175 research outputs found
Optimal PID Control of a Brushed DC Motor with an Embedded Low-Cost Magnetic Quadrature Encoder for Improved Step Overshoot and Undershoot Responses in a Mobile Robot Application
The development of a proportional–integral–derivative (PID) control system is a simple,
practical, highly effective method used to control the angular rotational velocity of electric motors.
This paper describes the optimization of the PID control of a brushed DC motor (BDCM) with an
embedded low-cost magnetic quadrature encoder. This paper demonstrates empirically that the
feedback provided by low-cost magnetic encoders produces some inaccuracies and control artifacts
that are not usually considered in simulations, proposing a practical optimization approach in order
to improve the step overshoot and undershoot controller response. This optimization approach is
responsible for the motion performances of a human-sized omnidirectional mobile robot using three
motorized omnidirectional wheels
Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials
This paper proposes the design and 3D printing of a compact omnidirectional wheel
optimized to create a small series of three-wheeled omnidirectional mobile robots. The omnidirectional
wheel proposed is based on the use of free-rotating passive wheels aligned transversally to the center
of the main wheel and with a constant separation gap. This paper compares a three inner-passive
wheels design based on mass-produced parts and 3D printed elements. The inner passive wheel that
better combines weight, cost, and friction is implemented with a metallic ball bearing fitted inside a
3D printed U-grooved ring that holds a soft toric joint. The proposed design has been implemented
using acrylonitrile butadiene styrene (ABS) and tough polylactic acid (PLA) as 3D printing materials
in order to empirically compare the deformation of the weakest parts of the mechanical design.
The conclusion is that the most critical parts of the omnidirectional wheel are less prone to deformation
and show better mechanical properties if they are printed horizontally (with the axes that hold the
passive wheels oriented parallel to the build surface), with an infill density of 100% and using tough
PLA rather than ABS as a 3D printing material
Assessing over Time Performance of an eNose Composed of 16 Single-Type MOX Gas Sensors Applied to Classify Two Volatiles
This paper assesses the over time performance of a custom electronic nose (eNose) composed of an array of commercial low-cost and single-type miniature metal-oxide (MOX) semiconductor gas sensors. The eNose uses 16 BME680 versatile sensor devices, each including an embedded
non-selective MOX gas sensor that was originally proposed to measure the total volatile organic
compounds (TVOC) in the air. This custom eNose has been used previously to detect ethanol and
acetone, obtaining initial promising classification results that worsened over time because of sensor
drift. The current paper assesses the over time performance of different classification methods applied
to process the information gathered from the eNose. The best classification results have been obtained
when applying a linear discriminant analysis (LDA) to the normalized conductance of the sensing
layer of the 16 MOX gas sensors available in the eNose. The LDA procedure by itself has reduced the
influence of drift in the classification performance of this single-type eNose during an evaluation
period of three month
Application of a Single-Type eNose to Discriminate the Brewed Aroma of One Caffeinated and Decaffeinated Encapsulated Espresso Coffee Type
This paper assesses a custom single-type electronic nose (eNose) applied to differentiate
the complex aromas generated by the caffeinated and decaffeinated versions of one encapsulated
espresso coffee mixture type. The eNose used is composed of 16 single-type (identical) metal–oxide
semiconductor (MOX) gas sensors based on microelectromechanical system (MEMS). This eNose
proposal takes advantage of the small but inherent sensing variability of MOX gas sensors in order to
provide a multisensorial description of volatiles or aromas. Results have shown that the information
provided with this eNose processed using LDA is able to successfully discriminate the complex
aromas of one caffeinated and decaffeinated encapsulated espresso coffee type
Classification of Three Volatiles Using a Single-Type eNose with Detailed Class-Map Visualization
The use of electronic noses (eNoses) as analysis tools are growing in popularity; however, the lack of a comprehensive, visual representation of how the different classes are organized and distributed largely complicates the interpretation of the classification results, thus reducing their practicality. The new contributions of this paper are the assessment of the multivariate classification performance of a custom, low-cost eNose composed of 16 single-type (identical) MOX gas sensors for the classification of three volatiles, along with a proposal to improve the visual interpretation of the classification results by means of generating a detailed 2D class-map representation based on the inverse of the orthogonal linear transformation obtained from a PCA and LDA analysis. The results showed that this single-type eNose implementation was able to perform multivariate classification, while the class-map visualization summarized the learned features and how these features may affect the performance of the classification, simplifying the interpretation and understanding of the eNose results
The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
This paper describes the evolution of the Assistant Personal Robot (APR) project developed at the Robotics Laboratory of the University of Lleida, Spain. This paper describes the first APR-01 prototype developed, the basic hardware improvement, the specific anthropomorphic improvements, and the preference surveys conducted with engineering students from the same university in order to maximize the perceived affinity with the final APR-02 mobile robot prototype. The anthropomorphic improvements have covered the design of the arms, the implementation of the arm and symbolic hand, the selection of a face for the mobile robot, the selection of a neutral facial expression, the selection of an animation for the mouth, the application of proximity feedback, the application of gaze feedback, the use of arm gestures, the selection of the motion planning strategy, and the selection of the nominal translational velocity. The final conclusion is that the development of preference surveys during the implementation of the APR-02 prototype has greatly influenced its evolution and has contributed to increase the perceived affinity and social acceptability of the prototype, which is now ready to develop assistance applications in dynamic workspaces.This research was partially funded by the Accessibility Chair promoted by Indra, Adecco Foundation and the University of Lleida Foundation from 2006 to 2018. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results
Estudi exploratori per a la construcciĂł dels nivells de domini i indicadors d'una rĂşbrica per avaluar la competència de pensament analĂtic (CPA)
Aquest Ă©s un treball vinculat al projecte PID. Fils Conductors: transversalitat docent i pensament analĂtic a treball socialEs presenta el treball previ que s'ha fet servir per elaborar els indicadors de la rĂşbrica de forma inductiva a partir de la prĂ ctica docent del professorat participant.Aquests van haver de recollir un bon exemple i un mal exemple de pensament analĂtic i la justificaciĂł de la seva elecciĂł en base als treballs presentats pels estudiants en l’últim curs (2010-2011). Es van recollir 12 fitxes, corresponents a totes les assignatures participants. Els resultats orienten tres grans categories d'anĂ lisi: criteris de format; criteris relatius a la relaciĂł entre factors; criteris relatius als objectius del treball requerit
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