Control of the weakly damped System with the embedded system support

This paper deals with the experimental verification of the importance of embedded systems with an applied MEMS sensor in controlling weakly damped systems. The aim is to suppress actively residual oscillations. The model of a planar physical pendulum with a prismatic joint was chosen for the experiment. The sensor made by MEMS technology, in which three-axis gyroscope and three-axis accelerometer are integrated, has been used for sensing the angle of deflection of the load from the equilibrium position. The simulation model represents the crane arm with a moving carriag

Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT

Kinematic structure of the DOBOT manipulator is presented in this chapter. Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox

Komunikácia strany Sloboda a Solidarita na sociálnych sieťach

V tomto článku analyzujeme komunikaci strany Sloboda a Solidarita na sociálních sítích. Hlavním cílem je analyzovat formu, obsah a interaktivitu komunikace. Strana má svoje profily na třech stránkach: Youtube, Twitter a Facebook. Zaměřujeme svou pozornost na období od vzniku profilu na určité stránce do 31. 1. 2011. Bližší pohled je věnovan času před parlamentními volbami v roce 2010. Výsledkem je zjištění, že aktivita strany klesá po parlamentních volbách a komunikace směřuje převážně jednosměrně – od strany k voličům

Using of Virtual Instrumentation in the Teaching of Autotronics

This chapter presents using of virtual instrumentation for improvement of teaching and demonstration of communication of one of the most popular automotive buses CAN BUS. Virtual instrumentation is used in several ways for easier understanding of communication by using the automotive bus. The first way is a demonstration by visualization of data of programable gateway. The second way of using virtual instrumentation is the visualization of the instrument cluster which is controlled by the student’s development kit with the microprocessor. The visualization is also used for the demonstrational panel which consists of a development kit, instrument cluster, turbocharger, and accelerator pedal. The communication with these components is also visualized. The last usage of virtual instrumentation is controlling real instrument clusters from Skoda and VW vehicles using LabVIEW and CAN BUS interfaces. In both, controlling and visualizing of instrument cluster are used the same messages as in real vehicle, so it is easier for students to understand the structure of communication through automotive buses of the real vehicle

Single-Step Response and Determination of Power Components Mean Values of PES Using <i>p-q</i> Method during Transients

This paper deals with the quasi-instantaneous determination of an apparent-, active-, and reactive (i.e., blind and distortion) power mean values, including total power factor, total harmonic distortion, and phase shift of fundamentals of power electronic system (PES) using the p-q method. The power components’ mean values are investigated both during transients and steady states. Using an integral calculus over one period and the moving average method (or digital filtering), the power components’ mean values can be determined within the next calculation step directly from phase current and voltage quantities. Consequently, with known values of a phase shift of fundamentals (using Fourier analysis), the power factor can be evaluated. The results of this study show how a distortion power component during transients is generated even under harmonic supplying and linear resistive-inductive load. The paper contains a theoretical base, modeling, and simulation for the 5-, 3-, and 2-phases of PES transients. A system compensated by switched capacitors as well as an active power filter shows a possibility to compensate for distortion and reactive power components in the next calculation step. Worked-out results can be used for the right determination and sizing of any PES. The presented approach brings the detailed time-waveform and improved quality of electrical quantities (time-waveforms), and through quasi-instantaneous (single step) response time of compensation, minimizes nascent overvoltage of the system