Αντικείμενο της εργασίας αποτελεί η ανάπτυξη συστήματος βασισμένου σε DSP για τη λήψη και επεξεργασία εικόνας υψηλής ανάλυσης με δυνατότητα ρύθμισης της γωνίας λήψης μέσα στο χώρο μέσω πρωτότυπου μηχανισμού που κινείται με τη βοήθεια δύο βηματικών κινητήρων και ελέγχου της διάταξης από απόσταση μέσω σύνδεσης δικτύου με το πρωτόκολλο TCP. Η δικτυακή επικοινωνία, επεξεργασία, μεταφορά και αποθήκευση των δεδομένων εικόνας στηρίζονται στην κάρτα DSK TMS320C6416, που βασίζεται στον DSP 6416 της Texas Instruments, ενώ ο έλεγχος της κάμερας και η οδήγηση των βηματικών κινητήρων επιτυγχάνονται με τη χρήση της θυγατρικής κάρτας DSK-EYE Gigabit, πυρήνα της οποίας αποτελεί ένα FPGA της οικογένειας Cyclone II της ALTERA και περιλαμβάνει τον OV5610 αισθητήρα εικόνας 5.2 Megapixel. Ένα γραφικό περιβάλλον επιτρέπει στο χρήστη της εφαρμογής τον έλεγχο της διάταξης και τη ρύθμιση των παραμέτρων για τη λήψη και επεξεργασία εικόνας ανάμεσα στις οποίες είναι η ρύθμιση φωτεινότητας, κέρδους, ανάλυσης της εικόνας, κατεύθυνσης και γωνίας κίνησηςγια κάθε κινητήρα ξεχωριστά και επιλογή του αλγορίθμου επεξεργασίας της αρχικής εικόνας. / A remote controlled DSP-based system for high resolution image capturing and processing, featuring 2-axis rotational motion was developed using the TMS320C6416 DSK board, which is based on TMS320C6416T DSP. A prototype device holding a pair of bipolar stepper motors and a gear set providing proper gear ratio and holding torque, is used for motion transmission to the 5.2 Megapixel Omnivision OV5610 camera module, connected to the Bitec DSK-EYE Gigabit daughtercard, which is built around a FPGA of the ALTERA Cyclone II family. The remote operation of the whole system is carried out over a network connection via the dedicated Ethernet adapter of the DSK-EYE board, using the TCP/IP protocol. The device is controlled by means of a Graphical User Interface (GUI) which grants access to some key parameters of the image sensoring process, allowing for easy adjustment of gain and exposure values, stepper motor control and image processing algorithm selection

Este trabalho contempla o projeto de um manipulador robótico cilindro atuado por motores de passo com cinco juntas de atuação. As etapas do projeto do robô, que tratam este estudo, foram divididas em: projeto mecânico; modelagem matemática; projeto do controlador; e simulações. O projeto mecânico apresenta uma proposta de configuração e dimensionamento mecânicos que supre a demanda exigida para a operação analisada. O modelo matemático apresenta as características elétricas e mecânicas do atuador e as características mecânicas do robô. O projeto de um controlador linear é realizado por meio da alocação dos polos do sistema em malha fechada através da realimentação dos estados de posição e de velocidade angulares do rotor unidos a um integrador do erro de posição angular. Para o primeiro grau de liberdade, por conta da variação do momento de inércia de massa associado a essa junta, um controlador com ganhos parametrizados foi projetado, no qual os ganhos são calculados baseado no modelo matemático relativo ao momento de inércia de massa associado a essa junta. Por meio de simulações computacionais, avaliou-se o projeto dos controladores no movimento ponto a ponto dos cinco eixos de atuação e a variação do momento de inércia de massa sobre a primeira junta. Os resultados dessas simulações mostraram que os controladores propostos cumprem com a dinâmica desejada nos cinco graus de liberdade do robô. / This work contemplates the design of a robotic manipulator, which is operated by a stepper motor with five actuation joints. The robot design steps were divided into: mechanical design; mathematical modeling; controller design; and simulations. The mechanical design presents a proposal of mechanical configuration and sizing that supplies the required demand for the analyzed operation. The mathematical model presents the electrical and mechanical characteristics of the actuator and the mechanical characteristics of the robot. The design of a linear controller is accomplished by allocating the poles of the closed loop system by states feedback of the position and angular speed of the rotor attached to an angular position error integrator. For the first degree of freedom, due to the variation of mass moment of inertia associated with this joint, a controller with parameterized gains was projected, in which the gains are calculated based on the mathematical model related to the mass moment of inertia associated to this joint. By means of computational simulations, we evaluated the design of the controllers in the point-to-point movement of the five actuation joints and the variation of the mass moment of inertia on the first joint. The results of these simulations showed that the proposed controllers comply with the desired dynamics in the robot’s five degrees of freedom.

Este trabalho contempla o projeto de um manipulador robótico cilindro atuado por motores de passo com cinco juntas de atuação. As etapas do projeto do robô, que tratam este estudo, foram divididas em: projeto mecânico; modelagem matemática; projeto do controlador; e simulações. O projeto mecânico apresenta uma proposta de configuração e dimensionamento mecânicos que supre a demanda exigida para a operação analisada. O modelo matemático apresenta as características elétricas e mecânicas do atuador e as características mecânicas do robô. O projeto de um controlador linear é realizado por meio da alocação dos polos do sistema em malha fechada através da realimentação dos estados de posição e de velocidade angulares do rotor unidos a um integrador do erro de posição angular. Para o primeiro grau de liberdade, por conta da variação do momento de inércia de massa associado a essa junta, um controlador com ganhos parametrizados foi projetado, no qual os ganhos são calculados baseado no modelo matemático relativo ao momento de inércia de massa associado a essa junta. Por meio de simulações computacionais, avaliou-se o projeto dos controladores no movimento ponto a ponto dos cinco eixos de atuação e a variação do momento de inércia de massa sobre a primeira junta. Os resultados dessas simulações mostraram que os controladores propostos cumprem com a dinâmica desejada nos cinco graus de liberdade do robô. / This work contemplates the design of a robotic manipulator, which is operated by a stepper motor with five actuation joints. The robot design steps were divided into: mechanical design; mathematical modeling; controller design; and simulations. The mechanical design presents a proposal of mechanical configuration and sizing that supplies the required demand for the analyzed operation. The mathematical model presents the electrical and mechanical characteristics of the actuator and the mechanical characteristics of the robot. The design of a linear controller is accomplished by allocating the poles of the closed loop system by states feedback of the position and angular speed of the rotor attached to an angular position error integrator. For the first degree of freedom, due to the variation of mass moment of inertia associated with this joint, a controller with parameterized gains was projected, in which the gains are calculated based on the mathematical model related to the mass moment of inertia associated to this joint. By means of computational simulations, we evaluated the design of the controllers in the point-to-point movement of the five actuation joints and the variation of the mass moment of inertia on the first joint. The results of these simulations showed that the proposed controllers comply with the desired dynamics in the robot’s five degrees of freedom.

This project is about making an embedded system in order to control different functionalities of a stepper motor. The main functions of this stepper motor are to control the speed and direction. The whole hardware consists of two parts. One is the transmitter side and the other side is the receiver side. The transmitter side consists of PC, Encoder, a microcontroller and RF (Radio Frequency) transmitter. On the receiver side there is an RF receiver, a decoder, a microcontroller, a motor driver and a stepper motor. During this project a wireless system is going to be used to enhance the stepper motor operated manually. This system will actually adapt the requirements of the modern technology. With the help of this system one can control the speed of the stepper motor controller from remote sites. It can also control the direction of the stepper motor. In order to make it user friendly we make a GUI for controlling it from the PC. The data is sent and received via transmitter and receiver respectively. This data will be encoded and decoded and sent to the motor driver from where it is sent to the stepper motor in order to perform the operations. / 0734-954624

This master’s thesis is focused on design of stepper conveyor, that is used for transport od round bars of lengths from 3 m to 12 m and diameters from 20 mm to 100 mm between chamfering machines. It is a machinery assembled from chain conveyors and roller conveyors, which allows transverse and lengthwise movement of bars. The main goal was reduction of energetic demands compared to present solution of conveyor.

The content of the thesis is the modeling and implementation of the CNC control algorithm. This master thesis contains the description of issues of computer-controlled machines, the research of interpolation algorithms for control CNC machines and the modeling of the selected control algorithm with motor S-curve shaped speed profiles and simulation of chosen algorithms with S-shaped speed profiles in Matlab & Simulink.

This work describes development of control hardware and software for automatic production of tuning fork with tip for atomic force microscopy (AFM). A specialized device implementing the problem is developed and tested. The advantage of the proposed solution is the ability to produce the tuning forks with constant parameters, which is an important condition for successful work with the microscope.

The purpose of this diploma thesis was to explore possibilities, design and build 2D position system driven by PC via USB. ATmega16 and FT232R were used as the most important parts of hardware solution. Software for control of the position system was designed in C++ Builder and it can run under MS Windows XP. This work is based on semestral thesis and in future can be used in other applications or modified. 2D position system will be later used by UBMI in education and scientific applications.

The main components of the system for embroidery sewing machine is (Veritas 8014/35-2) and pointing devices. The machine automatically entered embroidered patterns, it is necessary to construct a pointing device and its control. To drive the pointing device used two stepper motors, the control circuit to cater to the ATmega128. Communication between PC and ATmega128 provides converter FT232.

The general aim of my master´s thesis is to study the actual principles of 3D scanning, the anatomy of human teeth, use of 3D scanning in dentistry and other medical fields. Another part of this thesis is about software and hardware design of 3D scanning system, which enable us to scan dental casts. This design is using webcam, projector and turntable. The principle of scanning is based on the activ triangulation. The output of 3D scanner is a horde of spots, which are used for reconstruction of a surface. The reconstructed surface is finally saved as .stl format.