Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751858
Aytaç Altan, Özgür Aslan, R. Hacıoğlu
The effective control of gimbal, Vertical Take-Off and Landing (VTOL) and Load Transporting System (LTS) in Unmanned Aerial Vehicles (UAV), which are widely used in mapping, search-and-rescue, exploration and surveillance, border security, real-time image transfer by tracking target and leaving payloads to specified targets in hazardous regions directly affect task performance. In this study, Model Reference Adaptive Control (MRAC) of LTS which has an important role to be able to leave payloads on UAV in real time with minimum error to specified targets is carried out and its effect on duty performance is investigated. The three payloads in the cubic structure are transported by LTS originally designed for real-time specified targets. DC gear motors are used in the LTS so that payloads can be left to real time specified targets. Environmental testing is conducted taking into account the limitations of the physical properties of the LTS on the autonomously moving UAV, and the impact on MRAC’s mission performance is examined.
{"title":"Model Reference Adaptive Control of Load Transporting System on Unmanned Aerial Vehicle","authors":"Aytaç Altan, Özgür Aslan, R. Hacıoğlu","doi":"10.1109/CEIT.2018.8751858","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751858","url":null,"abstract":"The effective control of gimbal, Vertical Take-Off and Landing (VTOL) and Load Transporting System (LTS) in Unmanned Aerial Vehicles (UAV), which are widely used in mapping, search-and-rescue, exploration and surveillance, border security, real-time image transfer by tracking target and leaving payloads to specified targets in hazardous regions directly affect task performance. In this study, Model Reference Adaptive Control (MRAC) of LTS which has an important role to be able to leave payloads on UAV in real time with minimum error to specified targets is carried out and its effect on duty performance is investigated. The three payloads in the cubic structure are transported by LTS originally designed for real-time specified targets. DC gear motors are used in the LTS so that payloads can be left to real time specified targets. Environmental testing is conducted taking into account the limitations of the physical properties of the LTS on the autonomously moving UAV, and the impact on MRAC’s mission performance is examined.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122090157","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751750
Sina Entekhabi, A. Karatas, Halit Oğuztüzün
Dynamically reconfigurable systems are able to respond to changes in their operational environments by reconfiguring themselves automatically. Dynamic software product lines are dynamically reconfigurable systems with an explicit variability model that guides the reconfiguration. In this work, feature models are used as the variability model. An emerging situation in the environment can lead to some relevant changes to the current configuration: some features must be activated, and some must be deactivated. Due to constraint propagation, the status of other features might need to be changed as well. However, considering the feature state migration cost, one would like to mitigate the cost to the greatest extent possible. Furthermore, the configuration with a proper cost has to be reached in an acceptable time. In this paper, we devised a set of feature model heuristics for a constraint satisfaction problem algorithm that considers the efficiency and the cost of feature state changes to be applied to the current configuration while confronting the changes in the environment so that the requirements of the new situation will be efficiently satisfied with the minimum cost.
{"title":"Dynamic Constraint Satisfaction Algorithm for Online Feature Model Reconfiguration","authors":"Sina Entekhabi, A. Karatas, Halit Oğuztüzün","doi":"10.1109/CEIT.2018.8751750","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751750","url":null,"abstract":"Dynamically reconfigurable systems are able to respond to changes in their operational environments by reconfiguring themselves automatically. Dynamic software product lines are dynamically reconfigurable systems with an explicit variability model that guides the reconfiguration. In this work, feature models are used as the variability model. An emerging situation in the environment can lead to some relevant changes to the current configuration: some features must be activated, and some must be deactivated. Due to constraint propagation, the status of other features might need to be changed as well. However, considering the feature state migration cost, one would like to mitigate the cost to the greatest extent possible. Furthermore, the configuration with a proper cost has to be reached in an acceptable time. In this paper, we devised a set of feature model heuristics for a constraint satisfaction problem algorithm that considers the efficiency and the cost of feature state changes to be applied to the current configuration while confronting the changes in the environment so that the requirements of the new situation will be efficiently satisfied with the minimum cost.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128649208","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751946
F. Köse, Kaplan Kaplan, H. Ertunc
The ball and plate system, which has more than one variable, is a non-linear system. The stability of the ball and plate system can be performed when the ball is moved to any desired coordinates on the plate or to the desired orbit. The degree of freedom of the ball and plate system is greater than the number of actuators that move the system. Therefore, the control of the system is a difficult problem. There is friction, measurement delays and unstable parameters that can affect the system control negatively. The designed physical model was implemented using Arduino Uno R3 development card by using PID, Sliding Mode Control (SMC) and Fuzzy Logic Control (FLC) methods through LabVIEW environment. For this aim, a user interface is created on the Labview program and a system design is implemented in which control parameters can be changed or different control algorithms can be tested.
球盘系统是一个非线性系统，它有多个变量。当球被移动到板上的任何期望的坐标或期望的轨道时，可以执行球和板系统的稳定性。球盘系统的自由度大于驱动系统的致动器的数量。因此，系统的控制是一个难题。摩擦、测量延迟和不稳定参数会对系统控制产生负面影响。设计的物理模型在Arduino Uno R3开发卡上通过LabVIEW环境采用PID、滑模控制(SMC)和模糊逻辑控制(FLC)方法实现。为此，在Labview程序上创建了一个用户界面，并实现了一个系统设计，其中可以更改控制参数或测试不同的控制算法。
{"title":"Real Time Position and Trajectory Control of Ball and Plate System Using Different Control Techniques","authors":"F. Köse, Kaplan Kaplan, H. Ertunc","doi":"10.1109/CEIT.2018.8751946","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751946","url":null,"abstract":"The ball and plate system, which has more than one variable, is a non-linear system. The stability of the ball and plate system can be performed when the ball is moved to any desired coordinates on the plate or to the desired orbit. The degree of freedom of the ball and plate system is greater than the number of actuators that move the system. Therefore, the control of the system is a difficult problem. There is friction, measurement delays and unstable parameters that can affect the system control negatively. The designed physical model was implemented using Arduino Uno R3 development card by using PID, Sliding Mode Control (SMC) and Fuzzy Logic Control (FLC) methods through LabVIEW environment. For this aim, a user interface is created on the Labview program and a system design is implemented in which control parameters can be changed or different control algorithms can be tested.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128912542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751938
Sinan Ilgen, Akif Durdu, Erdi Gülbahçe, Abdullah Çakan
This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with the constant variation reaching law. The simulation results show that the sliding mode controller (SMC) can successfully achieve trajectory tracking of a two-link planar robot manipulator according to the desired trajectory.
{"title":"Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software","authors":"Sinan Ilgen, Akif Durdu, Erdi Gülbahçe, Abdullah Çakan","doi":"10.1109/CEIT.2018.8751938","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751938","url":null,"abstract":"This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with the constant variation reaching law. The simulation results show that the sliding mode controller (SMC) can successfully achieve trajectory tracking of a two-link planar robot manipulator according to the desired trajectory.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131067050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751774
Fazal Nasir, Mohammad Javad Fotuhi, Z. Bingul
This paper presents the attitude control for the over-actuated double coaxial dual rotor 2DOF helicopter aerodynamic system (2DOF-HADS), a simplified version of helicopter, to investigate for possible fast dynamic responses using (proportional-Interagor-derivative) PID control algorithm and Extended Kalman Filter (EKF). In designing control strategy for Helicopter, dynamics uncertainties and nonlinear behavior have investigated. In control tasks, two separate PID controllers used for stabilization of coupled pitch and yaw angles and tracking of chosen state variables. The linear and Extended Kalman Filter used to estimate the uncertain states of the system. The filter combination with PID controllers improve the reliability of sensors data. The simulation and experimental results show a good tracking of the desire trajectory.
{"title":"Linear and Extended Kalman Filter Estimation of Pitch and Yaw Angles for 2 DOF Double Dual Twin Rotor Aero-dynamical System","authors":"Fazal Nasir, Mohammad Javad Fotuhi, Z. Bingul","doi":"10.1109/CEIT.2018.8751774","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751774","url":null,"abstract":"This paper presents the attitude control for the over-actuated double coaxial dual rotor 2DOF helicopter aerodynamic system (2DOF-HADS), a simplified version of helicopter, to investigate for possible fast dynamic responses using (proportional-Interagor-derivative) PID control algorithm and Extended Kalman Filter (EKF). In designing control strategy for Helicopter, dynamics uncertainties and nonlinear behavior have investigated. In control tasks, two separate PID controllers used for stabilization of coupled pitch and yaw angles and tracking of chosen state variables. The linear and Extended Kalman Filter used to estimate the uncertain states of the system. The filter combination with PID controllers improve the reliability of sensors data. The simulation and experimental results show a good tracking of the desire trajectory.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130193284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751809
M. Fotuhi, Zied Ben Hazem, Z. Bingül
Dual Twin Rotor Aero-dynamical Helicopter System (DTAHS) include nonlinearities due to frictions in the horizontal and vertical joints. In this study, an adaptive friction coefficients estimation model was developed to estimate the joint frictions of the Two DOF Double Dual Twin Rotor Aero-dynamical Helicopter System (TDDTRAHS) and compared with existing Linear and Non-Linear friction models. Joint accelerations of TDDTRAHS were classified into three different groups, for example low, medium and high. The adaptive friction coefficients were optimized based on this classification of acceleration. Based on the position RMSEs obtained from each joint friction model, the adaptive friction estimation method was much better than the existing friction estimation models in the literature. the joint frictions of the TDDTRAHS are estimated better using the Adaptive Non-Linear Friction Model (ANLFM). A robust mathematical model with ANLFM was developed for simulation and controller, which will be used in the inverse dynamic model for the PID controller. PID controllers designed based on the mathematical model with ANLFM. Accurate inverse model and the joint friction compensation improved PID controller performance for the TDDTRAHS.
{"title":"Adaptive Joint Friction Estimation Model For Laboratory 2 DOF Double Dual Twin Rotor Aerodynamical Helicopter System","authors":"M. Fotuhi, Zied Ben Hazem, Z. Bingül","doi":"10.1109/CEIT.2018.8751809","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751809","url":null,"abstract":"Dual Twin Rotor Aero-dynamical Helicopter System (DTAHS) include nonlinearities due to frictions in the horizontal and vertical joints. In this study, an adaptive friction coefficients estimation model was developed to estimate the joint frictions of the Two DOF Double Dual Twin Rotor Aero-dynamical Helicopter System (TDDTRAHS) and compared with existing Linear and Non-Linear friction models. Joint accelerations of TDDTRAHS were classified into three different groups, for example low, medium and high. The adaptive friction coefficients were optimized based on this classification of acceleration. Based on the position RMSEs obtained from each joint friction model, the adaptive friction estimation method was much better than the existing friction estimation models in the literature. the joint frictions of the TDDTRAHS are estimated better using the Adaptive Non-Linear Friction Model (ANLFM). A robust mathematical model with ANLFM was developed for simulation and controller, which will be used in the inverse dynamic model for the PID controller. PID controllers designed based on the mathematical model with ANLFM. Accurate inverse model and the joint friction compensation improved PID controller performance for the TDDTRAHS.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"310 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124414088","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751908
Ladjouzi Samir, G. Said, Soufi Youcef
In this paper, a novel approach to determine the optimal values of a PID controller is presented. The proposed method is based on using a single memory neuron which its weights represent the PID parameters. These weights are updated by the well-known bio-inspired algorithm: the particle swarm optimization. To show the efficiency of our method, we have applied it to control a DC servo motor which is used as an actuator for an arm robot manipulator. The obtained results are compared with those a fuzzy logic controller.
{"title":"PID Control of DC Servo Motor using a Single Memory Neuron","authors":"Ladjouzi Samir, G. Said, Soufi Youcef","doi":"10.1109/CEIT.2018.8751908","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751908","url":null,"abstract":"In this paper, a novel approach to determine the optimal values of a PID controller is presented. The proposed method is based on using a single memory neuron which its weights represent the PID parameters. These weights are updated by the well-known bio-inspired algorithm: the particle swarm optimization. To show the efficiency of our method, we have applied it to control a DC servo motor which is used as an actuator for an arm robot manipulator. The obtained results are compared with those a fuzzy logic controller.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124906450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751790
Onur Ayan, B. Turkay
Home automation systems give consumers access to control devices in their homes from a mobile phone or a tablet anywhere in the world and there are many products such as door locks, smart lights, garage doors, doorbell cameras, and smart switches with plugs in the home automation technology market. Smart thermostats are also one of the most important products of home automation system. HVAC systems account for over 60% of the energy consumed by buildings and this rate is expected to increase further in the future. For this reason, it is important to pay attention to the efficient use of HVAC systems. In this study, three different studies were performed on how much energy could be saved by using smart thermostats. When the temperature can be reduced during the night hours while consumers are sleeping, the energy savings for electricity and natural gas consumption were calculated as 20.72% and 17.7%, respectively. When consumers are away from the house at specific hours, they can save average 35.41% and 10.28% percent on electricity and natural gas consumption, respectively by turning down the thermostat or turning it off completely.
{"title":"Smart Thermostats for Home Automation Systems and Energy Savings from Smart Thermostats","authors":"Onur Ayan, B. Turkay","doi":"10.1109/CEIT.2018.8751790","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751790","url":null,"abstract":"Home automation systems give consumers access to control devices in their homes from a mobile phone or a tablet anywhere in the world and there are many products such as door locks, smart lights, garage doors, doorbell cameras, and smart switches with plugs in the home automation technology market. Smart thermostats are also one of the most important products of home automation system. HVAC systems account for over 60% of the energy consumed by buildings and this rate is expected to increase further in the future. For this reason, it is important to pay attention to the efficient use of HVAC systems. In this study, three different studies were performed on how much energy could be saved by using smart thermostats. When the temperature can be reduced during the night hours while consumers are sleeping, the energy savings for electricity and natural gas consumption were calculated as 20.72% and 17.7%, respectively. When consumers are away from the house at specific hours, they can save average 35.41% and 10.28% percent on electricity and natural gas consumption, respectively by turning down the thermostat or turning it off completely.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124968752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751823
H. Güzey, A. Dumlu
In this study, consensus-based synchronizing control for DC motors is presented. Nonlinear sliding mode based dynamical control of DC motors is extended for a group of networked DC motors and a novel consensus control is developed to make the motors reach the same state (position or speed). One of the motors in the network is assigned as the group leader. The leader is controlled through sliding mode controller to track a given desired trajectory. While the rest of the motors in the network are controlled through the novel synchronizing controller developed in this work. As long as the communication network is connected, it is shown that the motors eventually track the desired trajectory given to the leader without having any knowledge of the desired trajectory. Experimental results are provided at the end of the paper to verify our proposed theoretical claims.
{"title":"Nonlinear Consensus-Based Synchronizing Tracking Control of Networked DC Motors","authors":"H. Güzey, A. Dumlu","doi":"10.1109/CEIT.2018.8751823","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751823","url":null,"abstract":"In this study, consensus-based synchronizing control for DC motors is presented. Nonlinear sliding mode based dynamical control of DC motors is extended for a group of networked DC motors and a novel consensus control is developed to make the motors reach the same state (position or speed). One of the motors in the network is assigned as the group leader. The leader is controlled through sliding mode controller to track a given desired trajectory. While the rest of the motors in the network are controlled through the novel synchronizing controller developed in this work. As long as the communication network is connected, it is shown that the motors eventually track the desired trajectory given to the leader without having any knowledge of the desired trajectory. Experimental results are provided at the end of the paper to verify our proposed theoretical claims.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125946837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751893
A. I. Savran, T. Kumbasar
The automation project with vision based positioning by using ABB IRB 140 robot is proposed, the coordinate transformation and camera calibration is applied, two types gas leakage test for HP dryers are proposed and the image processing algorithms for welding points of gas leakage test by dividing three areas of chassis are proposed. For this purpose, the robotic automation system has been installed and the real-time experimental studies are performed to show the effectiveness of the vision based positioning ABB IRB 140 robot for the gas leakage test by presentation the derivations of welding points positions.
{"title":"A Vision Based Positioning Gas Leakage Test Automation System","authors":"A. I. Savran, T. Kumbasar","doi":"10.1109/CEIT.2018.8751893","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751893","url":null,"abstract":"The automation project with vision based positioning by using ABB IRB 140 robot is proposed, the coordinate transformation and camera calibration is applied, two types gas leakage test for HP dryers are proposed and the image processing algorithms for welding points of gas leakage test by dividing three areas of chassis are proposed. For this purpose, the robotic automation system has been installed and the real-time experimental studies are performed to show the effectiveness of the vision based positioning ABB IRB 140 robot for the gas leakage test by presentation the derivations of welding points positions.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126094152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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