| IMPLEMENTATION OF BARCODES DATA TRANSFER TO MELFA ROBOTS Boris Kostov |
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| АPPROАCH FOR CONTROL OF А THREE PHАSE АC-DC POWER CONVERTER WITHOUT GROUNDED CONDUCTOR OF CАPАCITАTORS T. Jonkov, K. Hristov |
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| PROGRAM GENERATION APPROACH FOR HIL SIMULATORS DESIGN Vesselin E. Gueorguiev, Ivan E. Ivanov, Emanuil K. Markov, Desislava Georgieva |
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| MACHINE VISION ALGORITHM FOR DETERMINING THE ORIENTATION OF NEARLY FLIP-INVARIANT PARTS IN VIBRATORY FEEDING APPLICATIONS – LOW-COST IMPLEMENTATION AND EXPERIMENTAL VALIDATION Aleksandar Marinchev, Stanislav Enev |
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| REMOTE WI-FI CONTROL OF A HOLONOMIC MOBILE ROBOT Danail V. Slavov, Vladimir D. Hristov |
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| DIGITAL TWINS AS PART OF BUILDING AUTOMATION SYSTEMS Dimitar Mankov, Docho Tsankov |
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| SOFTWARE TO RESEARCH THE STATIC MECHANICAL CHARACTERISTIC OF DC MOTORS Vladimir D. Hristov, Todor S. Ionkov, Richard E. Bashev |
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| STUDY OF SPINDLE DRIVES FOR MACHINING CENTERS WITH COMPUTER NUMERICAL CONTROL Marin Zhilevski, Mikho Mikhov |
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Abstract
The current paper presents the implementation of a barcode reader and human-machine interface for loading data from printed on paper barcodes to MELFA Robot. The aim of the present development is to increase the efficiency of automated production. After the implementation of the functionality, the productivity of the automated system has increased by 28%, because of the shortage of time for inputting the data via barcodes, barcode reader, and human-machine interface.
Keywords
robots, automation, barcode, human-machine interface.
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DOI: 10.47978/TUS.2021.71.03.001
Abstract
Three-phase controlled rectifiers have a wide range of applications such as motor control, DC drives, cyclo converters. АC/DC converters consist а trаnsformer following the input filtering, which pаsses to а rectifier to produce Direct Currents. Mаny АC/DC converters аre using multistаge conversion due to аdvаntаges of smаller trаnsformer requirements. Converters steer аn аlternаting current, аs its voltаge аlso аlternаtes, into reаctive impedаnce elements, such аs inductors or cаpаcitors, where it is stored аnd integrаted. Filters аre widely used to smoothen the energy stored, resulting in the creаtion of а DC source for other circuits.
Keywords
АC-DC converter, energy exchаnge, power rectifier.
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DOI: 10.47978/TUS.2021.71.03.002
Abstract
The problem of design, implementation and tuning of HIL simulators is rising together with systems complexity. Many elements of the real system cannot be simulated easily and precisely. In the case of hybrid objects the complexity arises. Very hard is an implementation of mixed simulators – having both computer elements and hardware elements for extended object simulation. Here is presented an approach of using program generation technique for the creation of object simulators. Using one and the same approach for implementation of the simulator and the control system is also discussed. Objects and control systems having different structures are presented in this paper.
Keywords
program generation; HIL simulation; object- control system co-design.
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DOI: 10.47978/TUS.2021.71.03.003
Abstract
The paper presents a machine vision algorithm for determining the orientation of nearly flip-invariant parts in vibratory feeding applications. The algorithm is designed and implemented within a low-cost hardware configuration. Preliminary experimental results show excellent performance with perfect orientation classification in almost “real-world” operating conditions.
Keywords
Image processing for machine vision, low-cost machine vision system, vibratory feeding application.
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DOI: 10.47978/TUS.2021.71.03.004
Abstract
This paper describes a mobile robotic system remotely controlled by a smartphone using an Android app. The mobile robot platform has omnidirectional Mecanum wheels which enable movement in any direction and increase its agility. Data communication is accomplished using Wi-Fi connection between the smartphone and the robot. Amica NodeMCU integrating ESP8266 is used to set up the wireless server, and Arduino Mega 2560 to receive user's commands and apply motion control. Ten locomotion types are successfully performed, both rectilinear and rotational. The safety anti-collision function is implemented using an ultrasonic distance sensor. It reliably stops the robot just before reaching an obstacle even at the highest speed. Smoother motor rotation is achieved using different speed reduction coefficients, to overcome the unequal losses in the motors. The realized communication procedure allows fast transfer of larger data which can help to improve the robot control and functionality. The mobile platform has the potential for extending its sensory system and achieve more intelligent behaviour.
Keywords
Mecanum wheels, Arduino, Omni-directional robot, ESP8266.
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DOI: 10.47978/TUS.2021.71.03.005
Abstract
In the essence of industry 4.0 and the growing demand of digitization, this paper gives a representative view of the modern trends and correlations between the building automation systems and the digital twins, mainly keeping a focus on the predictive maintenance and future decision-making processes. Different approaches and methods of classification are included as a main part of the defining process of the Digital Twins technology, mainly in the area of Smart Buildings and occupants.
Keywords
Digitization, digital twins, IoT, Building Automation Systems.
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DOI: 10.47978/TUS.2021.71.03.006
Abstract
The present work aims to create a modern software product that can run on modern operating systems on which to draw the static mechanical characteristics of direct current motors. This software product was developed thanks to the dynamically developing object-oriented programming language – C#, and the Windows platform of Microsoft Corporation, which allows the construction of applications that run on Windows-based operating systems. Microsoft Visual Studio 2019, a product of the Microsoft Corporation range, was used as the code development environment. The creation of such a product will allow studying the characteristics of DC motors in different control modes, which will contribute to the improvement of software products in the department of electric drive, and from there, students will have the opportunity to work and learn with it.
Keywords
DC motor, mechanical characteristic, C#.
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DOI: 10.47978/TUS.2021.71.03.007
Abstract
This paper presents the features of spindle drives for machining centers with computer numerical control. Based on formulated requirements, taking into account the possible mechanical operations main drives with DC and AC motors are selected. Mathematical modeling and computer simulation offer effective ways to study the drive systems in different dynamic and static modes of operation, especially when it is not possible or inconvenient to perform such tests in laboratory or industrial conditions. Using the MATLAB/SIMULINK software package, two types of DC drives are studied, namely: a dual-zone electric drive without adaptation and with adaptive control one. An AC drive is implemented which satisfies the necessary requirements. Some experimental results from studies of spindle drives with DC and AC motors are shown and discussed. Practical implementations of spindle drives in different mechanical operations are illustrated. The research held and the results obtained can be used in the development of such electric drives for the studied class of machine tools.
Keywords
machining center, CNC, spindle drive, DC drive, AC drive.
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DOI: 10.47978/TUS.2021.71.03.008