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Real-time Communication between Automation Studio and PLC based on OPC Technology for control 3-DoF robot

Real-time Communication between Automation Studio and PLC ba...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Constantin-Cătălin Dosoftei Alexandru Lupu Lucian Mastacan Dept. of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania

The approach from this work is multidisciplinary, similar with challenges from industrial word which started to implement the new industrial revolution in more and more areas. This paper presents a method of implementing a remote real-time communication, based on Open Platform Communication (OPC) on the Ethernet, for the communication between Automation Studio software solution and a Programmable Logic Computer (PLC) which control a 3-DoF pneumatic robot with a handle gripper. The model of robot is implemented in Automation Studio and this paper uses the benefits of OPC Server in order to connect the simulated system with a PLC. A real PLC is used to implement the supervisory control of the simulated plant. Relation between the physical and the virtual world is an important component of Industry 4.0, represent cyber-physical system.

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Stable hovering architecture for nanoquadcopter applications in indoor environments

Stable hovering architecture for nanoquadcopter applications...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Sofia Huştiu Marian Lupaşcu Ştefan Popescu Adrian Burlacu Marius Kloetzer Dept. of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iaşi Iaş i Romania

This research aims at designing a stable hovering architecture for small size quadcopters in indoor environments. The chosen system is a Crazyflie 2.0 nanoquadcopter. First, using the Newton-Euler equations, the dynamic nonlinear model is built. This model allows for simulations and feedback controller design. Second, a 3D indoor environment was created for real-time applications. A Kinect Sensor is considered for real time position measurements, at the same time with obtaining orientations from the gyroscope of the Crazyflie. For practical implementation, a combination between Python and Matlab facilities was considered. The first prototype of the proposed architecture was evaluated for different scenarios and the experimental results are detailed and commented.

关键词： Mathematical model Computer architecture Matlab Robot sensing systems Indoor environments Gyroscopes Software

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Path-planning in Discretized Environments with Optimized Waypoints Computation

Path-planning in Discretized Environments with Optimized Way...

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IEEE International Conference on Emerging Technologies and Factory Automation

作者： Emanuele Vitolo Cristian Mahulea Marius Kloetzer Aragón Institute for Engineering Research (I3A) University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania

This paper considers the path-planning problem in discretized environments, obtained for example by a cell decomposition approach. The specification for the mobile robot can be the classical navigation problem (reach a given region by avoiding the obstacles) or a high-level specification as a Boolean and/or temporal logic formula. We propose a general methodology to compute piecewise linear trajectories consisting in a sequence of intermediate points (waypoints). The waypoints are computed by solving optimization problems whose solutions permit to optimally select the intermediate points on the common facets of traversed cells from the decomposition. The proposed solution is similar to a Model Predictive control (MPC) strategy, in each step an optimization problem is solved over a finite horizon, the first action is considered and the problem is iterated. The method developed in this paper has been implemented and integrated in Robot Motion Toolbox allowing a comparison with other methods by simulation.

关键词： Cost function Trajectory Euclidean distance Mobile robots Electronic mail

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Wahba problem in SO(3) dual algebra

Wahba problem in SO(3) dual algebra

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AIAA/AAS Astrodynamics Specialist Conference, 2016

作者： Condurache, Daniel Burlacu, Adrian Dept. of Theoretical Mechanics Technical University of Iasi D. Mangeron Street no. 59 Iasi700050 Romania Dept. of Automatic Control and Applied Informatics Technical University of Iasi D. Mangeron Street No. 27 Iasi700050 Romania

ISBN: (数字)9781624104459

ISBN: (纸本)9781624104459

In this paper an extension of the classical attitudeWahba’s problem to a new problem that involves both position and attitude is presented. This new problem is illustrated in the dual algebra of orthogonal dual tensors. Our approach makes use of the isomorphism between the special euclidean group SE3 and the orthogonal dual tensors group SO3, which allows the development of a new technique for solving the proposed problem. This new Wahba problem is directly related to different applications such as point-to-point registration and sensor calibration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Tensors

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Sample gathering problem for different robots with limited capacity

Sample gathering problem for different robots with limited c...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Marius Kloetzer Cristian Mahulea Adrian Burlacu Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragón Institute for Engineering Research University of Zaragoza Spain

ISBN: (纸本)9781509027217

In this paper we consider the problem of using mobile robots to collect a set of samples that are arbitrarily distributed in the environment. The robots are not necessarily identical and each one has a finite capacity, being able to transport only a given number of samples at each time. Furthermore, the number of transporting routes for robots can be also upper bounded. The problem is addressed in this paper by using a mathematical programming approach, namely developing a Mixed Integer Linear Program (MILP). The solution provides the optimal assignment of robots to samples, with respect to gathering all samples in a storage area in minimum time. The method is supported through simulation examples implemented in Matlab by using the CPLEX MILP solver.

关键词： Robot kinematics Mobile robots Delays Collision avoidance Resource management Vehicles

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Multi-robot path planning for syntactically co-safe LTL specifications

Multi-robot path planning for syntactically co-safe LTL spec...

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International Workshop on Discrete Event Systems, WODES

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Romania Aragón Institute of Engineering Research (I3A) University of Zaragoza Zaragoza Spain

This paper presents an automatic strategy to control a team of identical robots that should satisfy a given task expressed as a syntactically co-safe Linear Temporal Logic (LTL) formula over a set of regions of interest. The team of robots is modeled by using a Petri net system with outputs (observations), thus avoiding the use of synchronized product of automatons. The strategy starts by translating the task into a Büchi automaton and by choosing a finite string satisfying the formula. Three Integer Linear Programming (ILP) formulations are used to find in the Petri net model a sequence of reachable markings such that the generated observations produce the chosen string of the Büchi automaton. If the string is not correctly followed, another one is found and the procedure is reiterated.

关键词： Automata Petri nets Collision avoidance Trajectory Computational modeling

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Inexpensive robot for experimental validation of planning and control algorithms

Inexpensive robot for experimental validation of planning an...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： José Lamarca Marius Kloetzer Cristian Mahulea Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragón Institute for Engineering Research University of Zaragoza Spain

ISBN: (纸本)9781509027217

This paper describes the structure of a mobile robot suitable for laboratory experiments. The robot is developed with the ideas of minimizing the production costs and of executing motion commands received from an external computer that runs the (possible computational intensive) planning algorithms. The proposed system is a differential wheeled robot built based on an Arduino platform, it has a small physical size and it is capable of wireless communication. These characteristics make it useful for validating planning algorithms for mobile robots in computer-guided laboratory experiments, while lowering the expenses required by such a setup. Moreover, in order to compensate the communication delay between the central computer and the robot, an estimation algorithm is implemented on the robot for obtaining a smoother motion.

关键词： Mobile robots Wheels Computers Planning Trajectory Pins

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Optimal control with fixed-end point for discrete linear perturbed systems

Optimal control with fixed-end point for discrete linear per...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Florin Ostafi Corneliu Botan Dept. of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania

The linear quadratic optimal control problem with finite final time and fixed end-point for discrete linear time invariant systems is presented. The study takes into account the influence of the time variant perturbations in optimal control law implementation. The applicability of the proposed algorithm is validated by simulation tests.

关键词： Optimal control Switches Optimization Estimation Shape Approximation methods

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Accomplish multi-robot tasks via Petri net models

Accomplish multi-robot tasks via Petri net models

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania Aragon Institute of Engineering Research (I3A) University of Zaragoza Spain

This paper proposes a method for planning a team of mobile robots such that they accomplish a set of tasks. The environment and the movement capabilities of mobile robots are represented by a Petri net model. Each task is located in a given location and its accomplishment requires a certain number of robots to be present in that place. The order for serving the tasks and firing count vectors for the model result from solving an Integer Linear Programming optimization. Structural properties of the Petri net model allow us to develop an algorithm that produces robot strategies composed from movements, waiting and task serving.

关键词： Mathematical model Petri nets Collision avoidance Mobile robots Optimization Resource management

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A Matlab-based interactive simulator for mobile robotics

A Matlab-based interactive simulator for mobile robotics

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Ramon Gonzalez Cristian Mahulea Marius Kloetzer Aragón Institute of Engineering Research (I3A) University of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University of Iasi Romania

This paper presents an open-source Matlab-based interactive software tool for teaching mobile robotics in introductory courses. In particular, it deals with the subjects: modeling, path planning, and motion control. This simulator offers the advantage of testing different aspects related to these fundamental topics and instantly seeing the result in a Graphical User Interface (GUI). This fact leads to a high realism in interactivity, while no previous knowledge in Matlab or programming is required. Additionally, it constitutes an easily scalable tool, the GUI has been properly designed with just one single window with straightforward and intuitive buttons, icons, and figures. Some illustrative examples demonstrate the benefits of the proposed simulator.

关键词： Mobile robots Trajectory Wheels MATLAB

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