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The dynamically changing environment forces companies to introduce changes in production processes and the need for employees to adapt quickly to new tasks. Therefore, it is expected to implement solutions to support employees. The system that will manage the work on a manufacturing line should work in real time to support the ongoing activities and, to be implemented in SMEs, must not be expensive...
This system adopts spherical photographs to map coastal areas and port entrances. It is an augmented reality (AR) application to be regarded as an aid in navigation during the night and/or in foggy weather conditions. Also, the system offers unique multimedia content which will be applied in other areas, such as monitoring illegal constructions along the coasts.
The complexity of cyber-physical systems (CPSs) poses new challenges in their design, model checking and maintenance. The hardware and software designers are in search, more than ever, for simple and interoperable approaches that render the complexity of CPSs a treatable matter. In this work, database language is suggested as an enabling technology and a lean technique to the purpose. An example with...
The development of Intelligent Transportation System (ITS) technologies is an emerging topic in regards to Powered Two-Wheelers (PTW's). Major researches on automobiles are still focused on the area of active safety systems which aim to minimize the risks of accidents by controlling the stability of the vehicle in critical situations. The main issue in designing stability control systems for motorcycles...
This paper presents a didactic framework in embedded electronics systems that is used to elicit awareness into students and engineers on the design issues arising in the realization of a class of underactuated robots and aerial vehicles that needs be robustly controlled due to their intrinsic unstability. The applications prototyped on the embedded platform presented here are conceived, by design,...
This paper proposes a simulation scenario in order to compare a proposed model of a motorcycle in cornering condition. The behaviours obtained by considering a linearized roll dynamic and a nonlinear roll dynamic have been investigated in order to evaluate their use in designing automatic stability controls of a motorcycle. The former model shows a linear dependency on the roll angle and the steer...
The present paper proposes an effective metrics for production efficiency and a bottleneck detection algorithm of recursive nature for its application on lightweight embedded systems on board of the robotics and automation components of the factory of the future. The proposed methodology is particularly suited if the fractal paradigm is applied to the factory seen as a complex system of systems but...
This paper proposes to enhance an existing motorcycle dynamics model, in order to take account of the longitudinal dynamics, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained using Lagrangian formulation. Also, to model the road surface, two additional equations describing the longitudinal slip and the longitudinal forces dynamic are included. The model is...
A Ballbot is a self-balanced mobile robot designed for omnidirectional mobility. The structure self-balanced on a ball giving to the system only one contact point with the ground. In this paper the dynamical model of a Ballbot system is investigated in order to find a linearized model which is able to describe the three-dimensional dynamics of the mechatronic system by a simpler set of equations....
This paper proposes a mathematical model of a motorcycle that deals with the lateral and longitudinal dynamics, the tyre slip and the rear wheel traction. The vehicle is considered as an assembly of two rigid bodies. The proposed dynamic formulation is based on Lagrange's equations, it allows to formulate the equations of motion with 7 degrees of freedom (DoF). The model assess the vehicle behavior...
In this paper an embedded system for accurate control of torque, speed and position of DC motors which actuate the joints of a robotic leg is presented. The proposed embedded system is not based on dedicated and expensive motor controllers but on a general pourpose embedded board equipped with a 32bit microcontroller. For each motor the embedded system can selectively operate in three different control...
This paper presents an embedded system for a ballbot robotic platform, which is a balanced omnidirectional mobile robot that moves on a sphere. It provides a higher degree of maneuverability compared to the wheeled mobile robots. The robot balances it on a ball and gives to the system only one contact point with the ground. This allows to reduce the friction and the space needed by the system to turn...
This paper proposes a rapid prototyping framework based on open source tools for real-time solution of Ordinary Differential Equations (ODE) problems on embedded microcontrollers. A plug-in software for the deployment of ODE solvers, in C language, on embedded industrial environment is proposed. By means of C portability across different microcontrollers architectures, there is the possibility to...
This paper presents a dynamic platform instrument with a virtual reality simulator used for multi-discipline educational purposes. In control system theory there are a number of generic systems and methods which are used in all areas of industry and technology for educational purposes. This paper aims to explain these important systems application and methods in straightforward terms. The paper describes...
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