Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE, 1996
The theoretical development of a trajectory tracking neural network controller based on the theor... more The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor
Today, especially in the learning of control basics, the emphasis is not on what to teach but on ... more Today, especially in the learning of control basics, the emphasis is not on what to teach but on how to support active learning and using of high efficiency computer tools. Computer-aided control design and control implementation are desirable, because they improve the efficiency of control learning and industrial control practice. In addition new technologies, like Internet, offer new learning possibilities. Internet (Web) supports distance learning and learning at any time by enabling fast delivery of the learning material between the teacher and students as well as access to laboratory experiments 24 h a day. Two types of Web based laboratories exist: virtual and remote. Virtual laboratories are based on computer visualisation and simulations, while remote laboratories enable operating of real devices constituting the control experiment. “Learning through doing” (hands-on learning) is a leading idea motivating the design of virtual and remote laboratories. The idea of hands-on learning is not a new idea in engineering education. But it is still a theme in engineering education, today. Psychological studies have shown that, in general, people remember only about 10% of what they read, but 90% of what they actually “try and realize”. This result motivates professors and instructors who teach engineering courses to deliver not only good lectures, but also hands-on experiments and proper course projects to support a complete learning experience. Virtual and remote laboratories enable costs effective hands-on experimenting tailored to the actual needs of the course.
The DC-DC conversion principle is a part of many electronics devices and is a subject of many res... more The DC-DC conversion principle is a part of many electronics devices and is a subject of many research projects which are looking for the best control. In the search for the best control of a buck converter control line regulation should be considered in addition to load regulation. With ordinary PI controllers the dynamic response of the buck converter output voltage caused by load change is slow and exhibits large dynamic deviations from the desired steady state output value. With state space controller the dynamic response of the buck converter exhibits fast load response with small dynamic deviations from the desired steady state output value. Unfortunately dynamic response of state space controller to input voltage step change (line regulation) does not meet desired performance. It exhibits steady state error. Therefore an approach with outer PI controller in addition to the internal state space controller and disturbance observer based control approach have been considered.
In this paper digitally controlled step down converter using fuzzy state space control law algori... more In this paper digitally controlled step down converter using fuzzy state space control law algorithms is studied. The state controller is designed to eliminate the start-up overshoot and reduce maximal dynamic error of load change response, but the state controller is not capable to eliminate the steady-state error under the load change condition. In order to improve this property two control algorithm were investigated. The first one was the state controller with constant gains supported by additional decomposed fuzzy PID controller and the second one was fuzzy state space controller. Both of control algorithms are performed at a continuous current mode of operation. The experimental results are presented in the paper. The control algorithms were implemented on 16-bit micro-computer.
The average state space model of the buck converter has been used in order to design the PI and s... more The average state space model of the buck converter has been used in order to design the PI and state controller. Simple analytical expressions in terms of the circuit components are derived for frequency responses of time averaged (continuous) power-stage for use in designing and understanding the behavior of corresponding switched power stage. Such obtained models enable the designing of PI and state controller in order to control the converter output voltages. Responses from analog computer simulation of the switched and averaged power stages agree well and, in turn, confirm the analytical prediction.
Digitally controlled step down converter with different control law algorithms is studied in this... more Digitally controlled step down converter with different control law algorithms is studied in this paper. The state controller is designed to eliminate the start-up overshoot and reduce maximal dynamic error of load change response, but the state controller is not capable of eliminating the steady-state error under the load change condition. By using an additional discrete PID controller the steady state error could be eliminated. For the next consideration, the decomposed discrete fuzzy PID controller has been analyzed. All control algorithms are performed at a continuous current mode of operation. The experimental results are presented in the paper. The control algorithms were implemented on 16-bit microcomputer.
AbstractUsing of MATLAB Web Server(MWS) is attractive for students as well as for universities d... more AbstractUsing of MATLAB Web Server(MWS) is attractive for students as well as for universities due to reduction of costs for both parties. Standard MWS applications support structured hands-on experiments welcomed for visualization of hard to grasp concepts and as a ...
... Suzana Uran, Darko Hercog, Karel Jezernik Faculty of Electrical Engineering and Computer Scie... more ... Suzana Uran, Darko Hercog, Karel Jezernik Faculty of Electrical Engineering and Computer Science University of Maribor Maribor, Slovenia Email: suzana.uranguni-mb.si, darko.hercogguni-mb.si, kareljezernikguni-mb.si ... [10] Wikipedia: http:Hen.wikipedia.org/wiki/Moodle. ...
Industrial robots are confronted with performing tasks where a contact with their environment occ... more Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and force control ability appears. Many algorithms have been proposed which deal with robot motion and force control. They could be mainly separated into two classes, namely: hybrid control, where constrained and unconstrained DOFs of the robot are observed separately based on the principle of the orthogonality; and impedance control where the robot should adopt some physical properties such as mass, damping and stiffness in order to assure stable dynamic interaction with the environment. In this paper the robust impedance control law based on the attractive theory of sliding mode is proposed. The control law guarantees a robot predefined impedance and therefore force regulation based on impedance properties is discussed. Experimental results on a simple 1 DOF mechanism is shown to verify theoretical statements
Abstract In order to enhance learning of control design, minimise the gap between theory and pr... more Abstract In order to enhance learning of control design, minimise the gap between theory and practice and especially to support learning by doing we built two web-based laboratories. This paper presents the two web based laboratories: a MATLAB Web Server(MWS) based ...
Many enterprises experience difficulty in training people to work with expensive equipment, which... more Many enterprises experience difficulty in training people to work with expensive equipment, which is needed for carrying out profitable work tasks (e.g. production line robots). Similar problems are found when work is of a complex and safety critical nature (e.g. nuclear environments, explosive placement, surgery). This paper describes a method of education and training involving off-line usage of Virtual Environments (VR) for task planning. When tasks are developed to the satisfaction of the trainee, they are exported to remote physical hardware, via the Internet, for real world execution. Development of the system and the training experiments is discussed, along with some of the issues raised for telerobotics and solutions to the problem of detecting collisions in the virtual world.
Underactuated mechanisms have attracted a lot of attention because they represent a rich class of... more Underactuated mechanisms have attracted a lot of attention because they represent a rich class of control systems from a control standpoint and because they offer robot price reduction due to robot link mass reduction and lower number of robot actuators. Our ball and beam like mechanism is an example of underactuated mechanism. The ball and beam system does not possess a nontriangular structure which allows standard integrator backstepping or forwarding methods therefore approximations of nonlinear control were up to date proposed for the control of such systems. In contrast to Hauser (1992) we proposed a cascaded computed torque controller which is in fact another approximate nonlinear controller. A desirable feature of the cascaded computed torque controller is strong resemblance with standard computed torque method in the case of design and implementation effort. In the case of cascaded computed torque controller the angle of the beam could be constrained. Simulation results for the cascaded computed torque controller were compared with the simulation results obtained for the control approach of Hauser. Experimental results for the cascaded computed torque controller are presented.
Research related to sub-millimeter or even micro-sized objects, such as micromechatronics, has th... more Research related to sub-millimeter or even micro-sized objects, such as micromechatronics, has the potential to make huge impacts on our society. Current manufacturing techniques, however, are incapable of massive parallel handling of objects at these scales. The lack of manufacturing techniques for massive parallel manipulation of so small objects presents a technology barrier to the eventual commercial success in fields like MEMS. The programmable and position closed-loop controllable pneumatic active surface device presented in this paper is a fundamentally new approach to automated massive small-sized parts manipulation. The appropriate choice of force generated by blowing or sucking air-flow through tubes of the pneumatic active surface device, is shown to cause objects placed on the array to be moved in manners that are useful It offers greater ability and speed and it can be employed to position, orient, identify, sort, feed, and assemble parts or objects on the active surface device. It can control several objects simultaneously. This paper first describes an experimental device and potential applications, and then it focuses on closed-loop positioning control techniques (translating) for rigid (VLSI chips, MEMS) objects and flexible (PVC polyvinyl foil, paper). The implemented control strategies have been successfully tested on the experimental device as described in the paper
Industrial robots are confronted with performing tasks where a contact with their environment occ... more Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control. In this paper a robust impedance control law based on an attractive theory of sliding mode is proposed. The control law guarantees a robot predefined impedance and therefore a force regulation based on the possessed impedance properties is feasible. The proposed impedance controller is used in a force-tracking task. Experimental results on a simple 1-DOF mechanism and 3-DOF direct drive robot mechanism are reported
This paper presents a web-based virtual laboratory for learning of MATLAB. Using this virtual lab... more This paper presents a web-based virtual laboratory for learning of MATLAB. Using this virtual laboratory, students could write their own MATLAB M-files and execute them using the MATLAB web server. In addition, web-based remote laboratory-experiment RC oscillator for learning of control design is presented. In RC oscillator experiment, interactivity between the controller design parameters in Bode plot and Root Locus with real experiment has been implemented in order to support full visualisation of the controller design.
The current lack of manufacturing techniques for very high volume handling of small objects prese... more The current lack of manufacturing techniques for very high volume handling of small objects presents a technology barrier to the commercial success in various fields like micro electromechanical systems (MEMS). A fundamentally new approach to automated massive parallel manipulation of small-sized parts is explored in this paper. The paper explores a pneumatic active surface device (PASD). The appropriate choice of force, caused by blowing or sucking air-flow through tubes of the pneumatic active surface device, is shown to cause objects placed on the array to be moved in manners that are useful. It offers great flexibility and speed and it can be employed to position, orient, identify, sort, feed, and assemble parts or objects. In addition several objects can be controlled simultaneously. This paper describes experimental work done on a prototype pneumatic active surface device, especially open-loop and closed-loop positioning control techniques for sub-millimeter rigid objects.
This paper proposes a two-step strategy for the computer-aided learning of control. A virtual Web... more This paper proposes a two-step strategy for the computer-aided learning of control. A virtual Web-based laboratory for control design experiments (https://www.hl1.uni-mb.si), which supports a two-step strategy, is based on the MATLAB Web server (MWS) and consists of two virtual laboratories. The first virtual laboratory, called "Web sisotool," supports computer-aided control design and structured hands-on experiments. Computer-aided control design is welcome as a design tool while structured hands-on experiments are welcome for the visualization of hard-to-grasp concepts. The second virtual laboratory offers students an unstructured MATLAB-like environment, called "M-file application," that allows students to create and design control design experiments by writing MATLAB M-files of their own and executing them on MWS. The presented virtual laboratory for control design experiments is cost effective and has already been successfully used for the learning of control. Student feedback is also presented.
The theoretical development of a trajectory tracking neural network controller based on the theor... more The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor
Recently much attention has been focused on modern control education. Nowadays two new tools: the... more Recently much attention has been focused on modern control education. Nowadays two new tools: the Web (Internet) and the rapid control prototyping (RCP) have a great impact on control systems used in industry and on control education. In the paper an example of introductory control course with integrated hands on experiments is represented. Some experiments are Web based while the
This paper presents a framework for rapid remote experiment implementation in the field of automa... more This paper presents a framework for rapid remote experiment implementation in the field of automatic control. The proposed solution is based on in-house developed embedded control hardware and two commercially available software packages. MATLAB/Simulink is used for rapid experiment control algorithm development, while LabVIEW is used for the user front-end and remote control. A combination of presented hardware and software solutions enables the rapid and easy creation of different interactive remote control experiments. Using this solution, a digital-signal-processor-based remote control laboratory for teaching purposes has been realized. This remote laboratory enables the remote users to easily interact with a set of physical control experiments through the Internet. In the friendly user interface, the remote user can change predefined system parameters and observe system response in textual, graphical, or video format. In addition, this remote laboratory includes a booking system, which enables remote users to book experiments in advance.
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE, 1996
The theoretical development of a trajectory tracking neural network controller based on the theor... more The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor
Today, especially in the learning of control basics, the emphasis is not on what to teach but on ... more Today, especially in the learning of control basics, the emphasis is not on what to teach but on how to support active learning and using of high efficiency computer tools. Computer-aided control design and control implementation are desirable, because they improve the efficiency of control learning and industrial control practice. In addition new technologies, like Internet, offer new learning possibilities. Internet (Web) supports distance learning and learning at any time by enabling fast delivery of the learning material between the teacher and students as well as access to laboratory experiments 24 h a day. Two types of Web based laboratories exist: virtual and remote. Virtual laboratories are based on computer visualisation and simulations, while remote laboratories enable operating of real devices constituting the control experiment. “Learning through doing” (hands-on learning) is a leading idea motivating the design of virtual and remote laboratories. The idea of hands-on learning is not a new idea in engineering education. But it is still a theme in engineering education, today. Psychological studies have shown that, in general, people remember only about 10% of what they read, but 90% of what they actually “try and realize”. This result motivates professors and instructors who teach engineering courses to deliver not only good lectures, but also hands-on experiments and proper course projects to support a complete learning experience. Virtual and remote laboratories enable costs effective hands-on experimenting tailored to the actual needs of the course.
The DC-DC conversion principle is a part of many electronics devices and is a subject of many res... more The DC-DC conversion principle is a part of many electronics devices and is a subject of many research projects which are looking for the best control. In the search for the best control of a buck converter control line regulation should be considered in addition to load regulation. With ordinary PI controllers the dynamic response of the buck converter output voltage caused by load change is slow and exhibits large dynamic deviations from the desired steady state output value. With state space controller the dynamic response of the buck converter exhibits fast load response with small dynamic deviations from the desired steady state output value. Unfortunately dynamic response of state space controller to input voltage step change (line regulation) does not meet desired performance. It exhibits steady state error. Therefore an approach with outer PI controller in addition to the internal state space controller and disturbance observer based control approach have been considered.
In this paper digitally controlled step down converter using fuzzy state space control law algori... more In this paper digitally controlled step down converter using fuzzy state space control law algorithms is studied. The state controller is designed to eliminate the start-up overshoot and reduce maximal dynamic error of load change response, but the state controller is not capable to eliminate the steady-state error under the load change condition. In order to improve this property two control algorithm were investigated. The first one was the state controller with constant gains supported by additional decomposed fuzzy PID controller and the second one was fuzzy state space controller. Both of control algorithms are performed at a continuous current mode of operation. The experimental results are presented in the paper. The control algorithms were implemented on 16-bit micro-computer.
The average state space model of the buck converter has been used in order to design the PI and s... more The average state space model of the buck converter has been used in order to design the PI and state controller. Simple analytical expressions in terms of the circuit components are derived for frequency responses of time averaged (continuous) power-stage for use in designing and understanding the behavior of corresponding switched power stage. Such obtained models enable the designing of PI and state controller in order to control the converter output voltages. Responses from analog computer simulation of the switched and averaged power stages agree well and, in turn, confirm the analytical prediction.
Digitally controlled step down converter with different control law algorithms is studied in this... more Digitally controlled step down converter with different control law algorithms is studied in this paper. The state controller is designed to eliminate the start-up overshoot and reduce maximal dynamic error of load change response, but the state controller is not capable of eliminating the steady-state error under the load change condition. By using an additional discrete PID controller the steady state error could be eliminated. For the next consideration, the decomposed discrete fuzzy PID controller has been analyzed. All control algorithms are performed at a continuous current mode of operation. The experimental results are presented in the paper. The control algorithms were implemented on 16-bit microcomputer.
AbstractUsing of MATLAB Web Server(MWS) is attractive for students as well as for universities d... more AbstractUsing of MATLAB Web Server(MWS) is attractive for students as well as for universities due to reduction of costs for both parties. Standard MWS applications support structured hands-on experiments welcomed for visualization of hard to grasp concepts and as a ...
... Suzana Uran, Darko Hercog, Karel Jezernik Faculty of Electrical Engineering and Computer Scie... more ... Suzana Uran, Darko Hercog, Karel Jezernik Faculty of Electrical Engineering and Computer Science University of Maribor Maribor, Slovenia Email: suzana.uranguni-mb.si, darko.hercogguni-mb.si, kareljezernikguni-mb.si ... [10] Wikipedia: http:Hen.wikipedia.org/wiki/Moodle. ...
Industrial robots are confronted with performing tasks where a contact with their environment occ... more Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and force control ability appears. Many algorithms have been proposed which deal with robot motion and force control. They could be mainly separated into two classes, namely: hybrid control, where constrained and unconstrained DOFs of the robot are observed separately based on the principle of the orthogonality; and impedance control where the robot should adopt some physical properties such as mass, damping and stiffness in order to assure stable dynamic interaction with the environment. In this paper the robust impedance control law based on the attractive theory of sliding mode is proposed. The control law guarantees a robot predefined impedance and therefore force regulation based on impedance properties is discussed. Experimental results on a simple 1 DOF mechanism is shown to verify theoretical statements
Abstract In order to enhance learning of control design, minimise the gap between theory and pr... more Abstract In order to enhance learning of control design, minimise the gap between theory and practice and especially to support learning by doing we built two web-based laboratories. This paper presents the two web based laboratories: a MATLAB Web Server(MWS) based ...
Many enterprises experience difficulty in training people to work with expensive equipment, which... more Many enterprises experience difficulty in training people to work with expensive equipment, which is needed for carrying out profitable work tasks (e.g. production line robots). Similar problems are found when work is of a complex and safety critical nature (e.g. nuclear environments, explosive placement, surgery). This paper describes a method of education and training involving off-line usage of Virtual Environments (VR) for task planning. When tasks are developed to the satisfaction of the trainee, they are exported to remote physical hardware, via the Internet, for real world execution. Development of the system and the training experiments is discussed, along with some of the issues raised for telerobotics and solutions to the problem of detecting collisions in the virtual world.
Underactuated mechanisms have attracted a lot of attention because they represent a rich class of... more Underactuated mechanisms have attracted a lot of attention because they represent a rich class of control systems from a control standpoint and because they offer robot price reduction due to robot link mass reduction and lower number of robot actuators. Our ball and beam like mechanism is an example of underactuated mechanism. The ball and beam system does not possess a nontriangular structure which allows standard integrator backstepping or forwarding methods therefore approximations of nonlinear control were up to date proposed for the control of such systems. In contrast to Hauser (1992) we proposed a cascaded computed torque controller which is in fact another approximate nonlinear controller. A desirable feature of the cascaded computed torque controller is strong resemblance with standard computed torque method in the case of design and implementation effort. In the case of cascaded computed torque controller the angle of the beam could be constrained. Simulation results for the cascaded computed torque controller were compared with the simulation results obtained for the control approach of Hauser. Experimental results for the cascaded computed torque controller are presented.
Research related to sub-millimeter or even micro-sized objects, such as micromechatronics, has th... more Research related to sub-millimeter or even micro-sized objects, such as micromechatronics, has the potential to make huge impacts on our society. Current manufacturing techniques, however, are incapable of massive parallel handling of objects at these scales. The lack of manufacturing techniques for massive parallel manipulation of so small objects presents a technology barrier to the eventual commercial success in fields like MEMS. The programmable and position closed-loop controllable pneumatic active surface device presented in this paper is a fundamentally new approach to automated massive small-sized parts manipulation. The appropriate choice of force generated by blowing or sucking air-flow through tubes of the pneumatic active surface device, is shown to cause objects placed on the array to be moved in manners that are useful It offers greater ability and speed and it can be employed to position, orient, identify, sort, feed, and assemble parts or objects on the active surface device. It can control several objects simultaneously. This paper first describes an experimental device and potential applications, and then it focuses on closed-loop positioning control techniques (translating) for rigid (VLSI chips, MEMS) objects and flexible (PVC polyvinyl foil, paper). The implemented control strategies have been successfully tested on the experimental device as described in the paper
Industrial robots are confronted with performing tasks where a contact with their environment occ... more Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, there is a need for control algorithms with position tracking performance and force control ability. Up to date many algorithms have been proposed which deal with robot motion and force control. In this paper a robust impedance control law based on an attractive theory of sliding mode is proposed. The control law guarantees a robot predefined impedance and therefore a force regulation based on the possessed impedance properties is feasible. The proposed impedance controller is used in a force-tracking task. Experimental results on a simple 1-DOF mechanism and 3-DOF direct drive robot mechanism are reported
This paper presents a web-based virtual laboratory for learning of MATLAB. Using this virtual lab... more This paper presents a web-based virtual laboratory for learning of MATLAB. Using this virtual laboratory, students could write their own MATLAB M-files and execute them using the MATLAB web server. In addition, web-based remote laboratory-experiment RC oscillator for learning of control design is presented. In RC oscillator experiment, interactivity between the controller design parameters in Bode plot and Root Locus with real experiment has been implemented in order to support full visualisation of the controller design.
The current lack of manufacturing techniques for very high volume handling of small objects prese... more The current lack of manufacturing techniques for very high volume handling of small objects presents a technology barrier to the commercial success in various fields like micro electromechanical systems (MEMS). A fundamentally new approach to automated massive parallel manipulation of small-sized parts is explored in this paper. The paper explores a pneumatic active surface device (PASD). The appropriate choice of force, caused by blowing or sucking air-flow through tubes of the pneumatic active surface device, is shown to cause objects placed on the array to be moved in manners that are useful. It offers great flexibility and speed and it can be employed to position, orient, identify, sort, feed, and assemble parts or objects. In addition several objects can be controlled simultaneously. This paper describes experimental work done on a prototype pneumatic active surface device, especially open-loop and closed-loop positioning control techniques for sub-millimeter rigid objects.
This paper proposes a two-step strategy for the computer-aided learning of control. A virtual Web... more This paper proposes a two-step strategy for the computer-aided learning of control. A virtual Web-based laboratory for control design experiments (https://www.hl1.uni-mb.si), which supports a two-step strategy, is based on the MATLAB Web server (MWS) and consists of two virtual laboratories. The first virtual laboratory, called "Web sisotool," supports computer-aided control design and structured hands-on experiments. Computer-aided control design is welcome as a design tool while structured hands-on experiments are welcome for the visualization of hard-to-grasp concepts. The second virtual laboratory offers students an unstructured MATLAB-like environment, called "M-file application," that allows students to create and design control design experiments by writing MATLAB M-files of their own and executing them on MWS. The presented virtual laboratory for control design experiments is cost effective and has already been successfully used for the learning of control. Student feedback is also presented.
The theoretical development of a trajectory tracking neural network controller based on the theor... more The theoretical development of a trajectory tracking neural network controller based on the theory of sliding-mode controllers is shown in the paper. Derived equations of the neural network controller were verified on a direct drive 2-DOF SCARA mechanism model. The new neural network controller was compared with a neural network controller based on the computed torque method. At last we made an application on a real 2-DOF SCARA robot mechanism by the neural network controller based on the computed torque method and a sliding-mode neural network controller on a real single axis direct drive robotic manipulator driven by an induction motor
Recently much attention has been focused on modern control education. Nowadays two new tools: the... more Recently much attention has been focused on modern control education. Nowadays two new tools: the Web (Internet) and the rapid control prototyping (RCP) have a great impact on control systems used in industry and on control education. In the paper an example of introductory control course with integrated hands on experiments is represented. Some experiments are Web based while the
This paper presents a framework for rapid remote experiment implementation in the field of automa... more This paper presents a framework for rapid remote experiment implementation in the field of automatic control. The proposed solution is based on in-house developed embedded control hardware and two commercially available software packages. MATLAB/Simulink is used for rapid experiment control algorithm development, while LabVIEW is used for the user front-end and remote control. A combination of presented hardware and software solutions enables the rapid and easy creation of different interactive remote control experiments. Using this solution, a digital-signal-processor-based remote control laboratory for teaching purposes has been realized. This remote laboratory enables the remote users to easily interact with a set of physical control experiments through the Internet. In the friendly user interface, the remote user can change predefined system parameters and observe system response in textual, graphical, or video format. In addition, this remote laboratory includes a booking system, which enables remote users to book experiments in advance.
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