Proceedings of the Estonian Academy of Sciences. Engineering
... Ohtlasi rohutab see tarvidust selgitada esma-iilcsanded just toostusel. ... The 1996 European... more ... Ohtlasi rohutab see tarvidust selgitada esma-iilcsanded just toostusel. ... The 1996 European Design and Test Conference is sponsored by the EDA Association, a non-profit association of European DA professionals, by the IEEE Computer Society, and by ACM SIG-DA. ...
International Journal of Applied Mechanics and Engineering
Balancing a bipedal robot movement against external perturbations is considered a challenging and... more Balancing a bipedal robot movement against external perturbations is considered a challenging and complex topic. This paper discusses how the vibration caused by external disturbance has been tackled by a Linear Quadratic Regulator, which aims to provide optimal control to the system. A simulation was conducted on MATLAB in order to prove the concept. Results have shown that the linear quadratic regulator was successful in stabilizing the system efficiently.
29th Conference on Precision Electromagnetic Measurements (CPEM 2014), 2014
A follow-up initiative of development in the field of optical radiometry undertaken in the frame ... more A follow-up initiative of development in the field of optical radiometry undertaken in the frame of European Metrology Research Programme (EMRP) is described. Amongst the other tasks, the new project NEWSTAR aims at accurate determination of ratio e/h of fundamental constants - elementary charge e and Planck's constant h. This is envisaged to achieve by using improved version of Predictable Quantum Efficiency Detector with carefully pre-examined physical properties of inversion-layer Silicon-photodiodes and advanced measurement techniques. The principal approach towards reaching the goal is presented and discussed.
International Journal of Innovative Technology and Interdisciplinary Sciences, 2018
This paper presents the design of a PID controller and two different fuzzy logic controllers of M... more This paper presents the design of a PID controller and two different fuzzy logic controllers of Mamdani and Sugeno to control the non-linear model of a ball rolling on a beam using Matlab and Malab Simulink. Results from simulations are analyzed to provide comprehensive understandings on the ability use of different controllers. The paper also investigates the performance ability of these controllers for tracking on different references such as step, sinusoidal and square waves. Finally, advantages and disadvantages of each control strategies are concluded.
In this article a wireless network using Xbee modules is designed and applied for autonomous mobi... more In this article a wireless network using Xbee modules is designed and applied for autonomous mobile robot combined with GUI (Graphical User Interface) in MATLAB. The GUI panel and control structure in MATLAB allows to monitor and control all remote robots online by operator. Results and calculated solutions from MATLAB are directed back to autonomous mobile robot for Its performances and communications in the real time. This paper discovers a secure wireless network and low-cost with powerful data processes supportive to remote micro-controllers on autonomous mobile robot.
The results presented in this paper describe a practicable solution to multi-rotor platforms cons... more The results presented in this paper describe a practicable solution to multi-rotor platforms constructed and put together with standardized components to allow flexibility and customizability. The extensive utilization of universal parts supports an easy introduction of changes in case of necessary design alterations and speeds up the whole process when constructional changes are required. The research has been applied to a variety of special use multi-copters and has proven to be very useful. Further development will follow to secure subcomponents with necessary Ingress Protection ratings and even further optimize universal components. The constructional layout of multi-copters is relatively simple and usually consists of the main middle frame that houses control electronics, batteries and payload fastenings. Protruding boom arms have motors mounted in the tips and power cables running inside. The frame, payload and boom arms are generally fastened with hexagonal socket head cap sc...
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
The paper discusses mechatronics and robotics systems conceptual level design approach. Set of de... more The paper discusses mechatronics and robotics systems conceptual level design approach. Set of design templates are developed and organized into libraries preassigned for use on early stages of system design on example of robotics applications. The advantages of retaining the usability of component libraries offering in parallel the design alternatives verification and fine tuning capabilities on the conceptual level is
Eli Ltd. and Tallinn University of Technology (TUT) Department of Mechatronics are currently perf... more Eli Ltd. and Tallinn University of Technology (TUT) Department of Mechatronics are currently performing studies in order to develop a mini-class universal purpose unmanned aircraft [1,2]. The paper focuses on strength calculations and weight vs. strength optimization of the fuselage of this developed UAV system. To develop a strong but lightweight UAV fuselage, advanced computer modeling and finite element structure analysis are used as virtual prototyping tools for the optimization of the fuselage at early design stage and through the production period to improve the design [3]. Design optimization is applied to minimize the maximum stresses within the fuselage, subject to strain constraint in conjunction with both geometry and choice of appropriate fibre orientations and stacking sequence as design variables and also material parameters. The fuselage for the UAV plane was designed and manufactured using E-Glass/Epoxy and High modulus (HM) carbon/Epoxy composites. In this paper ANS...
Unmanned aerial vehicles (UAVs) are used predominately for military applications, despite a growi... more Unmanned aerial vehicles (UAVs) are used predominately for military applications, despite a growing number of emerging civilian tasks. One of the key tasks for increasing the advantages over a manned aircraft are to extend the flight duration of the UAV. Long endurance flights demand an engine that adapts to variable weather and atmospheric conditions as well as to changes in altitude. Varying demand of the UAV for power is compared to determine the needs for our mid-class test platform. The paper presents a solution to a high-efficiency engine and suggests a test layout for assessing reliability and optimal performance.
In carrying out the movement in an unfamiliar area, a mobile robot must solve a number of importa... more In carrying out the movement in an unfamiliar area, a mobile robot must solve a number of important tasks. He should be able to measure, build a three-dimensional map and to determine its position on the map. With access to the map, the robot is able to plan its route. However, such an effective navigation is limited to the boundaries of the area.
— Early design is widely accepted inside the engineering design community as a crucial design pha... more — Early design is widely accepted inside the engineering design community as a crucial design phase. This is due to the fact that decisions taken at this stage constrained heavily the final performances of products. This article presents a design framework dedicated to the early design phases of mechatronic products. This framework provides a scientifically coherent methodology for refinement, analysis, modeling, comparison and evaluation of design solutions at early stage of the design process. SysML is proposed by the authors as a powerful modeling language properly adapted to mechatronic requirements. In addition, the article proposes to combine SysML with dimensional analysis and qualitative physics in order to provide a design tool able to proceed also with early simulations, comparisons and evaluations. The framework proposed in this article is based on strong theoretical bases and is the combination of two doctoral works. A third doctoral work is planned on the same research ...
Demands for time, cost and clearness for mechatronics system design process has been significantl... more Demands for time, cost and clearness for mechatronics system design process has been significantly increased during last years. At the same time new methods are developed or are under the development to satisfy these needs. This paper represents the integration of two novel approaches for advanced mechatronics system design. A case study is composed.
Human-machine interfaces (HMIs) of stationary industrial machines are often stationary or require... more Human-machine interfaces (HMIs) of stationary industrial machines are often stationary or require a teaching pendant. A stationary control panel limits the mobility of the operator while a remote can be dropped, broken or misplaced. Machine vision is a viable alternative for physical HMIs. To demonstrate the potential of machine vision in these circumstances, this paper describes an application in which a quadrocopter is controlled using hand gestures. In the application described in this paper, an operator manipulates the quadrocopter using predefined hand gestures to initiate predefined maneuvers. This work demonstrates the uses of discrete hand gestures and draws comparisons between the discrete control and continuous control. Similar solutions to those described in this paper can be used in a variety of systems and possible applications range from industrial robots to household electronics.
Design process in an interdisciplinary domain like mechatronics is a complex process and sets hig... more Design process in an interdisciplinary domain like mechatronics is a complex process and sets high demands for designer. It is wide known that decisions in conceptual stage of design process affect final product significantly. Therefore great attention for this phase of design must be paid. The paper gives an overview of the product development process focusing on the conceptual stage and the methodologies and techniques used. An object-oriented approach based on the combination of different techniques is proposed. Quicker conceptual design solutions, optimized design candidates, and well formalized customer needs are the main benefits of the new approach for the conceptual design process.
Proceedings of the Estonian Academy of Sciences. Engineering
... Ohtlasi rohutab see tarvidust selgitada esma-iilcsanded just toostusel. ... The 1996 European... more ... Ohtlasi rohutab see tarvidust selgitada esma-iilcsanded just toostusel. ... The 1996 European Design and Test Conference is sponsored by the EDA Association, a non-profit association of European DA professionals, by the IEEE Computer Society, and by ACM SIG-DA. ...
International Journal of Applied Mechanics and Engineering
Balancing a bipedal robot movement against external perturbations is considered a challenging and... more Balancing a bipedal robot movement against external perturbations is considered a challenging and complex topic. This paper discusses how the vibration caused by external disturbance has been tackled by a Linear Quadratic Regulator, which aims to provide optimal control to the system. A simulation was conducted on MATLAB in order to prove the concept. Results have shown that the linear quadratic regulator was successful in stabilizing the system efficiently.
29th Conference on Precision Electromagnetic Measurements (CPEM 2014), 2014
A follow-up initiative of development in the field of optical radiometry undertaken in the frame ... more A follow-up initiative of development in the field of optical radiometry undertaken in the frame of European Metrology Research Programme (EMRP) is described. Amongst the other tasks, the new project NEWSTAR aims at accurate determination of ratio e/h of fundamental constants - elementary charge e and Planck's constant h. This is envisaged to achieve by using improved version of Predictable Quantum Efficiency Detector with carefully pre-examined physical properties of inversion-layer Silicon-photodiodes and advanced measurement techniques. The principal approach towards reaching the goal is presented and discussed.
International Journal of Innovative Technology and Interdisciplinary Sciences, 2018
This paper presents the design of a PID controller and two different fuzzy logic controllers of M... more This paper presents the design of a PID controller and two different fuzzy logic controllers of Mamdani and Sugeno to control the non-linear model of a ball rolling on a beam using Matlab and Malab Simulink. Results from simulations are analyzed to provide comprehensive understandings on the ability use of different controllers. The paper also investigates the performance ability of these controllers for tracking on different references such as step, sinusoidal and square waves. Finally, advantages and disadvantages of each control strategies are concluded.
In this article a wireless network using Xbee modules is designed and applied for autonomous mobi... more In this article a wireless network using Xbee modules is designed and applied for autonomous mobile robot combined with GUI (Graphical User Interface) in MATLAB. The GUI panel and control structure in MATLAB allows to monitor and control all remote robots online by operator. Results and calculated solutions from MATLAB are directed back to autonomous mobile robot for Its performances and communications in the real time. This paper discovers a secure wireless network and low-cost with powerful data processes supportive to remote micro-controllers on autonomous mobile robot.
The results presented in this paper describe a practicable solution to multi-rotor platforms cons... more The results presented in this paper describe a practicable solution to multi-rotor platforms constructed and put together with standardized components to allow flexibility and customizability. The extensive utilization of universal parts supports an easy introduction of changes in case of necessary design alterations and speeds up the whole process when constructional changes are required. The research has been applied to a variety of special use multi-copters and has proven to be very useful. Further development will follow to secure subcomponents with necessary Ingress Protection ratings and even further optimize universal components. The constructional layout of multi-copters is relatively simple and usually consists of the main middle frame that houses control electronics, batteries and payload fastenings. Protruding boom arms have motors mounted in the tips and power cables running inside. The frame, payload and boom arms are generally fastened with hexagonal socket head cap sc...
2007 IEEE/ASME international conference on advanced intelligent mechatronics, 2007
The paper discusses mechatronics and robotics systems conceptual level design approach. Set of de... more The paper discusses mechatronics and robotics systems conceptual level design approach. Set of design templates are developed and organized into libraries preassigned for use on early stages of system design on example of robotics applications. The advantages of retaining the usability of component libraries offering in parallel the design alternatives verification and fine tuning capabilities on the conceptual level is
Eli Ltd. and Tallinn University of Technology (TUT) Department of Mechatronics are currently perf... more Eli Ltd. and Tallinn University of Technology (TUT) Department of Mechatronics are currently performing studies in order to develop a mini-class universal purpose unmanned aircraft [1,2]. The paper focuses on strength calculations and weight vs. strength optimization of the fuselage of this developed UAV system. To develop a strong but lightweight UAV fuselage, advanced computer modeling and finite element structure analysis are used as virtual prototyping tools for the optimization of the fuselage at early design stage and through the production period to improve the design [3]. Design optimization is applied to minimize the maximum stresses within the fuselage, subject to strain constraint in conjunction with both geometry and choice of appropriate fibre orientations and stacking sequence as design variables and also material parameters. The fuselage for the UAV plane was designed and manufactured using E-Glass/Epoxy and High modulus (HM) carbon/Epoxy composites. In this paper ANS...
Unmanned aerial vehicles (UAVs) are used predominately for military applications, despite a growi... more Unmanned aerial vehicles (UAVs) are used predominately for military applications, despite a growing number of emerging civilian tasks. One of the key tasks for increasing the advantages over a manned aircraft are to extend the flight duration of the UAV. Long endurance flights demand an engine that adapts to variable weather and atmospheric conditions as well as to changes in altitude. Varying demand of the UAV for power is compared to determine the needs for our mid-class test platform. The paper presents a solution to a high-efficiency engine and suggests a test layout for assessing reliability and optimal performance.
In carrying out the movement in an unfamiliar area, a mobile robot must solve a number of importa... more In carrying out the movement in an unfamiliar area, a mobile robot must solve a number of important tasks. He should be able to measure, build a three-dimensional map and to determine its position on the map. With access to the map, the robot is able to plan its route. However, such an effective navigation is limited to the boundaries of the area.
— Early design is widely accepted inside the engineering design community as a crucial design pha... more — Early design is widely accepted inside the engineering design community as a crucial design phase. This is due to the fact that decisions taken at this stage constrained heavily the final performances of products. This article presents a design framework dedicated to the early design phases of mechatronic products. This framework provides a scientifically coherent methodology for refinement, analysis, modeling, comparison and evaluation of design solutions at early stage of the design process. SysML is proposed by the authors as a powerful modeling language properly adapted to mechatronic requirements. In addition, the article proposes to combine SysML with dimensional analysis and qualitative physics in order to provide a design tool able to proceed also with early simulations, comparisons and evaluations. The framework proposed in this article is based on strong theoretical bases and is the combination of two doctoral works. A third doctoral work is planned on the same research ...
Demands for time, cost and clearness for mechatronics system design process has been significantl... more Demands for time, cost and clearness for mechatronics system design process has been significantly increased during last years. At the same time new methods are developed or are under the development to satisfy these needs. This paper represents the integration of two novel approaches for advanced mechatronics system design. A case study is composed.
Human-machine interfaces (HMIs) of stationary industrial machines are often stationary or require... more Human-machine interfaces (HMIs) of stationary industrial machines are often stationary or require a teaching pendant. A stationary control panel limits the mobility of the operator while a remote can be dropped, broken or misplaced. Machine vision is a viable alternative for physical HMIs. To demonstrate the potential of machine vision in these circumstances, this paper describes an application in which a quadrocopter is controlled using hand gestures. In the application described in this paper, an operator manipulates the quadrocopter using predefined hand gestures to initiate predefined maneuvers. This work demonstrates the uses of discrete hand gestures and draws comparisons between the discrete control and continuous control. Similar solutions to those described in this paper can be used in a variety of systems and possible applications range from industrial robots to household electronics.
Design process in an interdisciplinary domain like mechatronics is a complex process and sets hig... more Design process in an interdisciplinary domain like mechatronics is a complex process and sets high demands for designer. It is wide known that decisions in conceptual stage of design process affect final product significantly. Therefore great attention for this phase of design must be paid. The paper gives an overview of the product development process focusing on the conceptual stage and the methodologies and techniques used. An object-oriented approach based on the combination of different techniques is proposed. Quicker conceptual design solutions, optimized design candidates, and well formalized customer needs are the main benefits of the new approach for the conceptual design process.
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