Pinoamislaitteen suunnittelu vetokoneen jälkeiselle linjalle

Työn tavoitteena oli suunnitella vetokoneen linjalle pinoamislaite. Laitteen tehtävänä on pinota yksittäin vetokoneelta tulevista tuotteista asiakasvaatimusten mukaisia pinoja. Laitteen suunnittelu toteutettiin käyttämällä systemaattisen koneensuunnittelun metodia. Diplomityö rajattiin koskemaan laitteen mekaanisten ratkaisujen suunnittelua. Suunnittelussa huomioitiin linjan asettamat vaatimukset, jotka koskevat sekä tuotantomäärää että tilojen käyttöä. Laitteen suunnittelussa ja mallinnuksessa käytettiin Solidworksin 3D-mallinnusohjelmaa. Mallinnettuja ratkaisuvaihtoehtoja verrattiin keskenään. Parhaiten vaatimusluettelossa esitetyt vaatimukset täyttänyt ratkaisumalli valittiin kehitettäväksi. Suunnitellusta laitteesta valmistettiin työpiirustukset sekä kokoonpanokuvat.

Pyörivän palopään suunnittelu

Työssä suunniteltiin pienten kiinteistöjen keskuslämmityksen käyttöön kiinteää polttoainetta käyttävä palopää, jossa palopään pyörimisliike sekoittaa polttoainetta palamisen aikana. Polttoaineen sekoittamisella pyritään parantamaan palamisen hyötysuhdetta ja vähentämään haitallisia päästöjä. Laitteen suunnittelu toteutettiin systemaattista koneensuunnittelun metodia mukaillen. Työn aihe rajattiin koskemaan ainoastaan palopään mekaniikan suunnittelua ja mitoitusta. Suunnittelussa pyrittiin huomioimaan valmistusystävällisyys ja minimoimaan kustannukset. Laitteen suunnittelussa käytettiin SolidWorks 2014 – ohjelmaa.

Design of traction transmission and suspension systems for an omni-directional mobile robot

This project aims to design and manufacture a mobile robot with two Universal Robot UR10 mainly used indoors. In order to obtain omni-directional maneuverability, the mobile robot is constructed with Mecanum wheels. The Mecanum wheel can move in any direction with a series of rollers attached to itself. These rollers are angled at 45º about the hub’s circumference. This type of wheels can be used in both driving and steering with their any-direction property. This paper is focused on the design of traction system and suspension system, and the velocity control of Mecanum wheels in the close-loop control system. The mechanical design includes selection of bearing housing, couplers which are act as connection between shafts, motor parts, and other needed components. The 3D design software SolidWorks is utilized to assemble all the components in order to get correct tolerance. The driving shaft is designed based on assembled structure via the software as well. The design of suspension system is to compensate the assembly error of Mecanum wheels to guarantee the stability of the robot. The control system of motor drivers is realized through the Robot Operating System (ROS) on Ubuntu Linux. The purpose of inverse kinematics is to obtain the relationship among the movements of all Mecanum wheels. Via programming and interacting with the computer, the robot could move with required speed and direction.

Real-time adaptive control of ultra-fast laser scribing process with spectrometer online monitoring

There exist several researches and applications about laser welding monitoring and parameter control but not a single one have been created for controlling of laser scribing processes. Laser scribing is considered to be very fast and accurate process and thus it would be necessary to develop accurate turning and monitoring system for such a process. This research focuses on finding out whether it would be possible to develop real-time adaptive control for ultra-fast laser scribing processes utilizing spectrometer online monitoring. The thesis accurately presents how control code for laser parameter tuning is developed using National Instrument's LabVIEW and how spectrometer is being utilized in online monitoring. Results are based on behavior of the control code and accuracy of the spectrometer monitoring when scribing different steel materials. Finally control code success is being evaluated and possible development ideas for future are presented.

Design and implementation of machine vision system for the mobile assembly robot

The review of intelligent machines shows that the demand for new ways of helping people in perception of the real world is becoming higher and higher every year. This thesis provides information about design and implementation of machine vision for mobile assembly robot. The work has been done as a part of LUT project in Laboratory of Intelligent Machines. The aim of this work is to create a working vision system. The qualitative and quantitative research were done to complete this task. In the first part, the author presents the theoretical background of such things as digital camera work principles, wireless transmission basics, creation of live stream, methods used for pattern recognition. Formulas, dependencies and previous research related to the topic are shown. In the second part, the equipment used for the project is described. There is information about the brands, models, capabilities and also requirements needed for implementation. Although, the author gives a description of LabVIEW software, its add-ons and OpenCV which are used in the project. Furthermore, one can find results in further section of considered thesis. They mainly represented by screenshots from cameras, working station and photos of the system. The key result of this thesis is vision system created for the needs of mobile assembly robot. Therefore, it is possible to see graphically what was done on examples. Future research in this field includes optimization of the pattern recognition algorithm. This will give less response time for recognizing objects. Presented by author system can be used also for further activities which include artificial intelligence usage.

Real-time monitoring of laser scribing process utilizing high-speed camera

Currently, laser scribing is growing material processing method in the industry. Benefits of laser scribing technology are studied for example for improving an efficiency of solar cells. Due high-quality requirement of the fast scribing process, it is important to monitor the process in real time for detecting possible defects during the process. However, there is a lack of studies of laser scribing real time monitoring. Commonly used monitoring methods developed for other laser processes such a laser welding, are sufficient slow and existed applications cannot be implemented in fast laser scribing monitoring. The aim of this thesis is to find a method for laser scribing monitoring with a high-speed camera and evaluate reliability and performance of the developed monitoring system with experiments. The laser used in experiments is an IPG ytterbium pulsed fiber laser with 20 W maximum average power and Scan head optics used in the laser is Scanlab’s Hurryscan 14 II with an f100 tele-centric lens. The camera was connected to laser scanner using camera adapter to follow the laser process. A powerful fully programmable industrial computer was chosen for executing image processing and analysis. Algorithms for defect analysis, which are based on particle analysis, were developed using LabVIEW system design software. The performance of the algorithms was analyzed by analyzing a non-moving image from the scribing line with resolution 960x20 pixel. As a result, the maximum analysis speed was 560 frames per second. Reliability of the algorithm was evaluated by imaging scribing path with a variable number of defects 2000 mm/s when the laser was turned off and image analysis speed was 430 frames per second. The experiment was successful and as a result, the algorithms detected all defects from the scribing path. The final monitoring experiment was performed during a laser process. However, it was challenging to get active laser illumination work with the laser scanner due physical dimensions of the laser lens and the scanner. For reliable error detection, the illumination system is needed to be replaced.

Evanescent Wave Fibre Optic Sensors for Trace Analysis of Fe3+ in Water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Evanescent wave fibre optic sensors for trace analysis of Fe3+ in water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Evanescent wave fibre optic sensors for trace analysis of Fe3+ in water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Evanescent wave fibre optic sensors for trace analysis of Fe3+ in water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

NI USRP Lab: DQPSK Receiver Design

Design a DQPSK receiver using LabVIEW for implementation on NI USRP.

Disseny de controladors òptims per al robot Pioneer

Aquest projecte titulat: “Disseny de controladors òptims per al robot Pioneer”, té com a funció incloure en la recerca, que ja està iniciada, del control del Robot Pioneer 2DX, una nova versió d’agents go to per al funcionament del robot. La problemàtica que ens trobem és sobretot per al primer controlador. Fins ara el sistema multi-agent fet, feia servir un agent go to que generava la trajectòria a seguir i la controlava mitjançant un PID. Introduint un mètode geomètric com és el cas del pure pursuit la cosa es complica ja que és més complex l’ajustament del funcionament d’aquest. Centrant-nos en canvi el cas del segon controlador el problema es simplifica ja que l’ajustatge d’aquest mateix es pot realitzar de manera empírica i la problemàtica per a la situació en concret es millora amb major facilitat. És per aquest motiu, sobretot pel primer controlador, que s’han hagut de realitzar algunes modificacions en el plantejament del projecte al llarg d’aquest. En un principi estava pensat crear aquest controlador a través de Matlab® mitjançant l’eina Simulink® però per problemes de software en un moment donat hem hagut de redirigir el projecte cap al llenguatge base de l’estructura multi-agent com és el C++. Per aquest motiu també s’ha hagut de prescindir de la implementació d’aquests també en l’estructura LabView®.

Aplicació en línia d'un sistema variable de control multivariable en un Reactor ..

L’objecte del present treball és la realització d’una aplicació que permeti portar a terme el control estadístic multivariable en línia d’una planta SBR. Aquesta eina ha de permetre realitzar un anàlisi estadístic multivariable complet del lot en procés, de l’últim lot finalitzat i de la resta de lots processats a la planta. L’aplicació s’ha de realitzar en l’entorn LabVIEW. L’elecció d’aquest programa ve condicionada per l’actualització del mòdul de monitorització de la planta que s’està desenvolupant en aquest mateix entorn

Implantación de un sistema para la medida del posicionamiento angular de un manipulador paralelo

[ES]El objetivo del presente proyecto es la programación, mediante la herramienta Labview, de un software para la lectura y almacenamiento de los datos recogidos por un inclinómetro analógico de la marca STW Technic. Una vez el programa esté listo, se procederá a realizar una serie de pruebas mediante vibraciones a distintas frecuencias y con distinta amplitud de ángulo para determinar los límites de medida del sensor.

Experimental characterization of nonlinear systems: a real-time evaluation of the analogous Chua`s circuit behavior

This paper presents an experimental characterization of the behavior of an analogous version of the Chua`s circuit. The electronic circuit signals are captured using a data acquisition board (DAQ) and processed using LabVIEW environment. The following aspects of the time series analysis are analyzed: time waveforms, phase portraits, frequency spectra, Poincar, sections, and bifurcation diagram. The circuit behavior is experimentally mapped with the parameter variations, where are identified equilibrium points, periodic and chaotic attractors, and bifurcations. These analysis techniques are performed in real-time and can be applied to characterize, with precision, several nonlinear systems.