Dynamically Adaptive Inverted Pendulum Platfom

Size: px
Start display at page:

Download "Dynamically Adaptive Inverted Pendulum Platfom"

Transcription

1 Dynamically Adaptive Inverted Pendulum Platfom 2009 Colorado Space Grant Symposium Jonathon Cox Colorado State University Undergraduate in Electrical Engineering Web:

2 What Is an Inverted Pendulum? Uses the acceleration of the drive wheels to maintain balance Similar to the Segway human transporter

3 Project Goals Develop an algorithm that allows an inverted pendulum platform to be stable with a changing center of mass Build and test a demo platform as a proof of concept Make the system easily upgradeable for the future addition of an articulated arm

4 Why Use An Inverted Platform? Some of the major benefits Smaller and lighter than a statically stable design of the same dynamic stability Much more maneuverable in small spaces due to a smaller footprint Safer to people and objects in indoor situations due to the nature of the drive system Much greater heights achievable in a small footprint

5 Why a Changing COM? Allows the inverted platform to be practically used in many more applications that require a more stable platform Picking up/moving Objects Extending Tools or Sensors Reacting to weather conditions such as rain or snow Almost anything but driving around changes the center of mass To my knowledge, has never been done before

6 The Modular Control System Each module represents a class in the code or a physical peice of hardware Allows for easy development of individual systems Each module simplifies the task of the next module Provides an alternative to the transfer function approach Provides hardware abstraction for cross platform compatibility

7 The Sensors Uses Micro Electromechanical Sensors (MEMS) Gyroscope to sense the rate of rotation (fast and noisy) Accelerometer to sense the actual tilt angle (slow and precise)

8 The Kalman Filter Used to predict the state of a system given noisy measurements, often used in radar applications Uses a recursive guess and check method In this case, uses the accelerometer to estimate the gyro drift Recursive Kalman Filter Recursive Kalman Filter Raw Tilt Raw Tilt Angle Angle

9 Dynamic Center Of Mass Uses the distance away from a pre-defined setpoint and the 'raw' tilt angle to guess the COM Recursive Kalman Filter Recursive Kalman Filter Raw Tilt Raw Tilt Angle Angle Dynamic Center Of Mass Algorithm Dynamic Center Of Mass Algorithm Tilt From Tilt From Vertical Vertical

10 Balancing PID Implements a Proportional Integral Derivative (PID) loop to maintain basic balancing Uses the tilt angle and calculates the needed motor speeds Recursive Kalman Filter Recursive Kalman Filter Raw Tilt Raw Tilt Angle Angle Dynamic Center Of Mass Algorithm Dynamic Center Of Mass Algorithm Motor Motor Speed Speed Tilt From Tilt From Vertical Vertical Basic Balancing PID Basic Balancing PID Distance Distance Taveled Taveled

11 PID Motor Drivers The motor drivers implement the same type of PID loop to drive the motors at the given speed They use the quadrature encoders to track position and speed A fourth term added to compensate for backlash Recursive Kalman Filter Recursive Kalman Filter Raw Tilt Raw Tilt Angle Angle Dynamic Center Of Mass Algorithm Dynamic Center Of Mass Algorithm Motor Motor Speed Speed Tilt From Tilt From Vertical Vertical Basic Balancing PID Basic Balancing PID PWM PWM PID Motor Driver PID Motor Driver Drive Motors Drive Motors Distance Distance Traveled Traveled Quad. Quad. Encoder Encoder

12 The Hardware Implementation Uses three processors that communicate on a serial bus Sensors use an A/D module for interface to processor Motor driver processors have encoders and PWM peripherals Accelerometer X Y A/D Module Main Processor Motor Driver 1 PWM Module Vreff UART 1 UART 2 UART 2 M1 QEM Module Enc. Wireless Modem 9600 Baud Gyro Rate Motor Driver 2 PWM Module UART 2 M2 QEM Module

13 The Demo Platform Made from COTS components Designed to be extremely rigid to prevent complex oscillations Ribs made out of polycarbonate for impact resistance if it falls over Tires are foam filled for greatest traction Custom etched PCBs (made by me) that allow for SMD parts and in-circuit serial programming Every board but the modem designed by me

14 Budget Aluminum ~ $15 Nuts/Bolts ~ $20 Paint ~ $10 Wheels ~ $50 Sensors ~ $100 Processors Free (sampled) Other Electronic Components ~ $50 Total: ~$345

15 The Demo Platform Hardware R/F Computer/Remote Link Easily Accesible Electronics Upgrade Space 5Ah Sealed Lead Acid Battery Independent Motor Drivers Extremely Rigid Backbone Design EMF Shielded Encoder Wires High Torqe Drive Motors High Traction Off-Road Tires Quadrature Encoders

16 Practical Applications Short range scout for moon/mars colonies that are cheaper due to the reduced size/weight. Human transport for Paraplegics or Quadraplegics that allows a standing position Indoor service robots for simple tasks such as mail distribution or product stocking Large event mobile surveillance Tour Guides, Virtual Presence, Automated Receptionist...

17 Frequently Asked Questions How is it different than a Segway? The Segway relies on the rider to position their COM in order to drive forward or backward. My platform uses the drive wheels to position its own COM for balancing and driving Does it ever fall over? Yes. Often. The control system is still very much under development so the demo platform is designed to withstand a fall.

18 Questions?

Dynamically Adaptive Inverted Pendulum Platform

Dynamically Adaptive Inverted Pendulum Platform Dynamically Adaptive Inverted Pendulum Platform 2009 Space Grant Symposium Jonathon Cox Colorado State University Department Of Electrical Engineering 2515 Manet Ct. Fort Collins CO, 80526 Email: csutke@gmail.com

More information

Senior Design Project Gyroscopic Vehicle Stabilization

Senior Design Project Gyroscopic Vehicle Stabilization 2013 Senior Design Project Gyroscopic Vehicle Stabilization Group Members: Adam Dunsmoor Andrew Moser Hiral Gandhi Faculty Advisor Martin Kocanda ELE 492 4/29/2013 Table of Contents Abstract 3 Introduction

More information

SELF-BALANCING MOBILE ROBOT TILTER

SELF-BALANCING MOBILE ROBOT TILTER Tomislav Tomašić Andrea Demetlika Prof. dr. sc. Mladen Crneković ISSN xxx-xxxx SELF-BALANCING MOBILE ROBOT TILTER Summary UDC 007.52, 62-523.8 In this project a remote controlled self-balancing mobile

More information

MEMS Accelerometer sensor controlled robot with wireless video camera mounted on it

MEMS Accelerometer sensor controlled robot with wireless video camera mounted on it MEMS Accelerometer sensor controlled robot with wireless video camera mounted on it The main aim of this project is video coverage at required places with the help of digital camera and high power LED.

More information

FLCS V2.1. AHRS, Autopilot, Gyro Stabilized Gimbals Control, Ground Control Station

FLCS V2.1. AHRS, Autopilot, Gyro Stabilized Gimbals Control, Ground Control Station AHRS, Autopilot, Gyro Stabilized Gimbals Control, Ground Control Station The platform provides a high performance basis for electromechanical system control. Originally designed for autonomous aerial vehicle

More information

Auto-Balancing Two Wheeled Inverted Pendulum Robot

Auto-Balancing Two Wheeled Inverted Pendulum Robot Available online at www.ijiere.com International Journal of Innovative and Emerging Research in Engineering e-issn: 2394 3343 p-issn: 2394 5494 Auto-Balancing Two Wheeled Inverted Pendulum Robot Om J.

More information

Training Schedule. Robotic System Design using Arduino Platform

Training Schedule. Robotic System Design using Arduino Platform Training Schedule Robotic System Design using Arduino Platform Session - 1 Embedded System Design Basics : Scope : To introduce Embedded Systems hardware design fundamentals to students. Processor Selection

More information

PID CONTROL FOR TWO-WHEELED INVERTED PENDULUM (WIP) SYSTEM

PID CONTROL FOR TWO-WHEELED INVERTED PENDULUM (WIP) SYSTEM PID CONTROL FOR TWO-WHEELED INVERTED PENDULUM (WIP) SYSTEM Bogdan Grămescu, Constantin Niţu, Nguyen Su Phuong Phuc, Claudia Irina Borzea University POLITEHNICA of Bucharest 313, Splaiul Independentei,

More information

SELF BALANCING ROBOT. Article. 2 authors, including: Nabil Lathiff Microsoft

SELF BALANCING ROBOT. Article. 2 authors, including: Nabil Lathiff Microsoft See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/265227587 SELF BALANCING ROBOT Article CITATIONS 2 READS 7,256 2 authors, including: Nabil

More information

IMU Platform for Workshops

IMU Platform for Workshops IMU Platform for Workshops Lukáš Palkovič *, Jozef Rodina *, Peter Hubinský *3 * Institute of Control and Industrial Informatics Faculty of Electrical Engineering, Slovak University of Technology Ilkovičova

More information

Construction and signal filtering in Quadrotor

Construction and signal filtering in Quadrotor Construction and signal filtering in Quadrotor Arkadiusz KUBACKI, Piotr OWCZAREK, Adam OWCZARKOWSKI*, Arkadiusz JAKUBOWSKI Institute of Mechanical Technology, *Institute of Control and Information Engineering,

More information

Lab 5: Inverted Pendulum PID Control

Lab 5: Inverted Pendulum PID Control Lab 5: Inverted Pendulum PID Control In this lab we will be learning about PID (Proportional Integral Derivative) control and using it to keep an inverted pendulum system upright. We chose an inverted

More information

SELF STABILIZING PLATFORM

SELF STABILIZING PLATFORM SELF STABILIZING PLATFORM Shalaka Turalkar 1, Omkar Padvekar 2, Nikhil Chavan 3, Pritam Sawant 4 and Project Guide: Mr Prathamesh Indulkar 5. 1,2,3,4,5 Department of Electronics and Telecommunication,

More information

of an Efficient Electric

of an Efficient Electric Page00038 Abstract EVS5 Shenzhen, China, Nov 5-9, 010 Researches and Development of an Efficient Electric Personal Mover for City Commuters Cao Sijia 1, Huang Yagang 1, Zhang Youtong 1, Zhao Dong 1, Liu

More information

BW-VG525 Serials. High Precision CAN bus Dynamic Inclination Sensor. Technical Manual

BW-VG525 Serials. High Precision CAN bus Dynamic Inclination Sensor. Technical Manual Serials High Precision CAN bus Dynamic Inclination Sensor Technical Manual Introduction The Dynamic Inclination Sensor is a high precision inertial measurement device that measures the attitude parameters

More information

istand I can Stand SPECIAL SENSOR REPORT

istand I can Stand SPECIAL SENSOR REPORT istand I can Stand SPECIAL SENSOR REPORT SUBRAT NAYAK UFID: 5095-9761 For EEL 5666 - Intelligent Machines Design Laboratory (Spring 2008) Department of Electrical and Computer Engineering University of

More information

INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) TWO WHEELED SELF BALANCING ROBOT FOR AUTONOMOUS NAVIGATION

INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) TWO WHEELED SELF BALANCING ROBOT FOR AUTONOMOUS NAVIGATION INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6545(Print) ISSN 0976 6553(Online)

More information

Teaching Children Proportional Control using ROBOLAB 2.9. By Dr C S Soh

Teaching Children Proportional Control using ROBOLAB 2.9. By Dr C S Soh Teaching Children Proportional Control using ROBOLAB 2.9 By Dr C S Soh robodoc@fifth-r.com Objective Using ROBOLAB 2.9, children can experiment with proportional control the same way as undergraduates

More information

HAND GESTURE CONTROLLED ROBOT USING ARDUINO

HAND GESTURE CONTROLLED ROBOT USING ARDUINO HAND GESTURE CONTROLLED ROBOT USING ARDUINO Vrushab Sakpal 1, Omkar Patil 2, Sagar Bhagat 3, Badar Shaikh 4, Prof.Poonam Patil 5 1,2,3,4,5 Department of Instrumentation Bharati Vidyapeeth C.O.E,Kharghar,Navi

More information

Introducing the Quadrotor Flying Robot

Introducing the Quadrotor Flying Robot Introducing the Quadrotor Flying Robot Roy Brewer Organizer Philadelphia Robotics Meetup Group August 13, 2009 What is a Quadrotor? A vehicle having 4 rotors (propellers) at each end of a square cross

More information

OS3D-FG MINIATURE ATTITUDE & HEADING REFERENCE SYSTEM MINIATURE 3D ORIENTATION SENSOR OS3D-P. Datasheet Rev OS3D-FG Datasheet rev. 2.

OS3D-FG MINIATURE ATTITUDE & HEADING REFERENCE SYSTEM MINIATURE 3D ORIENTATION SENSOR OS3D-P. Datasheet Rev OS3D-FG Datasheet rev. 2. OS3D-FG OS3D-FG MINIATURE ATTITUDE & HEADING REFERENCE SYSTEM MINIATURE 3D ORIENTATION SENSOR OS3D-P Datasheet Rev. 2.0 1 The Inertial Labs OS3D-FG is a multi-purpose miniature 3D orientation sensor Attitude

More information

Design and Implementation of FPGA Based Quadcopter

Design and Implementation of FPGA Based Quadcopter Design and Implementation of FPGA Based Quadcopter G Premkumar 1 SCSVMV, Kanchipuram, Tamil Nadu, INDIA R Jayalakshmi 2 Assistant Professor, SCSVMV, Kanchipuram, Tamil Nadu, INDIA Md Akramuddin 3 Project

More information

AUTOPILOT CONTROL SYSTEM - IV

AUTOPILOT CONTROL SYSTEM - IV AUTOPILOT CONTROL SYSTEM - IV CONTROLLER The data from the inertial measurement unit is taken into the controller for processing. The input being analog requires to be passed through an ADC before being

More information

RoboTurk 2014 Team Description

RoboTurk 2014 Team Description RoboTurk 2014 Team Description Semih İşeri 1, Meriç Sarıışık 1, Kadir Çetinkaya 2, Rüştü Irklı 1, JeanPierre Demir 1, Cem Recai Çırak 1 1 Department of Electrical and Electronics Engineering 2 Department

More information

Robot Autonomous and Autonomy. By Noah Gleason and Eli Barnett

Robot Autonomous and Autonomy. By Noah Gleason and Eli Barnett Robot Autonomous and Autonomy By Noah Gleason and Eli Barnett Summary What do we do in autonomous? (Overview) Approaches to autonomous No feedback Drive-for-time Feedback Drive-for-distance Drive, turn,

More information

BW-IMU200 Serials. Low-cost Inertial Measurement Unit. Technical Manual

BW-IMU200 Serials. Low-cost Inertial Measurement Unit. Technical Manual Serials Low-cost Inertial Measurement Unit Technical Manual Introduction As a low-cost inertial measurement sensor, the BW-IMU200 measures the attitude parameters of the motion carrier (roll angle, pitch

More information

Control System Design for Tricopter using Filters and PID controller

Control System Design for Tricopter using Filters and PID controller Control System Design for Tricopter using Filters and PID controller Abstract The purpose of this paper is to present the control system design of Tricopter. We have presented the implementation of control

More information

Dimensions: Specifications:

Dimensions: Specifications: Rover 5 Rover 5 is a new breed of tracked robot chassis designed specifically for students and hobbyist. Unlike conventional tracked chassis s the clearance can be adjusted by rotating the gearboxes in

More information

DESIGN CONSTRAINTS ANALYSIS

DESIGN CONSTRAINTS ANALYSIS TEAM 9 -MRAV DESIGN CONSTRAINTS ANALYSIS by Nick Gentry UPDATED PSSC 1. An ability to remotely monitor remaining battery life (fuel gauge). 2. An ability to hover in a stable position (based on autonomous

More information

Sensor set stabilization system for miniature UAV

Sensor set stabilization system for miniature UAV Sensor set stabilization system for miniature UAV Wojciech Komorniczak 1, Tomasz Górski, Adam Kawalec, Jerzy Pietrasiński Military University of Technology, Institute of Radioelectronics, Warsaw, POLAND

More information

NavShoe Pedestrian Inertial Navigation Technology Brief

NavShoe Pedestrian Inertial Navigation Technology Brief NavShoe Pedestrian Inertial Navigation Technology Brief Eric Foxlin Aug. 8, 2006 WPI Workshop on Precision Indoor Personnel Location and Tracking for Emergency Responders The Problem GPS doesn t work indoors

More information

Fernando Ribeiro, Gil Lopes, Davide Oliveira, Fátima Gonçalves, Júlio

Fernando Ribeiro, Gil Lopes, Davide Oliveira, Fátima Gonçalves, Júlio MINHO@home Rodrigues Fernando Ribeiro, Gil Lopes, Davide Oliveira, Fátima Gonçalves, Júlio Grupo de Automação e Robótica, Departamento de Electrónica Industrial, Universidade do Minho, Campus de Azurém,

More information

TEAM AERO-I TEAM AERO-I JOURNAL PAPER DELHI TECHNOLOGICAL UNIVERSITY Journal paper for IARC 2014

TEAM AERO-I TEAM AERO-I JOURNAL PAPER DELHI TECHNOLOGICAL UNIVERSITY Journal paper for IARC 2014 TEAM AERO-I TEAM AERO-I JOURNAL PAPER DELHI TECHNOLOGICAL UNIVERSITY DELHI TECHNOLOGICAL UNIVERSITY Journal paper for IARC 2014 2014 IARC ABSTRACT The paper gives prominence to the technical details of

More information

An internal gyroscope minimizes the influence of dynamic linear acceleration on slope sensor readings.

An internal gyroscope minimizes the influence of dynamic linear acceleration on slope sensor readings. TECHNICAL DATASHEET #TDAX06070X Triaxial Inclinometer with Gyro ±180⁰ Pitch/Roll Angle Pitch Angle Rate Acceleration SAE J1939, Analog Output or RS-232 Options 2 M12 Connectors, IP67 with Electronic Assistant

More information

Two Wheels Balancing Robot with Line Following Capability Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon

Two Wheels Balancing Robot with Line Following Capability Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon Two Wheels Balancing Robot with Line Following Capability Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon Abstract This project focuses on the development of a line follower algorithm for a Two Wheels

More information

Two Wheels Balancing Robot with Line Following Capability Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon

Two Wheels Balancing Robot with Line Following Capability Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon Two Wheels Balancing Robot with Line Following Capability Nor Maniha Abdul Ghani, Faradila Naim, Tan Piow Yon Abstract This project focuses on the development of a line follower algorithm for a Two Wheels

More information

TigreSAT 2010 &2011 June Monthly Report

TigreSAT 2010 &2011 June Monthly Report 2010-2011 TigreSAT Monthly Progress Report EQUIS ADS 2010 PAYLOAD No changes have been done to the payload since it had passed all the tests, requirements and integration that are necessary for LSU HASP

More information

Control System for a Segway

Control System for a Segway Control System for a Segway Jorge Morantes, Diana Espitia, Olguer Morales, Robinson Jiménez, Oscar Aviles Davinci Research Group, Militar Nueva Granada University, Bogotá, Colombia. Abstract In order to

More information

Design of double loop-locked system for brush-less DC motor based on DSP

Design of double loop-locked system for brush-less DC motor based on DSP International Conference on Advanced Electronic Science and Technology (AEST 2016) Design of double loop-locked system for brush-less DC motor based on DSP Yunhong Zheng 1, a 2, Ziqiang Hua and Li Ma 3

More information

Integrated Dual-Axis Gyro IDG-1004

Integrated Dual-Axis Gyro IDG-1004 Integrated Dual-Axis Gyro NOT RECOMMENDED FOR NEW DESIGNS. PLEASE REFER TO THE IDG-25 FOR A FUTIONALLY- UPGRADED PRODUCT APPLICATIONS GPS Navigation Devices Robotics Electronic Toys Platform Stabilization

More information

Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors

Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors USENIX Security Symposium 2015 Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors 2015. 08. 14. Yunmok Son, Hocheol Shin, Dongkwan Kim, Youngseok Park, Juhwan Noh, Kibum Choi, Jungwoo Choi,

More information

QUADROTOR ROLL AND PITCH STABILIZATION USING SYSTEM IDENTIFICATION BASED REDESIGN OF EMPIRICAL CONTROLLERS

QUADROTOR ROLL AND PITCH STABILIZATION USING SYSTEM IDENTIFICATION BASED REDESIGN OF EMPIRICAL CONTROLLERS QUADROTOR ROLL AND PITCH STABILIZATION USING SYSTEM IDENTIFICATION BASED REDESIGN OF EMPIRICAL CONTROLLERS ANIL UFUK BATMAZ 1, a, OVUNC ELBIR 2,b and COSKU KASNAKOGLU 3,c 1,2,3 Department of Electrical

More information

NovAtel SPAN and Waypoint. GNSS + INS Technology

NovAtel SPAN and Waypoint. GNSS + INS Technology NovAtel SPAN and Waypoint GNSS + INS Technology SPAN Technology SPAN provides continual 3D positioning, velocity and attitude determination anywhere satellite reception may be compromised. SPAN uses NovAtel

More information

I. INTRODUCTION MAIN BLOCKS OF ROBOT

I. INTRODUCTION MAIN BLOCKS OF ROBOT Stair-Climbing Robot for Rescue Applications Prof. Pragati.D.Pawar 1, Prof. Ragini.D.Patmase 2, Mr. Swapnil.A.Kondekar 3, Mr. Nikhil.D.Andhare 4 1,2 Department of EXTC, 3,4 Final year EXTC, J.D.I.E.T Yavatmal,Maharashtra,

More information

Senior Design I. Fast Acquisition and Real-time Tracking Vehicle. University of Central Florida

Senior Design I. Fast Acquisition and Real-time Tracking Vehicle. University of Central Florida Senior Design I Fast Acquisition and Real-time Tracking Vehicle University of Central Florida College of Engineering Department of Electrical Engineering Inventors: Seth Rhodes Undergraduate B.S.E.E. Houman

More information

C-ELROB 2009 Technical Paper Team: University of Oulu

C-ELROB 2009 Technical Paper Team: University of Oulu C-ELROB 2009 Technical Paper Team: University of Oulu Antti Tikanmäki, Juha Röning University of Oulu Intelligent Systems Group Robotics Group sunday@ee.oulu.fi Abstract Robotics Group is a part of Intelligent

More information

Probabilistic Robotics Course. Robots and Sensors Orazio

Probabilistic Robotics Course. Robots and Sensors Orazio Probabilistic Robotics Course Robots and Sensors Orazio Giorgio Grisetti grisetti@dis.uniroma1.it Dept of Computer Control and Management Engineering Sapienza University of Rome Outline Robot Devices Overview

More information

MEM380 Applied Autonomous Robots I Winter Feedback Control USARSim

MEM380 Applied Autonomous Robots I Winter Feedback Control USARSim MEM380 Applied Autonomous Robots I Winter 2011 Feedback Control USARSim Transforming Accelerations into Position Estimates In a perfect world It s not a perfect world. We have noise and bias in our acceleration

More information

Hardware Platforms and Sensors

Hardware Platforms and Sensors Hardware Platforms and Sensors Tom Spink Including material adapted from Bjoern Franke and Michael O Boyle Hardware Platform A hardware platform describes the physical components that go to make up a particular

More information

OughtToPilot. Project Report of Submission PC128 to 2008 Propeller Design Contest. Jason Edelberg

OughtToPilot. Project Report of Submission PC128 to 2008 Propeller Design Contest. Jason Edelberg OughtToPilot Project Report of Submission PC128 to 2008 Propeller Design Contest Jason Edelberg Table of Contents Project Number.. 3 Project Description.. 4 Schematic 5 Source Code. Attached Separately

More information

Low-Cost Mobile Lab Solutions for Individualized Mechatronic Education

Low-Cost Mobile Lab Solutions for Individualized Mechatronic Education Low-Cost Mobile Lab Solutions for Individualized Mechatronic Education Joshua L. Hurst, Lecturer Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute 3/13/2014 1

More information

Hopper Spacecraft Simulator. Billy Hau and Brian Wisniewski

Hopper Spacecraft Simulator. Billy Hau and Brian Wisniewski Hopper Spacecraft Simulator Billy Hau and Brian Wisniewski Agenda Introduction Flight Dynamics Hardware Design Avionics Control System Future Works Introduction Mission Overview Collaboration with Penn

More information

Exercise 5: PWM and Control Theory

Exercise 5: PWM and Control Theory Exercise 5: PWM and Control Theory Overview In the previous sessions, we have seen how to use the input capture functionality of a microcontroller to capture external events. This functionality can also

More information

GPS-Aided INS Datasheet Rev. 2.3

GPS-Aided INS Datasheet Rev. 2.3 GPS-Aided INS 1 The Inertial Labs Single and Dual Antenna GPS-Aided Inertial Navigation System INS is new generation of fully-integrated, combined L1 & L2 GPS, GLONASS, GALILEO and BEIDOU navigation and

More information

Robust Control Design for Rotary Inverted Pendulum Balance

Robust Control Design for Rotary Inverted Pendulum Balance Indian Journal of Science and Technology, Vol 9(28), DOI: 1.17485/ijst/216/v9i28/9387, July 216 ISSN (Print) : 974-6846 ISSN (Online) : 974-5645 Robust Control Design for Rotary Inverted Pendulum Balance

More information

SPEED SYNCHRONIZATION OF MASTER SLAVE D.C. MOTORS USING MICROCONTROLLER, FOR TEXTILE APPLICATIONS

SPEED SYNCHRONIZATION OF MASTER SLAVE D.C. MOTORS USING MICROCONTROLLER, FOR TEXTILE APPLICATIONS e-issn: 2349-9745 p-issn: 2393-8161 Scientific Journal Impact Factor (SJIF): 1.711 International Journal of Modern Trends in Engineering and Research www.ijmter.com SPEED SYNCHRONIZATION OF MASTER SLAVE

More information

Experiment Of Speed Control for an Electric Trishaw Based on PID Control Algorithm

Experiment Of Speed Control for an Electric Trishaw Based on PID Control Algorithm International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:17 No:02 38 Experiment Of Speed Control for an Electric Trishaw Based on PID Control Algorithm Shahrizal Saat 1 *, Mohd Nabil

More information

Electronics Design Laboratory Lecture #9. ECEN 2270 Electronics Design Laboratory

Electronics Design Laboratory Lecture #9. ECEN 2270 Electronics Design Laboratory Electronics Design Laboratory Lecture #9 Electronics Design Laboratory 1 Notes Finishing Lab 4 this week Demo requires position control using interrupts and two actions Rotate a given angle Move forward

More information

Robotics Challenge. Team Members Tyler Quintana Tyler Gus Josh Cogdill Raul Davila John Augustine Kelty Tobin

Robotics Challenge. Team Members Tyler Quintana Tyler Gus Josh Cogdill Raul Davila John Augustine Kelty Tobin Robotics Challenge Team Members Tyler Quintana Tyler Gus Josh Cogdill Raul Davila John Augustine Kelty Tobin 1 Robotics Challenge: Team Multidisciplinary: Computer, Electrical, Mechanical Currently split

More information

DEVELOPMENT OF THE HUMANOID ROBOT HUBO-FX-1

DEVELOPMENT OF THE HUMANOID ROBOT HUBO-FX-1 DEVELOPMENT OF THE HUMANOID ROBOT HUBO-FX-1 Jungho Lee, KAIST, Republic of Korea, jungho77@kaist.ac.kr Jung-Yup Kim, KAIST, Republic of Korea, kirk1@mclab3.kaist.ac.kr Ill-Woo Park, KAIST, Republic of

More information

GPS-Aided INS Datasheet Rev. 2.6

GPS-Aided INS Datasheet Rev. 2.6 GPS-Aided INS 1 GPS-Aided INS The Inertial Labs Single and Dual Antenna GPS-Aided Inertial Navigation System INS is new generation of fully-integrated, combined GPS, GLONASS, GALILEO and BEIDOU navigation

More information

ME375 Lab Project. Bradley Boane & Jeremy Bourque April 25, 2018

ME375 Lab Project. Bradley Boane & Jeremy Bourque April 25, 2018 ME375 Lab Project Bradley Boane & Jeremy Bourque April 25, 2018 Introduction: The goal of this project was to build and program a two-wheel robot that travels forward in a straight line for a distance

More information

GESTUR. Sensing & Feedback Glove for interfacing with Virtual Reality

GESTUR. Sensing & Feedback Glove for interfacing with Virtual Reality GESTUR Sensing & Feedback Glove for interfacing with Virtual Reality Initial Design Review ECE 189A, Fall 2016 University of California, Santa Barbara History & Introduction - Oculus and Vive are great

More information

Master Thesis Presentation Future Electric Vehicle on Lego By Karan Savant. Guide: Dr. Kai Huang

Master Thesis Presentation Future Electric Vehicle on Lego By Karan Savant. Guide: Dr. Kai Huang Master Thesis Presentation Future Electric Vehicle on Lego By Karan Savant Guide: Dr. Kai Huang Overview Objective Lego Car Wifi Interface to Lego Car Lego Car FPGA System Android Application Conclusion

More information

INERTIAL LABS SUBMINIATURE 3D ORIENTATION SENSOR OS3DM

INERTIAL LABS SUBMINIATURE 3D ORIENTATION SENSOR OS3DM Datasheet Rev..5 INERTIAL LABS SUBMINIATURE D ORIENTATION SENSOR TM Inertial Labs, Inc Address: 9959 Catoctin Ridge Street, Paeonian Springs, VA 2029 U.S.A. Tel: + (70) 880-4222, Fax: + (70) 95-877 Website:

More information

Motion Reference Units

Motion Reference Units Motion Reference Units MRU IP-67 sealed 5% / 5 cm Heave accuracy 0.03 m/sec Velocity accuracy 0.05 deg Pitch and Roll accuracy 0.005 m/sec 2 Acceleration accuracy 0.0002 deg/sec Angular rate accuracy NMEA

More information

Reference Diagram IDG-300. Coriolis Sense. Low-Pass Sensor. Coriolis Sense. Demodulator Y-RATE OUT YAGC R LPY C LPy ±10% EEPROM TRIM.

Reference Diagram IDG-300. Coriolis Sense. Low-Pass Sensor. Coriolis Sense. Demodulator Y-RATE OUT YAGC R LPY C LPy ±10% EEPROM TRIM. FEATURES Integrated X- and Y-axis gyro on a single chip Factory trimmed full scale range of ±500 /sec Integrated low-pass filters High vibration rejection over a wide frequency range High cross-axis isolation

More information

IMPLEMENTATION OF WATER LEVEL FILLING STRATEGY BY USING PWM TECHNIQUE

IMPLEMENTATION OF WATER LEVEL FILLING STRATEGY BY USING PWM TECHNIQUE IMPLEMENTATION OF WATER LEVEL FILLING STRATEGY BY USING PWM TECHNIQUE Achanta Ram Naveen 1, Chundru Venkatesh 2, Kalaga Konda Raja 3 Vendurthi Konda Babu 4 1Final year student, Department of EEE, Pragati

More information

Motor Control using NXP s LPC2900

Motor Control using NXP s LPC2900 Motor Control using NXP s LPC2900 Agenda LPC2900 Overview and Development tools Control of BLDC Motors using the LPC2900 CPU Load of BLDCM and PMSM Enhancing performance LPC2900 Demo BLDC motor 2 LPC2900

More information

Motion Reference Units

Motion Reference Units Motion Reference Units MRU Datasheet Rev. 1.3 IP-67 sealed 5% / 5 cm Heave accuracy 0.03 m/sec Velocity accuracy 0.05 deg Pitch and Roll accuracy 0.005 m/sec2 Acceleration accuracy 0.0002 deg/sec Angular

More information

Beyond The Grid Square -- Fox# Experiments. Mark Spencer, WA8SME ARRL Education and Technology Program

Beyond The Grid Square -- Fox# Experiments. Mark Spencer, WA8SME ARRL Education and Technology Program Beyond The Grid Square -- Fox# Experiments Mark Spencer, WA8SME ARRL Education and Technology Program My Purpose Today To make the opportunities afforded by the Fox satellites accessible to schools outside

More information

Testing Autonomous Hover Algorithms Using a Quad rotor Helicopter Test Bed

Testing Autonomous Hover Algorithms Using a Quad rotor Helicopter Test Bed Testing Autonomous Hover Algorithms Using a Quad rotor Helicopter Test Bed In conjunction with University of Washington Distributed Space Systems Lab Justin Palm Andy Bradford Andrew Nelson Milestone One

More information

Design of Control System of Low Speed Brushless DC Motor

Design of Control System of Low Speed Brushless DC Motor 2017 International Conference on Information, Computer and Education Engineering (ICICEE 2017) ISBN: 978-1-60595-503-2 Design of Control System of Low Speed Brushless DC Motor De-Sheng Zhong ABSTRACT The

More information

A Step Forward in Virtual Reality. Department of Electrical and Computer Engineering

A Step Forward in Virtual Reality. Department of Electrical and Computer Engineering A Step Forward in Virtual Reality Team Step Ryan Daly Electrical Engineer Jared Ricci Electrical Engineer Joseph Roberts Electrical Engineer Steven So Electrical Engineer 2 Motivation Current Virtual Reality

More information

PATH PLANNING OF LINE FOLLOWER ROBOT

PATH PLANNING OF LINE FOLLOWER ROBOT Proceedings of the 5th European DSP Education and Research Conference, 2012 PATH PLANNING OF LINE FOLLOWER ROBOT Mustafa Engin 1, Dilşad Engin 2 B8 1 Ege Technical and Business College, Department Electronics

More information

Chapter 5. Tracking system with MEMS mirror

Chapter 5. Tracking system with MEMS mirror Chapter 5 Tracking system with MEMS mirror Up to now, this project has dealt with the theoretical optimization of the tracking servo with MEMS mirror through the use of simulation models. For these models

More information

Implementation of PIC Based Vehicle s Attitude Estimation System Using MEMS Inertial Sensors and Kalman Filter

Implementation of PIC Based Vehicle s Attitude Estimation System Using MEMS Inertial Sensors and Kalman Filter Implementation of PIC Based Vehicle s Attitude Estimation System Using MEMS Inertial Sensors and Kalman Filter Htoo Maung Maung Department of Electronic Engineering, Mandalay Technological University Mandalay,

More information

Based on the ARM and PID Control Free Pendulum Balance System

Based on the ARM and PID Control Free Pendulum Balance System Available online at www.sciencedirect.com Procedia Engineering 29 (2012) 3491 3495 2012 International Workshop on Information and Electronics Engineering (IWIEE) Based on the ARM and PID Control Free Pendulum

More information

Functional Specification Document. Robot Soccer ECEn Senior Project

Functional Specification Document. Robot Soccer ECEn Senior Project Functional Specification Document Robot Soccer ECEn 490 - Senior Project Critical Path Team Alex Wilson Benjamin Lewis Joshua Mangleson Leeland Woodard Matthew Bohman Steven McKnight 1 Table of Contents

More information

TILT. The Leading Enterprise Internet of Things Solution. Wireless Accelerometer - Tilt Sensor. General Description. Features of Monnit ALTA Sensors

TILT. The Leading Enterprise Internet of Things Solution. Wireless Accelerometer - Tilt Sensor. General Description. Features of Monnit ALTA Sensors by The Leading Enterprise Internet of Things Solution TILT Wireless Accelerometer - Tilt Sensor General Description The ALTA Wireless Accelerometer - Tilt Sensor is a digital, low power, low profile, capacitive

More information

SELF-BALANCING BOT USING CONCEPT OF INVERTED PENDULUM

SELF-BALANCING BOT USING CONCEPT OF INVERTED PENDULUM SELF-BALANCING BOT USING CONCEPT OF INVERTED PENDULUM Pratyusa kumar Tripathy (109EC0427) Department of Electronics and Communication Engineering National Institute of Technology Rourkela Rourkela- 769008,India

More information

CMPS11 - Tilt Compensated Compass Module

CMPS11 - Tilt Compensated Compass Module CMPS11 - Tilt Compensated Compass Module Introduction The CMPS11 is our 3rd generation tilt compensated compass. Employing a 3-axis magnetometer, a 3-axis gyro and a 3-axis accelerometer. A Kalman filter

More information

العطاء رقم )7106/67( الخاص بشراء أجهز لقسم الهندسة الكهربائية على حساب البحث العلمي

العطاء رقم )7106/67( الخاص بشراء أجهز لقسم الهندسة الكهربائية على حساب البحث العلمي العطاء رقم )7106/67( الخاص بشراء أجهز لقسم الهندسة الكهربائية على حساب البحث العلمي رقم )7107/363( Page 1 of 6 1- Mechatronics Actuators Board & Mechatronics Systems Board with Education Laboratory for

More information

Actuator Components 2

Actuator Components 2 Actuator Components 2 Term project midterm review Bearings Seals Sensors 1 Actuator Components Term Project Midterm Review Details of term project are contained in first lecture of the term Should be using

More information

The Next Generation Design of Autonomous MAV Flight Control System SmartAP

The Next Generation Design of Autonomous MAV Flight Control System SmartAP The Next Generation Design of Autonomous MAV Flight Control System SmartAP Kirill Shilov Department of Aeromechanics and Flight Engineering Moscow Institute of Physics and Technology 16 Gagarina st, Zhukovsky,

More information

Mobile Target Tracking Using Radio Sensor Network

Mobile Target Tracking Using Radio Sensor Network Mobile Target Tracking Using Radio Sensor Network Nic Auth Grant Hovey Advisor: Dr. Suruz Miah Department of Electrical and Computer Engineering Bradley University 1501 W. Bradley Avenue Peoria, IL, 61625,

More information

Introduction To Temperature Controllers

Introduction To Temperature Controllers Introduction To Temperature Controllers The Miniature CN77000 is a full featured microprocessor-based controller in a 1/16 DIN package. How Can I Control My Process Temperature Accurately and Reliably?

More information

Megamark Arduino Library Documentation

Megamark Arduino Library Documentation Megamark Arduino Library Documentation The Choitek Megamark is an advanced full-size multipurpose mobile manipulator robotics platform for students, artists, educators and researchers alike. In our mission

More information

Embedded Robust Control of Self-balancing Two-wheeled Robot

Embedded Robust Control of Self-balancing Two-wheeled Robot Embedded Robust Control of Self-balancing Two-wheeled Robot L. Mollov, P. Petkov Key Words: Robust control; embedded systems; two-wheeled robots; -synthesis; MATLAB. Abstract. This paper presents the design

More information

Segway Robot Designing And Simulating, Using BELBIC

Segway Robot Designing And Simulating, Using BELBIC IOSR Journal of Computer Engineering (IOSR-JCE) e-issn: 2278-0661,p-ISSN: 2278-8727, Volume 18, Issue 5, Ver. II (Sept - Oct. 2016), PP 103-109 www.iosrjournals.org Segway Robot Designing And Simulating,

More information

School of Surveying & Spatial Information Systems, UNSW, Sydney, Australia

School of Surveying & Spatial Information Systems, UNSW, Sydney, Australia Development of an Unmanned Aerial Vehicle Platform Using Multisensor Navigation Technology School of Surveying & Spatial Information Systems, UNSW, Sydney, Australia Gang Sun 1,2, Jiawei Xie 1, Yong Li

More information

PERSONS AND OBJECTS LOCALIZATION USING SENSORS

PERSONS AND OBJECTS LOCALIZATION USING SENSORS Investe}te în oameni! FONDUL SOCIAL EUROPEAN Programul Operational Sectorial pentru Dezvoltarea Resurselor Umane 2007-2013 eng. Lucian Ioan IOZAN PhD Thesis Abstract PERSONS AND OBJECTS LOCALIZATION USING

More information

Jaguar speed controllers

Jaguar speed controllers Jaguar speed controllers When used with CAN control, Jaguars are smart speed controllers. You can simply send a command to the Jaguar such as a position setpoint and it will use attached sensors to move

More information

Digiflight II SERIES AUTOPILOTS

Digiflight II SERIES AUTOPILOTS Operating Handbook For Digiflight II SERIES AUTOPILOTS TRUTRAK FLIGHT SYSTEMS 1500 S. Old Missouri Road Springdale, AR 72764 Ph. 479-751-0250 Fax 479-751-3397 Toll Free: 866-TRUTRAK 866-(878-8725) www.trutrakap.com

More information

BALANCING A TWO WHEELED ROBOT

BALANCING A TWO WHEELED ROBOT University of Southern Queensland Faculty of Engineering and Surveying BALANCING A TWO WHEELED ROBOT A dissertation submitted by Kealeboga Mokonopi In fulfilment of the requirements of Courses ENG4111

More information

John Henry Foster INTRODUCING OUR NEW ROBOTICS LINE. Imagine Your Business...better. Automate Virtually Anything jhfoster.

John Henry Foster INTRODUCING OUR NEW ROBOTICS LINE. Imagine Your Business...better. Automate Virtually Anything jhfoster. John Henry Foster INTRODUCING OUR NEW ROBOTICS LINE Imagine Your Business...better. Automate Virtually Anything 800.582.5162 John Henry Foster 800.582.5162 What if you could automate the repetitive manual

More information

Interfacing Sensors & Modules to Microcontrollers

Interfacing Sensors & Modules to Microcontrollers Interfacing Sensors & Modules to Microcontrollers Presentation Topics I. Microprocessors & Microcontroller II. III. Hardware/software Tools for Interfacing Type of Sensors/Modules IV. Level Inputs (Digital

More information

Platform Independent Launch Vehicle Avionics

Platform Independent Launch Vehicle Avionics Platform Independent Launch Vehicle Avionics Small Satellite Conference Logan, Utah August 5 th, 2014 Company Introduction Founded in 2011 The Co-Founders blend Academia and Commercial Experience ~20 Employees

More information

RAPID CONTROL PROTOTYPING FOR ELECTRIC DRIVES

RAPID CONTROL PROTOTYPING FOR ELECTRIC DRIVES RAPID CONTROL PROTOTYPING FOR ELECTRIC DRIVES Lukáš Pohl Doctoral Degree Programme (2), FEEC BUT E-mail: xpohll01@stud.feec.vutbr.cz Supervised by: Petr Blaha E-mail: blahap@feec.vutbr.cz Abstract: This

More information

SMART SENSORS AND MEMS

SMART SENSORS AND MEMS 2 SMART SENSORS AND MEMS Dr. H. K. Verma Distinguished Professor (EEE) Sharda University, Greater Noida (Formerly: Deputy Director and Professor of Instrumentation Indian Institute of Technology Roorkee)

More information