Dvoosno usmjeravanje fotonaponskog modula korištenjem PID regulacije

The configuration of a PID controller is presented in this paper on the example of a positioning system for a prototype measurement station with photovoltaic system and dual-axis directing. Since the prototype measurement station is supposed to be used for research possibilities of electrical energy production using photovoltaic modules, and based on the conventional Liu-Jordan-Klein analytical model, the whole nomenclature is adjusted to the selected model. For the described prototype measurement station the PID controller for azimuth positioning was programmed, parameterized and run in test mode, after which the same procedure was provided for slope positioning. Such PID controllers can be used simultaneously.U ovom članku prikazano je konfiguriranje PID regulatora na primjeru pozicioniranja usmjerenja prototipne mjerne stanice sa fotonaponskim sustavom i dvoosnim usmjerivačem. S obzirom da je prototipna mjerna stanica predviđena za istraživanjepmogućnosti proizvodnje električne energije fotonaposnkim modulima, uz teorijsku podlogu na Liu-Jordan-Klein modelu, cijeli sustav je prilagođen nazivlju odabranog modela. Za prototipnu mjernu stanicu programiran je, parametriran i pušten u rad PID regulator za pozicioniranje azimuta, te isti postupak ponovljen za pozicioniranje nagiba. Tako dobiveni PID regulatori mogu se koristiti istovremeno

A New Approach to the Design of a CNC Machine for Making Orthotic Moulds

This paper is about defining a different novel concept of a simple machine for producing spinal orthosis moulds. Should such a machine be developed, the required functionality with a special emphasis on low price is to be achieved. The paper considers the issues regarding the kinematics and feasibility confirmation as related to the concept. A CAD model made for the purpose of simulation and activities related to the software development for generating tool trajectories along with the belonging kinematics and trajectory visualization were carried out

System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing

Leg Length Discrepancy (LLD) causes a shift of the Center of Mass (CoM) of the human body, as well as an asymmetry in load distribution on the lower extremities. Existing LLD evaluation methods do not take into account this shift in the human body’s CoM. In this paper, a methodology and mechatronic system for the Evaluation and Compensation of LLD for Human Body Balancing are described. The human body’s CoM is measured with two force plates located on two parallel manipulators. Since persons with LLD experience a shift in their CoM, by raising the force plate that is under the shorter leg, the human body can be balanced. For this purpose, the Human Body Balancing Algorithm (HBBA) was proposed and developed. By running the HBBA, the height difference between the force plates under the left and right leg can be measured, which then represents the LLD evaluation. Based on this evaluation, it is possible to design and make a shoe insole which compensates the influence of LLD with the goal of equalizing the load on the legs. A virtual mathematical model of the system was created and the simulation results of the HBBA are presented. The mechatronic system, developed and used to conduct experiments and measurements, is described in detail

Antologija hrvatske zborske glazbe (Zbor i solisti Muzičke akademije Sveučilišta u Zagrebu, 12. 3. 2022.)

Koncert je održan na Muzičkoj akademiji u Koncertnoj dvorani "Blagoje Bersa" 12. 3. 2022. Izvođači: Mješoviti zbor Muzičke akademije Sveučilišta u Zagrebu, Muški zbor Muzičke akademije Sveučilišta u Zagrebu, Ženski zbor Muzičke akademije Sveučilišta u Zagrebu, Komorni zbor Muzičke akademije Sveučilišta u Zagrebu, solisti Aljaž Žgavc (tenor), Hana Ilčić (sopran), Vinka Siladi (alt) i Petra Cik (sopran). Dirigentica: red. prof. art. Jasenka Ostojić. Program: 1. Ivan Zajc: U boj!, op. 182; 2. Krsto Odak: Ispovjem se tebje, op. 25; 3. Jakov Gotovac: Brodarska (iz Primorske suite, op. 5) (solist: Aljaž Žgavc); 4. Ivan Matetić Ronjgov: Ćaće moj (solistice: Hana Ilčić, Vinka Siladi); 5. Julije Skjavetić: Ego sum qui sum; 6. Zlatko Grgošević: Na večer (iz Okolo žnjačkog venca); 7. Adalbert Marković: Voćka poslije kiše (iz Dvije lirske slike); 8. Josip Štolcer Slavenski: Voda zvira iz kamena; 9. Josip Vrhovski: Naricaljka; 10. Josip Hatze: Večernje zvono; 11. Blagoje Bersa: Mjesečina (iz Tri pejsaža); 12. Antun Dolički: Višeslavova krstionica; 13. Igor Kuljerić: Crn-bel; 14. Boris Papandopulo: Kad igra kolo (iz ciklusa Svatovske pjesme) (solistica: Petra Cik)