Marko Kovandzic, V. Nikolic, M. Simonović, I. Ćirić, Abdulathim Al-Noori
The experiment investigated the performance of an artificial neural network in solving the inverse kinematic problem of a soft robot. For this purpose, a simple soft robot was designed of building blocks, stringed on three rubber hoses, and an actuating system, to provide the hydraulic pressure. An axial extending of a hose, while the others are in the relaxed state, results in bending of the robot. The network was employed, as a black box, to approximate the behavior of the system. In accordance with the purpose, the input consisted of the desired spatial coordinates and the output of the step motor angular displacements. The network was trained and tested using records collected at 200 randomly chosen robot positions. The relative testing error of positioning, about 5%, confirmed a predictable robot behavior. The solution proposed is competitive in terms of simplicity, safety and price of realization. The experiment provided basics for the future research of the design of modular soft robots.
{"title":"SOFT ROBOT POSITIONING USING ARTIFICIAL NEURAL NETWORK","authors":"Marko Kovandzic, V. Nikolic, M. Simonović, I. Ćirić, Abdulathim Al-Noori","doi":"10.22190/FUACR1901019K","DOIUrl":"https://doi.org/10.22190/FUACR1901019K","url":null,"abstract":"The experiment investigated the performance of an artificial neural network in solving the inverse kinematic problem of a soft robot. For this purpose, a simple soft robot was designed of building blocks, stringed on three rubber hoses, and an actuating system, to provide the hydraulic pressure. An axial extending of a hose, while the others are in the relaxed state, results in bending of the robot. The network was employed, as a black box, to approximate the behavior of the system. In accordance with the purpose, the input consisted of the desired spatial coordinates and the output of the step motor angular displacements. The network was trained and tested using records collected at 200 randomly chosen robot positions. The relative testing error of positioning, about 5%, confirmed a predictable robot behavior. The solution proposed is competitive in terms of simplicity, safety and price of realization. The experiment provided basics for the future research of the design of modular soft robots.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83254669","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}
The paper explores the Proportional-derivative controller for a double integrator plus dead time processes, which is a challenging control problem, that is designed based on the existing Proportional-integrative controller for integrator plus dead time processes. The PD controller is extended with an integral action and an ideal PID controller is received. The parameters of both controllers are received by using the pole placement technique, whereby the transcendent characteristics equation of the closed loop system is solved by using the Lambert W function. The paper also examines the influence of the desired poles of the system with a closed feedback as well as the influence of the disturbance and the change of the DIPTD processes parameters onto the received control system performances. The results received by simulation, and the quantitative indicators, show that the proposed control system has better performances in comparison to the control systems obtained by other methods in literature.
{"title":"TUNING PD AND PID CONTROLLERS VIA THE LAMBERT W FUNCTION FOR DOUBLE INTEGRATOR PLUS DEAD TIME PROCESSES","authors":"Radmila Gerov, Z. Jovanovic","doi":"10.22190/FUACR1901001G","DOIUrl":"https://doi.org/10.22190/FUACR1901001G","url":null,"abstract":"The paper explores the Proportional-derivative controller for a double integrator plus dead time processes, which is a challenging control problem, that is designed based on the existing Proportional-integrative controller for integrator plus dead time processes. The PD controller is extended with an integral action and an ideal PID controller is received. The parameters of both controllers are received by using the pole placement technique, whereby the transcendent characteristics equation of the closed loop system is solved by using the Lambert W function. The paper also examines the influence of the desired poles of the system with a closed feedback as well as the influence of the disturbance and the change of the DIPTD processes parameters onto the received control system performances. The results received by simulation, and the quantitative indicators, show that the proposed control system has better performances in comparison to the control systems obtained by other methods in literature.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"15 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75214092","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}
In this paper the design of selective digital filters that consists of parallel connection of two all-pass sub-filters is presented. The phase of this filters has given arbitrary shape ϕ(ω) in both pass-band and stop-band. The proposed method allows the calculation of selective filters with elliptic-like magnitude characteristic. Equations given in the paper are general and suitable for design of filters with arbitrary phase. The efficiency of the method is demonstrated on design of filters with piecewise linear and quadratic phase.
{"title":"A NEW METHOD FOR DESIGN OF SELECTIVE DIGITAL IIR FILTERS WITH ARBITRARY PHASE","authors":"Miloš D. Đurić, G. Stancic, Milos Zivkovic","doi":"10.22190/FUACR1803191D","DOIUrl":"https://doi.org/10.22190/FUACR1803191D","url":null,"abstract":"In this paper the design of selective digital filters that consists of parallel connection of two all-pass sub-filters is presented. The phase of this filters has given arbitrary shape ϕ(ω) in both pass-band and stop-band. The proposed method allows the calculation of selective filters with elliptic-like magnitude characteristic. Equations given in the paper are general and suitable for design of filters with arbitrary phase. The efficiency of the method is demonstrated on design of filters with piecewise linear and quadratic phase.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"42 1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87681728","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}
The modified Pyragas method for the multiple spatial limit sets and chaos control in MIMO cascade nonlinear systems is presented in this paper. Also, oscillatory and chaotic dynamic analysis of concrete MIMO3 cascade nonlinear system is performed before and after the application of control. Bifurcation diagrams and spatial phase portraits of uncontrolled and controlled MIMO3 system are used for the purposes of analysis.
{"title":"MODIFIED PYRAGAS METHOD FOR MULTIPLE SPATIAL LIMIT SETS AND CHAOS CONTROL IN MIMO CASCADE NONLINEAR SYSTEMS","authors":"B. Samardzić, B. Zlatkovic","doi":"10.22190/FUACR1803165S","DOIUrl":"https://doi.org/10.22190/FUACR1803165S","url":null,"abstract":"The modified Pyragas method for the multiple spatial limit sets and chaos control in MIMO cascade nonlinear systems is presented in this paper. Also, oscillatory and chaotic dynamic analysis of concrete MIMO3 cascade nonlinear system is performed before and after the application of control. Bifurcation diagrams and spatial phase portraits of uncontrolled and controlled MIMO3 system are used for the purposes of analysis.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"308 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79686144","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}
Branko Arsić, Ljubiša Bojić, I. Milentijevic, P. Spalevic, D. Rancic
The unique possibilities of the online social networks such as real-time data access, knowledge of users’ changing preferences and access to their statuses provide the possibility for innovation in the analysis of people’s behavior and opinions, when compared to classical offline methods. Literature review shows lack of studies about the use of public Facebook data in Serbia for the improvement of different product sale, political or promotional campaigns, recommender systems, etc. In this paper, we present the way how data from Facebook can be collected in order to gain insight into the individuals’ preferences and statuses, as well as their connection to a company's fan pages. In particular, we present data collection framework – Symbols – used for collecting individual specific data. The framework stores data into local database and involves a module for graph and content-based analysis of these data. The proposed framework for social network analysis can be used as a decision-making system in users’ preferences implementation thus creating a space for business improvements in various areas.
{"title":"SYMBOLS: SOFTWARE FOR SOCIAL NETWORK ANALYSIS","authors":"Branko Arsić, Ljubiša Bojić, I. Milentijevic, P. Spalevic, D. Rancic","doi":"10.22190/FUACR1803205A","DOIUrl":"https://doi.org/10.22190/FUACR1803205A","url":null,"abstract":"The unique possibilities of the online social networks such as real-time data access, knowledge of users’ changing preferences and access to their statuses provide the possibility for innovation in the analysis of people’s behavior and opinions, when compared to classical offline methods. Literature review shows lack of studies about the use of public Facebook data in Serbia for the improvement of different product sale, political or promotional campaigns, recommender systems, etc. In this paper, we present the way how data from Facebook can be collected in order to gain insight into the individuals’ preferences and statuses, as well as their connection to a company's fan pages. In particular, we present data collection framework – Symbols – used for collecting individual specific data. The framework stores data into local database and involves a module for graph and content-based analysis of these data. The proposed framework for social network analysis can be used as a decision-making system in users’ preferences implementation thus creating a space for business improvements in various areas.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"27 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75240171","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}
M. Spasić, D. Antić, Nikola B. Dankovic, S. Peric, Saša S. Nikolić
The application of the model predictive control (MPC) based on discrete-time Laguerre functions is presented in this paper. A nonlinear three-tank hydraulic system is used as an object to which the proposed algorithm is applied. The paper also presents the method of For the verification of the proposed control method, digital simulations are performed using Matlab.linearization of the nonlinear system, as well as the procedure for the controller design.
{"title":"DIGITAL MODEL PREDICTIVE CONTROL OF THE THREE TANK SYSTEM BASED ON LAGUERRE FUNCTIONS","authors":"M. Spasić, D. Antić, Nikola B. Dankovic, S. Peric, Saša S. Nikolić","doi":"10.22190/FUACR1803153S","DOIUrl":"https://doi.org/10.22190/FUACR1803153S","url":null,"abstract":"The application of the model predictive control (MPC) based on discrete-time Laguerre functions is presented in this paper. A nonlinear three-tank hydraulic system is used as an object to which the proposed algorithm is applied. The paper also presents the method of For the verification of the proposed control method, digital simulations are performed using Matlab.linearization of the nonlinear system, as well as the procedure for the controller design.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"25 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75238669","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}
M. Milojković, D. Antić, Miroslav B. Milovanović, D. Mitic
This paper presents an innovative project “Implementation of Modern Intelligent Control Methods within the Study Module Control Systems” which is selected to be financed by Serbian Ministry of Education, Science and Technological Development. The project is part of a public call for projects “Development of Higher Education” and it will be realized during a school year 2018/2019. In this paper, the main goals of the project are presented and project activities and expected results are defined. Finally, three courses which are selected to be innovated through the project activities are presented in the terms of lecture topics and teaching methods.
{"title":"IMPLEMENTATION OF MODERN INTELLIGENT CONTROL METHODS WITHIN THE CONTROL SYSTEMS STUDY MODULE","authors":"M. Milojković, D. Antić, Miroslav B. Milovanović, D. Mitic","doi":"10.22190/FUACR1802143M","DOIUrl":"https://doi.org/10.22190/FUACR1802143M","url":null,"abstract":"This paper presents an innovative project “Implementation of Modern Intelligent Control Methods within the Study Module Control Systems” which is selected to be financed by Serbian Ministry of Education, Science and Technological Development. The project is part of a public call for projects “Development of Higher Education” and it will be realized during a school year 2018/2019. In this paper, the main goals of the project are presented and project activities and expected results are defined. Finally, three courses which are selected to be innovated through the project activities are presented in the terms of lecture topics and teaching methods.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"72 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76035617","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}
Batteries are the main source of energy for low-power electronics such as micro-electro mechanical systems (MEMS), wireless sensor networks, embedded devices for remote sensing and control, etc. With the limited capacity of finite power sources and the need for supplying energy for the lifetime of a system/device there is a requirement for self-powered devices. Using conventional batteries is not always good design solution because batteries require human intervention to replace them (very often in hard-accessible and harsh-environmental conditions). Therefore, acquiring the electrical power, by using an alternative source of energy that is needed to operate these devices is a major concern. The process of extracting energy from the surrounding environment and converting it into consumable electrical energy is known as energy harvesting or power scavenging. The energy harvesting sources can be used to increase the lifetime and capability of the devices by either replacing or augmenting the battery usage. There are various forms of energy that can be scavenged, like solar, mechanical, thermal, and electromagnetic. Nowadays, there is a big interest in the field of research related to energy harvesting. This paper represents a survey for identifying the sources of energy harvesting and describes the basic operation of principles of the most common energy harvester. As first, we present, in short, the conversion principles of single energy source harvesting systems and point to their benefits and limitations in their usage. After that, hybrid structures of energy harvesters which simultaneously combine scavenged power from different ambient sources (solar, thermoelectric, electromagnetic), with aim to support higher load at the output, are considered.
{"title":"ENERGY HARVESTING TECHNIQUES IN WIRELESS SENSOR NETWORKS","authors":"T. Nikolic, M. Stojcev, G. Nikolic, G. Jovanovic","doi":"10.22190/FUACR1802117N","DOIUrl":"https://doi.org/10.22190/FUACR1802117N","url":null,"abstract":"Batteries are the main source of energy for low-power electronics such as micro-electro mechanical systems (MEMS), wireless sensor networks, embedded devices for remote sensing and control, etc. With the limited capacity of finite power sources and the need for supplying energy for the lifetime of a system/device there is a requirement for self-powered devices. Using conventional batteries is not always good design solution because batteries require human intervention to replace them (very often in hard-accessible and harsh-environmental conditions). Therefore, acquiring the electrical power, by using an alternative source of energy that is needed to operate these devices is a major concern. The process of extracting energy from the surrounding environment and converting it into consumable electrical energy is known as energy harvesting or power scavenging. The energy harvesting sources can be used to increase the lifetime and capability of the devices by either replacing or augmenting the battery usage. There are various forms of energy that can be scavenged, like solar, mechanical, thermal, and electromagnetic. Nowadays, there is a big interest in the field of research related to energy harvesting. This paper represents a survey for identifying the sources of energy harvesting and describes the basic operation of principles of the most common energy harvester. As first, we present, in short, the conversion principles of single energy source harvesting systems and point to their benefits and limitations in their usage. After that, hybrid structures of energy harvesters which simultaneously combine scavenged power from different ambient sources (solar, thermoelectric, electromagnetic), with aim to support higher load at the output, are considered.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"71 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81446886","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}
A novel methodology for choosing actuators of a CPR system was defined. This methodology was based on a novel procedure for analysis and synthesis of the workspace of Cable-suspended parallel robot, CPR system. Besides the kinematic and dynamic models of the CPR system, this procedure includes the complete mathematical model of the actuator as well. On this basis, this procedure presents a novel solution for the analysis and synthesis of CPR system’s workspace. When using the proposed methodology for choosing actuators of a CPR system, user and designer together define the corresponding technical requirements, one of them being the relative size of the feasible work space of the CPR system. Based on these requirements, the developed methodology tests available actuators from its data base and extracts the useful ones for the predefined specific purpose. The purpose of this research is to interconnect theoretical contributions from CPR system’s modelling and needs of the user and designer during their practical implementation. For this purpose, a user friendly program package called PPACM was generated. The program package PPACM and obtained results were validated through the presentation of several case studies.
{"title":"A NOVEL METHODOLOGY FOR CHOOSING ACTUATORS OF CABLE-SUSPENDED PARALLEL ROBOTS","authors":"M. Filipovic, L. Kevac","doi":"10.22190/FUACR1802071F","DOIUrl":"https://doi.org/10.22190/FUACR1802071F","url":null,"abstract":"A novel methodology for choosing actuators of a CPR system was defined. This methodology was based on a novel procedure for analysis and synthesis of the workspace of Cable-suspended parallel robot, CPR system. Besides the kinematic and dynamic models of the CPR system, this procedure includes the complete mathematical model of the actuator as well. On this basis, this procedure presents a novel solution for the analysis and synthesis of CPR system’s workspace. When using the proposed methodology for choosing actuators of a CPR system, user and designer together define the corresponding technical requirements, one of them being the relative size of the feasible work space of the CPR system. Based on these requirements, the developed methodology tests available actuators from its data base and extracts the useful ones for the predefined specific purpose. The purpose of this research is to interconnect theoretical contributions from CPR system’s modelling and needs of the user and designer during their practical implementation. For this purpose, a user friendly program package called PPACM was generated. The program package PPACM and obtained results were validated through the presentation of several case studies.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"40 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74397357","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}
Generation of typical power quality (PQ) events, based on Script files and virtual instrumentation, is presented in this paper. Such approach provides definition and generation of three-phase voltage signals with various PQ events defined according to relevant international quality standards. Using of Script files enables easy and flexible generation of long-time voltage signals with complex PQ disturbances, according to the predefined test algorithms and scenarios. Detailed front panels and block diagrams of developed virtual instrument for signal generation are described in the paper. As specific examples, generated signals defined using the Script files are presented. Experimental confirmation of described software supported method is performed using the three-phase PQ analyzer Fluke 435. Some specific test waveforms and obtained experimental results are shown.
{"title":"SCRIPT FILES APPROACH IN THE POWER QUALITY EVENTS GENERATION","authors":"D. Živanović, M. Simić, D. Denic, Z. Kokolanski","doi":"10.22190/FUACR1802093Z","DOIUrl":"https://doi.org/10.22190/FUACR1802093Z","url":null,"abstract":"Generation of typical power quality (PQ) events, based on Script files and virtual instrumentation, is presented in this paper. Such approach provides definition and generation of three-phase voltage signals with various PQ events defined according to relevant international quality standards. Using of Script files enables easy and flexible generation of long-time voltage signals with complex PQ disturbances, according to the predefined test algorithms and scenarios. Detailed front panels and block diagrams of developed virtual instrument for signal generation are described in the paper. As specific examples, generated signals defined using the Script files are presented. Experimental confirmation of described software supported method is performed using the three-phase PQ analyzer Fluke 435. Some specific test waveforms and obtained experimental results are shown.","PeriodicalId":93645,"journal":{"name":"Facta universitatis. Series, Mechanics, automatic control and robotics","volume":"8 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79041362","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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