154 research outputs found

    Distance Estimation on Ultrasonic Sensor Using Kalman Filter

    Get PDF
    This research discusses about the distance estimation on ultrasonic sensor using Kalman Filter method. Accuracy level problem on ultrasonic sensor will be increased using Kalman Filter. Kalman Filter consists of two parts which are prediction and update. This research applies Kalman Filter method using Arduino Uno and Ultrasonic sensor HC-SR04. The test result compares the sensor data before and after Kalman Filter is applied. The test result of sensor value after given Kalman Filter depends on the value of noise sensor covariance matrix (R) and process noise covariance (Q). The best value of R and Q is 100 and 0.01. If the distance value between R and Q is too small, the filtering result will be invisible. In contrast, if the distance value between R and Q is too far, the filtering result could remove the original measured sensor data. In conclusion, applying Kalman Filter method in Ultrasonic sensor could estimate and increase the accuracy of sensor value up to 7%

    Application of optimal control theory to the design of the NASA/JPL 70-meter antenna servos

    Get PDF
    The application of Linear Quadratic Gaussian (LQG) techniques to the design of the 70-m axis servos is described. Linear quadratic optimal control and Kalman filter theory are reviewed, and model development and verification are discussed. Families of optimal controller and Kalman filter gain vectors were generated by varying weight parameters. Performance specifications were used to select final gain vectors

    Load Disturbance Torque Estimation for Motor Drive Systems with Application to Electric Power Steering System

    Get PDF
    Motors are widely used in industries due to its ability to provide high mechanical power in speed and torque applications. Its flexibility to control and quick response are other reasons for its widespread use. Disturbance torque acting on the motor shaft is a major factor which affects the motor performance. Considering the load disturbance torque while designing the control for the motor makes the system more robust to load changes. Most disturbance observers are designed for steady state load conditions. The observer designed here considers a general case making no assumptions about the load torque dynamics. The observer design methods to be used under different disturbance conditions are also discussed and the performances compared. The designed observer is tested in a Hardware-in-Loop (HIL) setup for different load conditions. A motor load torque estimation based Fault Tolerant Control (FTC) is then designed for an Electric Power Steering (EPS) system

    Gyroscope and Accelerometer Sensor on the Lanange Jagad Dance Robot Balance System

    Get PDF
    In performing dance moves, humanoid robots are expected to move flexibly and not easily fall during dance moves. To reduce the risk of robots falling while performing dance moves, a balance control system using a gyroscope sensor and accelerometer from the MPU6050 is controlled through the Arduino MEGA 2560 PRO. Robots that have balance control, are able to maintain stability in track conditions that have a certain degree of slope. This balance control system uses the Kalman filter method for processing data from the gyroscope sensor and accelerometer in order to reduce the noise that occurs during the robot's balance process. From the results of the test, the percentage of the success rate of robots in rest was 88.8%, the percentage of success when the robot was running was 86.6%, and the percentage of success when the robot was walking with dancing was 75%. From the results of all tests, humanoid robot has a percentage of 83.4% after adding a balance control system and when the humanoid robot does not use balance control will only produce a percentage of success rate of 48.4%

    Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

    Get PDF
    COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PD

    Haptic Hand Exoskeleton for Precision Grasp Simulation

    Get PDF
    This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented

    PID Control Schematic Design for Omni-directional wheel mobile robot Cilacap State of Polytechnic

    Get PDF
    Omni-directional mobile robot (OMR) is a robot that can move in all directions with an additional wheel around the core wheel. This research presents a PID controller method at the OMR plant with the specific purpose of getting to the specified point. OMR uses three wheels with an angle difference of 120 degrees. The application of this method using MATLAB assistance from knowing the kinematics to the performance results from the application of the control method. The stages of this research are robot design, component selection, electrical design of the robot, determination of forward kinematic and reverse kinematic and determination of PID controller for positioning. Testing is done by determining the position and determining the point to be determined. Simulation time testing is when the state is at 3,6,9,12 and 15 seconds. The results of the simulation robot can follow the specified coordinates

    Embedded Control System of DC Motor Using Microcontroller Arduino and PID Algorithm

    Get PDF
    The development of technology has a positive effect on the trade sector, creating smartphones that can be utilized in all activities combined with the internet network. Activity that is currently growing is a mobile trader in the city of Pekanbaru. This development caused much competition, for example, in the Pekanbaru city area, especially in Sialangmunggu village. Traders around is difficult to find consumers because consumers do not have precise location and time information. Therefore, researchers aim to design and build applications by utilizing the functions of google maps and GPS (Global Positioning System) where the Algorithm to be applied is the A* algorithm whose function is to find the nearest location between buyers to mobile merchants, to accommodate data from mobile merchants where buyers can know the nearest position of the traveling merchant. Process analysis will be divided into running analysis that discusses the workings of the process of mobile traders and buyers in the field. Then the proposed system analysis of the analysis will be made by the author to maximize the process on the current analysis. By making analysis and design, the author will know the needs needed in the creation of the system. The result of using method A* is applied to displaying the merchant's route with the user, and the result can provide the fastest route to get to the trader. The use of method A* is also done to find the trader whose location is closest to the user's location, and the result can display the nearest trader

    Load Characteristics with Current Detection Using an Arduino Based ACS712 Sensor

    Get PDF
    This study discusses tools for digital current monitoring using an Arduino-based ACS712 sensor. The current sensor ACS712 5A uses the principle of hall effect and is a current sensor whose circuit complexity is simple. The purpose of this microcontroller is to read data obtained from the sensor using the Analog to Digital Converter (ADC) feature and then display it in the serial monitor. The ATMEGA328 microcontroller is assisted by a current measuring circuit equipped with a sensor mounted in series against the circuit to be measured in order to measure the current flowing in the circuit. The test results show that the sensor can measure the current value at its peak value with an error value of -0.066 and a standard deviation value of 0.011419. Based on the test results it can be seen that the tool can work well and has a good accuracy rate
    • …
    corecore