Presentation is loading. Please wait.

Presentation is loading. Please wait.

Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003.

Similar presentations


Presentation on theme: "Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003."— Presentation transcript:

1 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003

2 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Hierarchy Institute Faculty Coordinator Study board

3 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 E-Section Study Board URL: –Danish not so helpful –English: Study regulations Students' Guide (written by the E-Study board)Study regulationsStudents' Guide Memoranda International MastersMemorandaInternational Masters (written by the Faculty)

4 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Student's guide

5 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Semester planning group Coordinator Group members –Project supervisors –Lecturers Sekretariat

6 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Lectures

7 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Coordinator Start up the semester planning (2-3 month before the semester start and is responsiple through the hole semester) Calls for project proposals Plan the course schedule Plan the semester start up(first day) Planning student group formation Calls for semester group meetings (1-3/sem) Evaluate the semester

8 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Semester group meeting

9 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Course breakdown 3 rd -5 th semester ProjectProject CoursesGeneral Courses E316 modules7 modules E418 modules7 modules5 modules E519 modules7 modules4 modules E sector composition of courses:

10 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Overview of 3 rd – 5 th semester Analog Circuits Analog Circuits Analog/Digital Circuit Micro computer World Analog/Digital Circuit 3 rd semester 4 th semester 5 th semester PC

11 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet rd semester Amplifier/sFilter/s Digital circuits Muscles stress Heart beet

12 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet th Semester

13 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Controller Simulator Planner Model 5 th Semester 4. floor 5. floor 6. floor Power Electronic Computer Position Electronic Position Logic(IU) Position Logic(OU)

14 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet rd Semester Theme: Analog and digital elektronic Project proposals Courses A case: Design of Pulls meter based on EKG Assesment: Discussion of aims, objectives

15 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Theme: Analog and digital elektronic Objective Work form and rapport form Content Number of modules: 15 M+7 M Courses: General 7 and project related 7 Examination

16 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 General and project courses 3 rd Project courses: Analog Elektronics 3 M Basic Digital Technology 2 M Feedback Theory 1 M Measurement Techniques 1 M General courses: Mathematics 4 M Circuit Theory 3 M

17 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Project proposals 3 rd semester Optical detection Contruction of an electronic controller Design of Pulls meter based on EKG HiFi amplifier with digital control EMG(Electro-Myo-Grafi) alarm to bruxister Electrical Stimulation of muscels HiFi amplifier with minimum power loss Pipe and wire localization in the ground Sound and noise measurer

18 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Design of Pulls meter based on EKG Analog Elektronics Basic Digital Technology Feedback Theory Measurement Techniques Circuit Theory

19 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Design of Pulls meter based on EKG Content of the project was: 1.Analyses of the heart 2.Analyses of pulls metering 3.Problem definition 4.Inter faces 5.Design of instrument amplifier 6.Design of filters 7.Design of detector 8.Design of counter 9.Design of display 10.Design of voltage controller 11.Accept test 12.Conclusion 13.Perspective

20 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet th Semester Theme: Microcomputer systems Project proposals Courses A case: HiFi amplifier with digital control Assesment: Discussion of aims, objectives

21 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 General and project courses 4 th Project courses: Methodes for System Construction 1 M System arcitecture and integration 4 M Programming, algorithm and datastructures 2 M General courses: Mathematics 3 M Electro Magnetism 2 M

22 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Project proposals 4 th semester EKG monitor EMG-controlled mous Noise meter for concerts and discotheques Digital dictaphone and docking station Audiometer for self test of your hearing Velocity meter Control and monitoring af a Pasteurising plant Intelligent distance meter Digital control of DC-motor

23 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Case 4 th Semester Methodes for System Construction System arcitecture and integration Programming, algorithm and datastructures

24 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Courses and project 4 th Semester Content of the project was (very ruff) : 1.Analyses. System specification Functionalities 2.Hardware design 3.Software design 4.Implementation Hardware test Software test Test of the hole system 5.Conclusion

25 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet th Semester Theme: Instrument and/or System construction Project proposals Courses A case: Control System for a Flexible Robot Assesment: Discussion of aims, objectives

26 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Theme: Instrument and/or System construction Objective Work form and rapport form Content Number of modules: 19 M+7 M Courses: General 4 and project related 7 Examination

27 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 General and project courses 5 th Project courses: Electrical motors 1 M Electrical noice(EMC) 1 M Multi programming 1 M Realtime Systems 1 M Object Oriented Analyses and Design(OO*) 1 M Object Oriented programming with JAVA 1 M Power Electronic 1 M Sensors and Actuators 1 M Network and Data communication 1 M General courses: Feedback theory 2 1 M Signal processing 2 M Modulation Theory 1 M

28 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Project proposals 5 th semester Assisted servo-control of garden tractor Electrical Bicycle Sattelite power suply The electronic writing Desk Collision detector for Ships Control System for flexible Robot Camera controlled Robot Monitoring of the lung function EMC monitoring meter Now the students are much more interesting because they are beginning to collaborate And many more

29 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 The case 5 th semester: Control System for a flexible Robot Electrical noice(EMC) Multi programmingRealtime Systems Sensors and Actuators Object Oriented Analyses and Design(OO*) Object Oriented programming with JAVA Robotics Electrical Motors

30 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Suggested project content 5 th

31 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Starting point To be connected Force sensor to by build New Operation System Linux + RTAI Power supply Computer

32 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Major nuts to crack Construction of force sensor making it noise free Understanding the behaviour of the motor sensors (encoder, tachometer because of wrong signs) Interface between GUI (programmed in Java) and RT part of Linux (programmed in C++) Explanation of the differences between simulation results and real life Reduction of electrical noise by analog and digital filtering

33 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Report result Content of the report: 1.Introduction with: Problem definition Requirement specification 2.Model design Trajectory planning Actuator and sensor modelling Control loops 3.Software development User space software Real time modules in RTAI 4.System integration and test 5.Accept test 6.Conclusion

34 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Project result 19 th December the report was delivered In the Christmas time and during January the group continued to make the Robot drawing on a white board This was very satisfactory for the group, especially under the presentation

35 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Project presentation Only 4 slides of a presentation of 46 slides is shown here

36 P5 – Evaluering 2003 Real time control of flexible robot arm Projekteksamen Grp 502 Aalborg Universitet d. 27. Januar 2003 Based on RTAI

37 P5 – Evaluering 2003 Presentation Introduction Control Trajectory planning Control with force Real time software Tacho meter noise Conclusion/Demonstration

38 P5 – Evaluering 2003 The Problem Automatic Processes –Painting, Welding, Cuting and Gluing Simplifiered Objetive –Drawing with color pen on a white board Content +Introduction +Control +Trajectory planning +Control with force +Real time software +Tachometer noise +Conclusion/Demo nstration

39 P5 – Evaluering 2003 Construction of the force meter Chosen solution –A weigh cell from a kitchen weight Indhold +Introduktion +Regulering +Baneplanlægning +Regulering med kraft +Realtidssoftware +Tachometerstøj +Afrunding/Demon stration Content +Introduction +Control +Trajectory planning +Control with force +Real time software +Tachometer noise +Conclusion/Demo nstration

40 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Project unit result Very satisfactory for every body

41 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Students benefit from the project Good understanding of theory and practice Realise that they can cope with a very complex system (many subsystems, many sub problems) Experience the possibility to integrate different disciplines (modelling, simulation, programming, control, mechanics, electronics, mathematics, trajectory planning and control) + Robotics by self studying and supervisor consultancy

42 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Robot demo

43 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Experiences with the Students Very enthusiastic Very self organised Very well planning Very disciplined God spirit Working hard Sub group organised Creative/innovative

44 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003 Choice of profession 2 Control engineering 4 Signal processing

45 Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003


Download ppt "Mondragon, Spain 2003 Jan Helbo, Aalborg Universitet 2003."

Similar presentations


Ads by Google