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This study presents an alternative approach to observe the works of the quadcopter control system through virtual reality display, in which real-time human-computer interactions are possible. By using Simulink software, the control... more
This study presents an alternative approach to observe the works of the quadcopter control system through virtual reality display, in which real-time human-computer interactions are possible. By using Simulink software, the control systems are designed in form of three block diagrams with progressive complexity and programmed into a three-channel joystick. The first block diagram shows the translational movement according to the joystick behavior to move forward, backward, left, right, and throttle. The second block diagram is combined with the first diagram and added the rotational movement with maximum angle alteration of 57 degrees in each attitude movement. Continuous movement on circular trajectory was also analyzed to comprehend the correlation between the heading angle with the position vector. The third block diagram is the culmination of all diagrams and added the PID control to improve the stability in maneuver. The results show that the movement of quadcopter in virtual reality facilitate user to perceive the dynamic visualization of translational and rotational movement, thus it can also be of advantage for educational purpose. The integration of virtual reality and control system also reveal the vector position and generated angle, thus any possible error in the algorithm used can be precisely solved.
Non-linear dynamic movement of quadcopter was analyzed using position tracking method in a circular trajectory. The result was used to obtain control system algorithm which can enhance maneuver ability. The control system was modelled... more
Non-linear dynamic movement of quadcopter was analyzed using position tracking method in a circular trajectory. The result was used to obtain control system algorithm which can enhance maneuver ability. The control system was modelled into feedback linearization and LQR (Linear Quadratic Regulator) controller, both were used to stabilize quadcopter attitude in the trajectory. Quadcopter behavior while using feedback linearization modeling and LQR control were clearly seen in pitch-roll position in circular trajectory and at the time of bounded disturbance. Wind parameter appraisal was added to boost the robustness. To get optimal result, overall control system was tuned with PID (Proportional Integral Derivative) loop control. The study showed that adjustment of the weight variable on LQR and coefficient on PID resulted in better stability and performance of quadcopter dynamic movement. Overall, control algorithm for modeling had the capability to reject disturbance although small error still occurred in the output trajectories tracking.
Quadcopter flight stability is achieved when all of the rotors–propellers generate equal thrust in hover and throttle mode. It requires a control system algorithm for rotor speed adjustment, which is related with the translational vector... more
Quadcopter flight stability is achieved when all of the rotors–propellers generate equal thrust in hover and throttle mode. It requires a control system algorithm for rotor speed adjustment, which is related with the translational vector and rotational angle. Even with an identical propeller and speed, the thrusts generated are not necessarily equal on all rotors–propellers. Therefore, this study focuses on developing a data logger to measure thrust and to assist in flight control on a symmetrically-structured quadcopter. It is developed with a four load cells sensor with two-axis characterizations and is able to perform real-time signal processing. The process includes speed adjustment for each rotor, trim calibration, and a proportional integral derivative (PID) control tuning system. In the data retrieval process, a quadcopter was attached with data logger system in a parallel axis position. Various speeds between 1200 rpm to 4080 rpm in throttle mode were analyzed to determine t...
In quadcopter design process, usually the selection of rotor and propeller are treated carefully because they will determine the maneuver abilities as well as the speed and maximum carry load. Among various methods used to choose the best... more
In quadcopter design process, usually the selection of rotor and propeller are treated carefully because they will determine the maneuver abilities as well as the speed and maximum carry load. Among various methods used to choose the best combination of rotor and propeller, this research used Solidworks software computational method. The final result was compared with data-sheets of three commercial rotor specification for quadcopters in order to ascertain its validity. The designed propeller’s size is 16 × 5 inch with two blades, and connected to a rotor having angular velocity between 1000 and 9000 rpm. In order to analyze the air pressure around propeller, Solidworks flow simulation was conducted. Information achieved from analyzed data show that the maximum thrust was 4144 g-force (gf), with propeller’s coefficient thrust of 0.04. These data can be used to analyze the power efficiency in rotor propeller which is then useful in choosing the right size of propeller, according to the desired thrust.
Quadcopter is one of Unmanned Aerial Vehicle (UAV) which has two pairs of identical fixed pitched rotor propellers. It can fly autonomously based on pre-programmed flight or manually controlled by a remote, and every movement achieved by... more
Quadcopter is one of Unmanned Aerial Vehicle (UAV) which has two pairs of identical fixed pitched rotor propellers. It can fly autonomously based on pre-programmed flight or manually controlled by a remote, and every movement achieved by varying the speed of each rotor independently. The orientation of quadcopter axes relative to a reference line and its direction of motion are known as attitude. Fly control factors are affected by attitude determination which can be calculated from 3 possible angles using combined measurement. Gyroscope and accelerometer are primary sensors to control quadcopter attitude, but magnetometer sensor and GPS also used to enhance the stability during flight. This paper will focus on details of function and mathematical formula of every factor regarding fly control and comparative data of 2 types of orientation sensor used in this system.
It was studied the ethanol concentration in wine fermentation with and without added yeast using an optical fiber biosensor made by ADH immobilization onto optical fiber by sol-gel technique in MTMOS/TEOS matrix.
6082-T6 aluminium alloy is a ductile metal. When subjected to small particles erosion, sub-surface deformations are expected due to the particle impact. Plasticity is one of the properties which might reveal the rate of the deformations.... more
6082-T6 aluminium alloy is a ductile metal. When subjected to small particles erosion, sub-surface deformations are expected due to the particle impact. Plasticity is one of the properties which might reveal the rate of the deformations. As a result of plastic deformation, mechanical properties of the samples are expected to change with distance from the surface. Typically, the depth of the plastically deformed region could be between 5 and 200 μm. In order to understand the plasticity of the materials, nanoindentation researches were conducted. Aluminium alloy samples were previously subjected to hard material particles jets (Al2O3) under different values of incident angle, between 15 and 90 degrees. After a 3D scan of the resulted surfaces, the samples were cut in such a manner that the middle section remained visible and prepared for nanoindentation analysis. The paper presents the experiments conducted as well as some of the achieved results.
An unbalanced propeller can affect a quadcopter’s performance due to vibration, also decreasing its thrust’s yield. Analyses were conducted to determine the correlation between vibration in the dynamic movement of a balanced and an... more
An unbalanced propeller can affect a quadcopter’s performance due to vibration, also decreasing its thrust’s yield. Analyses were conducted to determine the correlation between vibration in the dynamic movement of a balanced and an imbalanced propeller using a laser vibrometer (portable digital vibrometer) PDV-100, to determine the correlation between propeller rotational speed and its vibration, as well as to determine the propeller’s maximum rotational speed to avoid over-vibration. The vibration analysis was conducted on a carbon fiber 2-blade propeller by comparing the results of vibration tests with the propeller blade contour. The vibration response of the propeller has been analyzed at three points, respectively the hub, the center, and the tip of the blade, to determine the point having the largest value of the vibration on the propeller running at a maximum rotation speed of 7000 rpm. The same analysis was made on two propellers: the first one of type 1340 with a diameter o...
This study presents a detailed analysis of an air monitoring development system using quadcopters. The data collecting method is based on gas dispersion investigation to pinpoint the gas source location and determine the gas concentration... more
This study presents a detailed analysis of an air monitoring development system using quadcopters. The data collecting method is based on gas dispersion investigation to pinpoint the gas source location and determine the gas concentration level. Due to its flexibility and low cost, a quadcopter was integrated with air monitoring sensors to collect the required data. The analysis started with the sensor placement on the quadcopter and their correlation with the generated vortex. The reliability and response time of the sensor used determine the duration of the data collection process. The dynamic nature of the environment makes the technique of air monitoring of topmost concern. The pattern method has been adapted to the data collection process in which area scanning was marked using a point of interest or grid point. The experiments were done by manipulating a carbon monoxide (CO) source, with data readings being made in two ways: point source with eight sampling points arranged in ...
Sonic pollution is characteristic to urban congestions, having harmful consequences upon inhabitants' health. Sonic pollution evaluation became the big cities' local's city hall desideratum, in order to take necessary measures... more
Sonic pollution is characteristic to urban congestions, having harmful consequences upon inhabitants' health. Sonic pollution evaluation became the big cities' local's city hall desideratum, in order to take necessary measures to reduce it. The paper presents the results of a study concerning the identification of measuring location for acoustic level measurements. The study is a stage of the CEEX no.129/2006 SICOMSUV project.
Selenium compounds have been proven to possess anti-inflammatory, anti-cancer, anti-bacterial and anti-viral activities. A series of fifteen synthesized hidrazinoselenazole was investigated to assess the chromatographic properties as... more
Selenium compounds have been proven to possess anti-inflammatory, anti-cancer, anti-bacterial and anti-viral activities. A series of fifteen synthesized hidrazinoselenazole was investigated to assess the chromatographic properties as function of structural features and the cytotoxicity as function of chromatographic properties and/or structural descriptors. The investigated chromatographic properties were retention factor, specific surface area of the solvent and chromatographic hydrophobicity index. The 3D model of the compounds was optimized using Hartree-Fock DFT/B3LYP method, 6-31+G* basis set both in vacuum and water with Spartan software (v.8). Furthermore, several quantitative structure-activity relationship (QSAR) descriptors were calculated with Spartan and Dragon (v. 5.5) software. Full search approach was used to construct simple and multiple linear regression models. No reliable model was identified for specific surface area of the solvent. The models with higher perform...
ABSTRACT Production systems must be flexible and endowed with techniques and tools allowing an automatic recovery of errors. And so, the subject of error recovery in flexible manufacturing system is always an open issue. The objective of... more
ABSTRACT Production systems must be flexible and endowed with techniques and tools allowing an automatic recovery of errors. And so, the subject of error recovery in flexible manufacturing system is always an open issue. The objective of this work consists in proposing a new type of software framework for error troubleshooting in a flexible manufacturing system that is perceived as an Intelligent Space (iSpace). Our framework system is designed to solve the failures in the functioning of the FMS and to generate self-training from previous experience.
Research Interests:
Among the specialized analysis tools, spreadsheet applications are the most accessible. In addition, techniques and tools for organizing, processing and presentation of basic data, such as strengthening multiple lists, filtering, running... more
Among the specialized analysis tools, spreadsheet applications are the most accessible. In addition, techniques and tools for organizing, processing and presentation of basic data, such as strengthening multiple lists, filtering, running sum, pivot tables they offer, largely satisfy the needs of organization and data analysis activities in the field of economics. For this reason we conducted a study in which we sought to obtain information on how these applications are used in the economic field.
Research Interests:
This paper presents the results of a study regarding the necessary means for small and medium enterprises to effectively interact and cooperate in terms of obtaining a maximum profit from transport infrastructures and communications using... more
This paper presents the results of a study regarding the necessary means for small and medium enterprises to effectively interact and cooperate in terms of obtaining a maximum profit from transport infrastructures and communications using available and predictable information technology and communications means. The diversity of structures among enterprises has led to the development of new software products, which are more competitive and efficient and are covering a wider domain of application. As the majority of logistics activities are focused on planning, realizing and tracking cargo, managing vehicles and afferent activities, specific software products were designed and developed, generically called TMS. An analysis of current situation shows that small and medium enterprises are using just a small part of available software. They are treat customers individually and does not enable collaboration between customers to reduce transportation costs or sharing the transport resources.
Research Interests:
This paper presents the development of a new optic fiber sensor for measuring ethanol concentration in real time, obtained by simultaneous immobilization of alcohol dehydrogenase and NAD + onto optical fiber by sol-gel technique in... more
This paper presents the development of a new optic fiber sensor for measuring ethanol concentration in real time, obtained by simultaneous immobilization of alcohol dehydrogenase and NAD + onto optical fiber by sol-gel technique in MTMOS/TEOS matrix. Biosensor was tested in a concentration range of 2-18% ethanol and the results were compared with standard spectrophotometric enzyme assay determinations, indicating that the sensor has a good functionality in the range of the analyzed concentrations.
This paper presents the possibilities of using the augmented reality to control a robot system via Internet.
ABSTRACT This paper presents some studies regarding the functional model of a robot system that has a visual servoing control, and also the simulation results for the system model. The information given by a visual system of the position... more
ABSTRACT This paper presents some studies regarding the functional model of a robot system that has a visual servoing control, and also the simulation results for the system model. The information given by a visual system of the position of a target, materialized by a moving light source is used to realize the robot control.
ABSTRACT Experimentation is a very important part of education in engineering including mechatronics engineering, which is a relatively new field, combining three engineering disciplines: mechanical engineering, electrical engineering and... more
ABSTRACT Experimentation is a very important part of education in engineering including mechatronics engineering, which is a relatively new field, combining three engineering disciplines: mechanical engineering, electrical engineering and software engineering. The equipments needed for experiments in mechatronics are usually expensive. A solution to make these expensive equipments achievable is to share them with other universities or research centers from different locations in the world.The goal of our team is to build a networked telerobot system so that the Internet users, especially researchers and students, can be able to control an autonomous robot able to explore a dynamic environment remotely from their home and share the robot system with the department. The particularity of the environment, in this case, is that the experiment uses grid lines painted on the floor, for robot navigation purpose.The system which is still under development will be able to increase the number of robots. The communication software technologies are based on PHP. A specific protocol over IP was designed for communication between the server and clients.The aim of this project is oriented toward providing a telerobot system with a high degree of local intelligence in order to overcome restricted bandwidth and transmission delay of the network.
ABSTRACT This paper introduces a new type of software framework for error troubleshooting in flexible manufacturing systems using a frame marker device. Our framework system meant to resolve the failures originated from the human-machine... more
ABSTRACT This paper introduces a new type of software framework for error troubleshooting in flexible manufacturing systems using a frame marker device. Our framework system meant to resolve the failures originated from the human-machine interface and to generate self-training from previous experience.
ABSTRACT Production systems must be flexible and endowed with techniques and tools allowing an automatic recovery of errors. And so, the subject of error recovery in flexible manufacturing system is always an open issue. The objective of... more
ABSTRACT Production systems must be flexible and endowed with techniques and tools allowing an automatic recovery of errors. And so, the subject of error recovery in flexible manufacturing system is always an open issue. The objective of this work consists in proposing a new type of software framework for error troubleshooting in a flexible manufacturing system that is perceived as an Intelligent Space (iSpace). Our framework system is designed to solve the failures in the functioning of the FMS and to generate self-training from previous experience.
Sonic pollution is characteristic to urban congestions, having harmful consequences upon inhabitants' health. Sonic pollution evaluation became the big cities' local's city hall desideratum, in order to take necessary measures... more
Sonic pollution is characteristic to urban congestions, having harmful consequences upon inhabitants' health. Sonic pollution evaluation became the big cities' local's city hall desideratum, in order to take necessary measures to reduce it. The paper presents the results of a study concerning the identification of measuring location for acoustic level measurements. The study is a stage of the CEEX no.129/2006 SICOMSUV project.