experimented with, can result in higher efficiencies and overall improved performance of the Engine. Hence, various researchers have attempted to temper with the valve timing and thus many Variable Valve Timing systems have been proposed till date with many of them being implemented by various manufacturers. However, on reviewing the presently employed systems, the lack of existence of a single system capable of independently altering both the timing and the lift of the valves was recognized. Thus, a single system capable of achieving the above was thought of and designed. A rack and pinion mechanism powered by a programmed servo motor mounted vertically seemed most practical in achieving this within the size and space constraints. A single cylinder diesel Engine was simul...

This  paper  studies  an  online  nonparametric  identification  method  that  is  based  on  a  time-frequency representation  of  signals  using  Kalman  filter.  The  method  utilizes  swept  excitation  signal  by synchronizing  the  Kalman filter  to the frequency of the  excitation signal generator  and updating the filter  gains  on  a  sample-by-sample  basis.  Four  different  closed  loop  identification  configuration  are studied  and  experimentally  compared  by  considering  direct  and  indirect  identification  approaches.
Moreover,  this  paper  studies  loop  transfer  function  estimation  from  the  closed  loop  controlled servomechanism and  discusses the possibility to use the result for loop diagnostics.  The experimental
results illustrate the effectiveness of the studied online identification method to estimate nonparametric frequency response of the closed loop-controlled servomechanism at a selected band of frequencies.

This paper presents the problem of damping torsional vibrations in high-dynamic servodrives. The time delays introduced into the speed control loop due to digital control and processing are an important factor from the point of view of the ability for  active damping of vibration. The aim of the work is to test the ability of slow resonance ratio controllers to dampen vibration in the system at various values of stiffness and inertia
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This paper presents an outdoor mobile robot that can be controlled remotely using an android phone. With the help of the sensors, the robot was programmed to navigate within the bounded field, detectthe motion in the surroundings and can also send an alarm. The robot was designed to be able to navigate to the flowerpots placed in the zone and dispense water to those pots.The robot has proved capable of watering a total of 600 ml to two different plants in a predefined area. The robot, if operating in a manual mode, can be used to remotely water plants in a radius of 9 meters. On top of this, it emits no carbon and produces no RoHS by-products and can thus be deemed 100% eco-friendly.

Every day, the technologies are expanding and developed with extra things to them. A cloud computing (CC) and Internet of things (IoT) became deeply associated with technologies of the internet of future with one supply the other a way helping it for the successful. Arduino microcontroller is used to design robotic arm to pick and place the objects by the web page commands that can be used in many industrials. It can pick and place an object from source to destination and drive the screws in into its position safely. The robot arm is controlled using web page designed by (html) language which contain the dashboard that give the commands to move the servos in the desired angle to get the aimed direction accordingly. At the receiver end there are four servo motors which are made to be interfaced with the micro controller (Arduino) which is connected to the wireless network router. One of these is for the arm horizontally movement and two for arm knee, while the fourth is for catch tin...

The importance of preserving the environment from waste and its pollution lies in many matters such as preserving people health, enhancing the aesthetic character of cites, attracting tourists, and protecting society from environmental disasters. The environmental wastes are the main dilemmas in our daily life and in the world at large. With the existence of modern technology, development and the field of the internet, many solutions have been undertaken to get rid these dilemmas. In this paper, a smart waste system based on internet of things (IoT) technique has been proposed using ESP-32 Wi-Fi microcontroller. This system can be adopted to avoid the accumulation of waste in the streets that distort the face of civilization, also to reduce the burden of workers and limit the workforce. The system is based on a multiple sensors in the garbage baskets, as they measure the waste level by using ultrasonic sensor, the moisture percent and temperature degree using DHT-22 sensor. The sensors data are processed by ESP32 microcontroller and displayed to both LCD screen using I2C protocol and mobile application using IoT cloud. System baskets automatically open their covers when the person approaches with a distance less or equal to 30 cm to throw garbage. Any approval waste basket is automatically discharged through an underground dump system using conveyor belt if the basket is full by 80% garbage and/or the basket moisture reaches to 40%.

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.

We have put our model in this paper in which we will be controlling the speed and direction of the servomotor through FPGA. So, as to guarantee the precision from the check control procedure, we have made a project in which the document provides the control plane associated with servo motor depending on Altera DE1 board gentle primary processor as program controller. The system utilizes FPGA since the primary gadget, as well as within Quartus II 10.0 program atmosphere. The associated control components aremade to type a good executable control program in which speed and direction will be controlled the servo motor performance. The particular handle signs from your handle method are usually separated and amplified which results in the push to appreciate the particular handle with the servo motor. Based on the features associated with Altera, it is expounded through 2 facets of equipment's hardware as well as a software program that supplies an answer for that style associated wi...

Every day, the technologies are expanding and developed with extra things to them. A cloud computing (CC) and Internet of things (IoT) became deeply associated with technologies of the internet of future with one supply the other a way helping it for the successful. Arduino microcontroller is used to design robotic arm to pick and place the objects by the web page commands that can be used in many industrials. It can pick and place an object from source to destination and drive the screws in into its position safely. The robot arm is controlled using web page designed by (html) language which contain the dashboard that give the commands to move the servos in the desired angle to get the aimed direction accordingly. At the receiver end there are four servo motors which are made to be interfaced with the micro controller (Arduino) which is connected to the wireless network router. One of these is for the arm horizontally movement and two for arm knee, while the fourth is for catch tings or tight movement. Two ultra-sonic sensors are used for limiting the operation area of the robotic arm. Finally, Proteus program is used for the simulation the controlling of robot before the hardware installation.

Tema ovog rada je upotrebom MATLAB programskog jezika izraditi grafičko sučelje za upravljanje servo motora. Pri samoj izradi aplikacije koristiće se serial port za komunikaciju računara i Arduino razvojne pločoce putem koje će se vršiti upravljanje servo motora. Kompletan rad će se sastojati od aplikaciju izrađene u MATLAB-u koja sadrži animaciju servo motora kojeg upravljamo i programa napisanog u Arduino grafickom sučelju u kojem se koristi modifikovani C programski jezik. MATLAB je pogodan za izradu ove aplikacije zbog lake izrade animacije i lake komunikacije sa serial port-om također i Arduino razvojna pločica ima mogućnost komunikacije sa računarom putem serial port-a putem USB ulaza što je puno lakše za razliku od dosadašnjeg RS232 priključka.

In this digital world, color processing in different industries gives us more leverage to solve the consistency problem of continuous manual sorting. This document will be a new approach to continuously detect and classify objects and keep them in a specific place. Color processing attracts a lot of attention since the help of modern technology leads to the possibility of expanding the scope of its application in various areas. The Arduino Nano microcontroller, TCS3200 colour sensor, servo motor, and other electronic components are used to study, develop, and build a colour sorter. This work involves sensors that detect the color of the object and send the signal to the Arduino. The microcontroller sends a signal to the circuitry that drives the various motors to activate the object and place it in the specified location. Based on the detection, everything moves to the specified position releases the object, and returns to the original position. The system is able to quickly classify the object based on its color at the respective color station. Sorting objects is an essentially mechanical process that requires difficult work. The chronically manual layout leads to consistency problems. Above all, machines can do boring tasks that humans are superior to. Worker burnout in sequential production structures can lead to reduced execution and purpose issues in maintaining the object. Recognize the color of the article but in no way a machine. In this article, a compact registration near the arrangement of items based on color was implemented using the TCS3200 color sensor with servo motors in conjunction with Arduino Nano.

With advancing technology, the place and importance of robots in human life is increasing day by day. When we look at the present from the past, it can be seen that there are differences in the purpose of creation of robots. The ability to operate autonomously and the ability to operate on an operator control allow them to be indispensable. As days go by, these machines that are used in place of humans have faster, longer life and higher working capacities. One of the robots working in these work areas is the spider robots. Spider robots can be divided into robots with Hexapod (6 legged), Quadruped (4 legged) and similar types.
In this project, a hexapod (6-legged) spider robot is dealt with.

Every day, the technologies are expanding and developed with extra things to them. A cloud computing (CC) and Internet of things (IoT) became deeply associated with technologies of the internet of future with one supply the other a way helping it for the successful. Arduino microcontroller is used to design robotic arm to pick and place the objects by the web page commands that can be used in many industrials. It can pick and place an object from source to destination and drive the screws in into its position safely. The robot arm is controlled using web page designed by (html) language which contain the dashboard that give the commands to move the servos in the desired angle to get the aimed direction accordingly. At the receiver end there are four servo motors which are made to be interfaced with the micro controller (Arduino) which is connected to the wireless network router. One of these is for the arm horizontally movement and two for arm knee, while the fourth is for catch tin...

In today's world, safety is critical, and good safety systems must be put in place. The principal objective of this study is to design a harmful gas sensing and warning system based on embedded systems. LPG is used for cooking and in industries. Since LPG is stored in a bottle, it is easily damaged. In any case, when the gas cylinder, controller, and tube are not in great state, breaks occur, resulting in a issue. Accidents can cause problems such as suffocation and can start of fire. Installing gas leakage detectors in vulnerable areas is the most important measure to avoid accidents caused by gas spill. The primary purpose of this study is to propose a framework for detecting and eliminating gas spills in vulnerable areas. The gas spill sensor is one such way of detecting and alerting people to gas spills in their initial stages. The gas leak detection system includes a GSM module that sends SMS messages when a gas leak is noticed.

This whiteboard cleaner is the machine that can clean automatically the desired part of whiteboard by using IR remote. The machine can support to perform the work easier and to make the user more comfortable. Whiteboard is large in size so it takes time for cleaning the whiteboard manually. The main goal of this paper is to clean the whiteboard by using IR control. Stepper motors are used to move x and y direction of the whiteboard. Servo motors are applied to press and release the duster. CNC shield and A4988 driver are used to control the bipolar stepper motor. IR remote is used to control the cleaning process. In this machine, the user can choose for cleaning the whiteboard with various instructions. Firstly, the machine can clean left side, right side and the whole area of the whiteboard. Secondly, that machine can also clean the desired parts of the whiteboard. Automatic white board cleaner makes human work easier and also reduces the use of human power.

This paper investigates the transient and steady state response of a SG90 Servo and two methods to measure the angle of its shaft using an Inertial Measurement Unit (IMU). It will also show its transfer function and some instabilities and accuracy problems found during testing. It also analyzes the response obtained using the IMU as a feedback sensor for a closed loop system. I.

This work comes within the scope of developing an automated linear axis that will be used in a novel production machine. The axis needs precise control over the linear movement, calling for a servo There are many types of motors that can performant multi pole permanent magnet synchronous motors. to deliver a p possibilities within this range of powers with outstanding price/performance ratios. Open source projects like TinyMovr, Vesc and communities. These open software solutions need adequate hardware platforms is the description of the steps taken to firmware can be implement normal cost constrains, the PCB would have been implemented using a minimum of four copper layers.It is the aim of this design to fulfil a stricter cost constrain that only allows for a two layer board to be used.

Este trabajo describe la construcción, modelado y simulación de un brazo robótico de tres grados de libertad con efector final, así como la implementación de técnicas de control robusto adecuadas.
Se investigó acerca de las características mecánicas y los modelos matemáticos (cinemático y dinámico) que pueden presentarse en el manipulador robótico.
Para observar su comportamiento dinámico, se realizó una simulación en SciLab donde una ley de control robusto, en lazo cerrado, fue implementada para eliminar las incertidumbres del modelo dinámico y para reducir los efectos de perturbaciones externas.
En este trabajo se introducen los controladores H-infinito, twisting y super-twisting de tercer orden para que el brazo robótico realice el seguimiento de una trayectoria definida dentro de su área de trabajo aun con la presencia de una fuerza externa y variaciones paramétricas. Con los servomotores Dynamixel AX-12A y AX-18A, se encontró la forma de acoplarlos a la estructura del manipulador y la interfaz adecuada para enlazarlos a una computadora mediante una comunicación serial asíncrona tipo half duplex (8 bits de datos, 1 bit de paro y sin bit de paridad).
Como resultado se obtuvo la simulación del comportamiento del brazo robótico con la implementación de una estrategia de control super-twisting de tercer orden, obteniendo así, la estabilidad del sistema, una mejor precisión en cada articulación del manipulador y la generación de un movimiento suave durante una trayectoria parametrizada en el tiempo a partir de cualquier posición requerida dentro de su área de trabajo.

http://repositorio.ugto.mx/handle/20.500.12059/4645

Dengan berkembangnya teknologi mikrokontroler saat ini, segala sesuatu dapat di lakukan dengan menggunakan elektronik sebagai pengganti sistem kerja manual. Alat alternatif ini menggunakan pengendali dengan Keypad. alat ini di buat untuk dari beberapa kompenen yaitu ada mikrokontroler sebagai bagian utama atau sebagai pengendali utama, Keypad dimana sebagai input kode perintah dan katup sebagai alat aktuator. Alat ini bekerja ketika ada masukkan berupa kode perintah melalui Keypad, dan jika kode yang di masukkan benar maka katupnya akan terbuka dan beras akan keluar dari tabung tersebut. Dari hasil pengujian yang di lakukan alat tersebut dapat berkerja dengan baik, hal ini dibuktikan dengan dengan menjalankan simulasi di (Tinkercad.com) bahwa mikrokontroler dapat mendeteksi input Keypad dengan baik dan melakukan proses selanjutnya dengan menggerakkan micro servo sebagai katup terbuka dan tertutup pada ATM beras yang digunakan untuk beras keluar dari tabungnya.

At the beginning of taking a shower, the user needs to manually adjust a rotational handle or the ratio of cold and hot water to get the desired water temperature and the flow rate. In this paper, a temperature and flow rate sensor feedback smart shower is proposed which takes the target water temperature and flow rate from the user as input, and then automatically adjusts the ratio of the cold and the hot water during the shower to keep the temperature and flow rate fixed-even though there is fluctuation of supply water temperature and pressure. The proposed system contains distance sensor and automatically turns off the shower when the user is away for soaping or shampooing. The system generates a report on water usage and shower time – to promote awareness on saving water. An embedded system based prototype of the proposed shower has been developed and tested.

With this project, we aim to design a robot arm. This robot arm will be controlled wirelessly through a wearable glove. This will be done via a bluetooth connection. Moreover, the use of many circuit elements they use in their own projects for beginners will be shown. Systems can be briefly you out with this project:
• Arduino use,
• Use of  bluetooth module,
• Communication between two Arduinos,
• Using Servo motor with Flex sensor data.
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Nowadays technology has decreased working hours and have made complicated operations more effortless. Robotics is a field that has thrown up some wonderful machines. Typical industrial robots do jobs that are difficult, dangerous or dull. They lift heavy objects, paint, handle chemicals, and perform assembly work. They perform the same job hour after hour, day after day with precision. They don't get tired and they don't make errors associated with fatigue and so are ideally suited to performing repetitive tasks. One of them is the ‘scara’ type of a robotic arm. This project aims to implement this robotic arm by interfacing it with motion sensors which makes the user interface comfortable. Though the use of a robotic arm is very simplified, the implementation of this arm requires a good knowledge of Engineering Mechanics, Electronics Devices and Embedded Systems as well.

Direct torque control (DTC) is known to produce quick and robust response in alternating current drives. However, during steady state, notable torque and flux ripple occur. They are reflected in speed estimation, speed response and also in increased noise. The electrically excited alternating current induction motor has typically small synchronous inductance values and quite low transient values because of the damper windings mounted on the rotor therefore the torque and stator flux linkage ripples are high in conventional direct torque control due to the implementation of hysteresis control. In this paper, an attempt is made to address this problem using direct torque control scheme with space vector pulse width modulation scheme. It is based on the compensation of the stator flux linkage vector error using the space vector modulation in order to decrease the torque and flux linkage ripples and produced fixed switching frequency under the principle that the torque is controlled by the torque angle on alternating current induction motor. The alternating current induction motor is supplied by a two level thyristor inverter powered by space vector modulation. Conventional principles of direct torque control and space vector pulse width modulation were described. It can be used in various applications like electric vehicles, and industrial control where field weakening operation is required. Simulation research is carried out in Matlab/Simulink which illustrates steady state and dynamic performances of the developed system. Simulation results demonstrate the validity and effectiveness of the torque control response which properly combines with space vector pulse width modulation that shows faster dynamic response, lower torque ripple and lower flux ripple. Moreover, simple Matlab/Simulink model is introduced for two level space vector modulation inverter which can be realized and implemented in practice for three phase alternating current induction.

This work comes within the scope of de production machine. The axis needs precise control over the linear movement, calling for a servo There are many types of motors that can be used, starting from inexpensive ste performant multi pole permanent magnet synchronous motors. to deliver a p possibilities within this range of powers with outstanding price/performance ratios. Open source projects like TinyMovr, Vesc and communities. These open softwar is the description of the steps taken to design the printed circuit board on which the ODrive servo motor control firmware can be implemented, from the point of view of the the constrains, the PCB would have been implemented using a minimum of four copper layers. It is the aim of this design to fulfil a stricter cost constrain that only allows for a two layer board to be used. Keywords: The main part of this work is devoted to PCB design of the servo motor system. The design takes the most economical path forward while maintaining the right amount of qualit The schematics were designed following the requirements. The PCB design STM32F405 MosFet. The design follows the ODrive microcontroller pinout to ensure firmware compatibility. The electronic schematic is being developed first. The de however significant differences and IO header corresponding IC component. This makes the placement faster and more comprehensive. The rules of placement are based on maximizing cooling effect, minimizing tracks minimizing PCB are

Abstrak Robot lengan adalah suatu peralatan yang terdiri dari susunan link dan sendi. Robot lengan tersebut mempunyai 4 DOF yang penulis gunakan sebagai alat sorting benda logam dan bukan logam. Pada robot lengan tersebut digerakkan oleh tujuh buah servo pintar Dynamixel AX-12A. Untuk mengoperasikan robot lengan diperlukan sekumpulan komponen yang saling berintegrasi agar dapat beroperasi sesuai dengan tujuan. Robot lengan dengan pengendali utama (Arduino Ethernet) dapat berkomunikasi menggunakan serial half-duplex untuk proses kirim dan terima data. Robot lengan dapat di monitoring dan dikendalikan melalui visual yaitu HMI Visual Basic 6.0 sehingga dapat memudahkan user dalam mengoperasikannya. Data dari pengendali utama dapat di monitoring melalui HMI karena mengambil data pada database MySQL yang dikirim dari pengendali menggunakan protokol TCP/IP. Sedangkan untuk proses pengendalian robot lengan perintah dikirim ke pengendali menggunakan protokol UDP. Sehingga diharapkan dapat menjadi sebuah sistem sorting yang dapat di monitoring parameternya dan dan dapat dikendalikan dengan mudah tanpa mengabaikan sisi keamanan. Abstract Robot arm is an equipment containing an array of links and joints. The robot arm has 4 DOF used as a sorting tool metallic and nonmetallic objects. On the robot arm is driven by seven smart servo Dynamixel AX-12A. To operate the robot arm is necessary an integrated set of components that can operate in accordance with the objectives. Robot arm with the main controller (Arduino Ethernet) can communicate using serial half duplex for the process of sending and receiving data. Robot arm can be monitored and controlled through visual ie HMI Visual Basic 6.0 so as to allow a user to operate it. Data from the main controller can be monitored via the HMI for retrieving data in a MySQL database that is sent from the controller using TCP / IP. As for the robot arm control process commands are sent to the controller using the UDP protocol. Which is expected to be a sorting system that can be monitored and controlled parameters and easily without ignoring the security side.

This work comes within the scope of developing an automated linear axis that will be used in a novel production machine. The axis needs preci There are many types of motors that can be used, starting from inexpensive stepper motors, up to expensive and performant multi pole permanent magnet synchronous motors. deliver a power output possibilities within this range of powers with outstanding price/performance ratios. Open source pr TinyMovr, Vesc and communities. These open software solutions need adequate hardware platforms is the description of firmware can be implemented have been implemented using a minimum of four copp constrain that only allows for a two layer board to be used.

Team CREC: Dynamic Innovations was created to develop an autonomous robotic vehicle that wirelessly communicated, and then displayed the presence of artificial trees.  The robots design methodology was based upon the interdependent subsystem categories:  Base and Body; Drive and Steering; and Communication and Sensors. Each subsystem is comprised of distinct components, as well as sharing the centralized microprocessor PIC16F458, programmed in PIC BASIC. The robot incurred a total cost of 793 US dollars. The base and body subsystem was constructed from a combination of carbon fiber, aluminum and steel materials, which resulted in rigidity, low weight of 613.70 grams (~ 1.35 pound), and aesthetic characteristics. An independent two-wheel differential drive and steering subsystem was incorporated. Also, a metal ball caster unit was used to minimize friction and drag.  A predefined traversal graph was used as a map. The robot used black-line paths as guidance determinants for travel speed and direction, based on the output of five reflectance sensors. A wireless camera strategically mounted on the robot was used to capture images in the artificial forest. Images were wirelessly communicated to the computer, and then processed by MATLAB (2008a, The MathWorks, Inc., Natick, MA, USA) software to produce processing subplots and graphical user interfaces, which displays the number of detected trees in real-time. A total of 20 test trials were performed, which determined the robot’s accuracy and repeatability, 96.53 and 96.25 percent, respectively. The robot’s low weight contributed towards its performance rate (velocity) of 7.0 centimeters per second (2.7 inches per second).

Sinusoidal pulse width modulation is a popular
modulation for most alternating current induction motor. It
only requires fewer calculations and is easy to implement.
However, the shortcomings of using it are low DC voltage
utilization, and poor inverter transmission capability. In
recent years, there is an increasing trend and more research
concentration of using space vector pulse width modulation
in adjustable speed drives and renewable energy systems
because it has better DC bus utilization, better performance,
lower loss, lower ripples,  and wide application range. This
paper introduces space vector pulse width modulation and
applies to speed control of alternating current induction
motor. The three  phase alternating current induction motor
is reviewed based upon space vector representation.  The
development of space vector pulse width modulation  and
implementation to speed control of induction motor is done
using Matlab/Simulink. The simulation is conducted by
analyzing the response of stator current, stator voltage,
speed, voltage, frequency, and  the  electromagnetic torque.
Simulation results shows that space vector pulse width
modulation which generates the voltage patterns at real time
is able to control the speed of a three phase alternating
current induction motor. It indicates the validity of space
vector pulse width modulation in controlling the speed of a
three phase alternating current induction motor (ACIM). In
conclusion, the use and realization of space vector pulse
width modulation has been validated by the Matlab/Simulink
simulation experiment for controlling the speed of a three
phase alternating current induction motor.

We have put our model in this paper in which we will be controlling the speed and direction of the servomotor through FPGA. So, as to guarantee the precision from the check control procedure, we have made a project in which the document provides the control plane associated with servo motor depending on Altera DE1 board gentle primary processor as program controller. The system utilizes FPGA since the primary gadget, as well as within Quartus II 10.0 program atmosphere. The associated control components aremade to type a good executable control program in which speed and direction will be controlled the servo motor performance. The particular handle signs from your handle method are usually separated and amplified which results in the push to appreciate the particular handle with the servo motor. Based on the features associated with Altera, it is expounded through 2 facets of equipment's hardware as well as a software program that supplies an answer for that style associated with the servo control system. This particular document utilizes the actual PID control formula to manage the actual common screening device to attain versatile as well as precise control reasons.

A Variable-Frequency Drive is also a motor controller but works in a different way than a servo drive. While a servo drive needs a command signal given to the motor in order to compare the real and desired position of the motor, a VFD directly controls the voltage and frequency supplied to the motor.

This paper presents a method, which allows the computing of reference variables (position, velocity and acceleration) of a mass moving along a given two-dimensional contour. The method is based on the time-suboptimal approach. The central point of this approach is the computing of the critical path velocity which should not be exceeded in order to keep the drive forces in the admissible range. Limits of the jerk for axis drive can be considered, when a trajectory is generated. The proposed command preprocessor with a model following control method eliminates or reduces contouring errors

Medicines have helped to make our lives easy. Drug industry is developing industry in terms of production as well as consumption. Medication has become very important in everyone's life as we are affected by so many diseases. But these medicines might be defected, tablets may be broken, there may be missing tablet in a strip and consumption of these drugs might be dangerous. This project shows a method in digital image processing technique to find the defects in tablets. In this project we use mathematical manipulation, to detect the defected tablet packet.

Human arm is a very crucial organ which allows us to perform important day to day activities like lifting any object, dressing up, eating, clenching, gripping something to name a few of them. Since it is so important for us that this organ functions well, so if in an accident or due to any other reason the arm gets damaged, life becomes very difficult. This artificial human arm will enable such physically challenged people to perform all these day to day activities. Not only this, this can also be used as an extra attachment in various robotic machines to enhance their efficiency. We have used chains, springs, wood and servo motors for its construction and it can perform the tasks like clinching of fist and curling of fingers very efficiently. Another positive point is that the size has been kept really compact as compared to the currently available humanoid arm. This is well equipped to perform human interactive tasks.

This papers deals with the optimal selection of motors and reducers in servo-controlled machines. A model of an electromechanical servo-axis is developed, which allows electrical and mechanical losses to be evaluated. The model is based on data that can be extracted from commercial catalogs, thus requiring no experimental characterization. Then, a novel optimal selection procedure is presented, called continuous optimization, based on the extension of a discrete commercial catalog to a continuous one, by means of data fitting on the electromechanical parameters that influence the motor and reducer operation. A non-linear constrained optimization problem is solved in order to find the optimal motor-reducer unit with respect to a variety of objective functions, such as motor size, overall energetic efficiency, total mass, etc.

We aim to design a robot arm with this project. This robot arm can repel hand movements byremoving a wearable glove. Five levels of autonomy are controlled wirelessly. The control process is done via a bluetooth connection. In addition, data collected from the glove is alsosource for the script. From this script data belong to the sign language within the robot robotconstraints. The point in the project is not to provide human life, to protect the health and provide support in your points.

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Bu proje ile robot kol tasarlamayı amaçlıyoruz. Bu robot kol, giyilebilir bir eldiven aracılığıyla uzaktan yapılan el hareketlerini tekrarlayabilecek. Beş özerklik dereceli robot elinin kontrolünü kablosuz olarak kontrol edecektir. Kontrol işlemi bluetooth bağlantısı ile yapılacaktır.  Ayrıca eldivenden toplanan veriler de script için kaynak teşkil etmektedir. Bu script verilerinden bazıları robotun kısıtları dâhilinde işaret diline ait işlemleri gerçekleştirmektedir. Projede önemsenen nokta insan hayatını kolaylaştırmak, sağlığını korumak ve ihtiyaç duyduğu noktalarda destek olmasını sağlamaktır.

Servo motor is also known as the executive motor, in the automatic control system, as an executive component, the received electrical signals into the motor shaft angular displacement or angular speed output, divided into dc and ac servo motor, ac servo motor is divided into asynchronous servo motor and synchronous servo motor.