Motion control of a bio-inspired underwater robot with undulatory fin propulsion HMU-CSRL 2015-11-15 | This video presents the development and motion control strategies for a small bio-inspired underwater robot that employs a pair of undulatory fins for propulsion. Each fin is comprised of three individually actuated fin rays, which are interconnected by an elastic membrane. An on-board microcontroller (Arduino Mega 2560) generates the rays’ motion pattern that result in the fins’ undulations, through which propulsion is obtained. The prototype, which is fully untethered and energetically autonomous, also integrates an IMU/AHRS unit (Advanced Navigation Orientus) for navigation purposes, a wireless communication module, and an on-board video camera.The video contains footage from experiments conducted in a laboratory test tank to investigate closed loop motion control strategies, as well as footage from sea trials.For additional footage from sea trials, see youtube.com/watch?v=0iDBF23gI6IThe robotic prototype was developed at the Control Systems and Robotics Laboratory of the Technological Educational Institute of Crete, in Heraklion, Greece.The video's soundtrack "In Motion" by Audionautix is licensed under a Creative Commons Attribution license (creativecommons.org/licenses/by/4.0)Artist: http://audionautix.com
Aegagros-I all-terrain mobile robot, developed at CSRL HMU-CSRL 2022-11-28 | Video presentation of the all-terrain traversing capabilities of the Aegagros-I mobile robot platform, developed at the Control Systems and Robotics Laboratory (CSRL) of the Hellenic Mediterranean University.
Autonomous greenhouse robot developed at CSRL (SOUP project) HMU-CSRL 2022-11-28 | Presentation of an autonomous greenhouse robot, developed by the Control Systems and Robotics Laboratory (CSRL) of the Hellenic Mediterranean University. The system provides an integrated robotic solution for automating a series of labour-intensive tasks in greenhouse hydroponic tomato cultivations, including crop monitoring, harvesting and pesticide spraying. The robot is based on a modified industrial-grade mobile vertical mast lift platform, and integrates a 6-dof robotic arm with a custom multi-function end effector along with a variety of sensors to allow navigating inside the greenhouse and performing the tasks at hand. The robot was developed within the scope of the Soilless Culture Upgrade (SOUP) project, co-financed by the European Union and Greek national funds through the Operational Program Competitiveness, Entrepreneurship and Innovation, under the call RESEARCH - CREATE - INNOVATE.
Development of a Tomato Harvesting Robot: Peduncle Recognition and Approaching HMU-CSRL 2021-10-05 | Supplementary video for the paper titled "Development of a Tomato Harvesting Robot: Peduncle Recognition and Approaching" (authors: N. Kounalakis, M. Kalykakis, M. Pettas, A. Makris, M. M. Kavoussanos, M. Sfakiotakis and J. Fasoulas) that was presented at the 2021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA) The paper presents the methods and tools developed for automated tomato harvesting by a greenhouse robot. The system is comprised of a 6-dof manipulator arm, a custom gripping/cutting end-effector, and a depth camera with dedicated vision processor. Deep learning algorithms are employed to locate ripe tomatoes and their peduncles, exploiting depth information from the acquired images to guide the manipulator arm towards the identified cutting points.This research has been co-financed by the European Union and Greek national funds through the Operational Program "Competitiveness, Entrepreneurship and Innovation", under the call RESEARCH - CREATE - INNOVATE, and within the scope of the Soilless Culture Upgrade (SOUP) project.
HMU spraying/disinfection robot - AGV mode HMU-CSRL 2020-12-03 | Απόσπασμα από πειράματα δοκιμαστικής εφαρμογής στους χώρους του Ελληνικού Μεσογειακού Πανεπιστημίου του ρομπότ ψεκασμού/απολύμανσης, το οποίο έχει αναπτυχθεί από το Εργαστήριο Συστημάτων Ελέγχου και Ρομποτικής της Σχολής Μηχανικών.Το ρομπότ φέρει σύστημα ηλεκτρικού ψεκαστήρα με μονάδα εκνέφωσης και ηλεκτρονικά ελεγχόμενη ρύθμιση ροής. Το ακροφύσιο ψεκασμού εδράζεται σε ρομποτικό βραχίονα δύο περιστροφικών βαθμών ελευθερίας που επιτρέπει τον ακριβή έλεγχο της κατεύθυνσης του νέφους, με δυνατότητα προγραμματισμού των εκτελούμενων κινήσεων σάρωσης κατά τον ψεκασμό.Στα συγκεκριμένα πειράματα, το ρομπότ κινείται με αυτοματοποιημένο τρόπο επί προκαθορισμένης τροχιάς, η οποία ορίζεται μέσω μαγνητικής ταινίας που προσαρμόζεται στο δάπεδο (λειτουργία Automated Guidance Vehicle - AGV). Για τον εντοπισμό εμποδίων και την αποφυγή σύγκρουσης, το όχημα είναι εξοπλισμένο με μία κάμερα βάθους και σειρά αισθητήρων υπερήχων. Ως κεντρική μονάδα ελέγχου του ρομπότ χρησιμοποιείται η μικροϋπολογιστική πλατφόρμα Jetson Nano, ενώ το λογισμικό του συστήματος έχει αναπτυχθεί σε περιβάλλον ROS.https://csrl.hmu.gr/
ΕΛΜΕΠΑ - Μεταπτυχιακό Πρόγραμμα Προηγμένα Συστήματα Παραγωγής, Αυτοματισμού και Ρομποτικής - 2021 HMU-CSRL 2020-08-23 | Παρουσίαση του Διατμηματικού Προγράμματος Μεταπτυχιακών Σπουδών (ΔΠΜΣ) "Προηγμένα Συστήματα Παραγωγής, Αυτοματισμού & Ρομποτικής" της Σχολής Μηχανικών του Ελληνικού Μεσογειακού Πανεπιστημίου.Η υποβολή αιτήσεων για τον 10ο Κύκλο Λειτουργίας του Προγράμματος (έναρξη: Οκτώβριος 2021) έχει ξεκινήσει ! Για πληροφορίες δείτε την ιστοσελίδα του Προγράμματος www.hmu.gr/amsar
Prototype spraying / disinfection robot developed at CSRL-HMU HMU-CSRL 2020-04-21 | Σύντομη επίδειξη λειτουργίας του αρχικού πρωτοτύπου ενός ρομπότ ψεκασμού/απολύμανσης, το οποίο αναπτύχθηκε από το Εργαστήριο Συστημάτων Ελέγχου και Ρομποτικής της Σχολής Μηχανικών του Ελληνικού Μεσογειακού Πανεπιστημίου.Πρόκειται για ένα τετράτροχο ρομποτικό όχημα σχεδιασμένο για να μεταφέρει κατάλληλο εξοπλισμό εφαρμογής απολυμαντικών σκευασμάτων μέσω ψεκασμού. Οι συμπαγείς διαστάσεις και το σύστημα διαφορικής οδήγησης του οχήματος επιτρέπουν την κίνησή του εντός εσωτερικών και εξωτερικών χώρων με υψηλό βαθμό ευελιξίας. Το αρχικό πρωτότυπο φέρει σύστημα ηλεκτρικού ψεκαστήρα με μονάδα εκνέφωσης και ηλεκτρονικά ελεγχόμενη ρύθμιση ροής. Το ακροφύσιο ψεκασμού εδράζεται σε ρομποτικό βραχίονα δύο περιστροφικών βαθμών ελευθερίας που επιτρέπει τον ακριβή έλεγχο της κατεύθυνσης του νέφους, με δυνατότητα προγραμματισμού των εκτελούμενων κινήσεων σάρωσης κατά τον ψεκασμό. Στη βασική του έκδοση, ο έλεγχος του ρομπότ γίνεται με σύστημα τηλεχειρισμού που περιλαμβάνει την ασύρματη μετάδοση εικόνας από κάμερα προσαρτημένη στην πλατφόρμα. Η μακριά εμβέλεια του συστήματος τηλεχειρισμού συντελεί στον σημαντικό περιορισμό της έκθεσης του χειριστή, αφενός στους δυνητικά επιβαρυμένους από παθογόνους παράγοντες χώρους και αφετέρου στα εφαρμοζόμενα σκευάσματα απολύμανσης. Στις δυνατότητες του συστήματος περιλαμβάνεται επίσης η αυτόματη ρύθμιση της ροής του ψεκαστικού μίγματος σε συσχέτιση με την ταχύτητα κίνησης του οχήματος, προκειμένου για τη βελτιστοποίηση της κάλυψης και της χρησιμοποίησης των σκευασμάτων.Πέραν του τηλεχειρισμού, η επεκτάσιμη αρχιτεκτονική ελέγχου του οχήματος υποστηρίζει τον περαιτέρω εξοπλισμό του με σειρά αισθητήρων που επιτρέπουν την (μερικώς ή πλήρως) αυτόνομη κίνηση και λειτουργία του. Η δυνατότητα αυτή καθιστά εφικτή την ενσωμάτωση του ρομπότ σε ένα ολοκληρωμένο σύστημα διαχείρισης των σχετικών διαδικασιών σε χώρους και υποδομές όπου απαιτείται τακτική και ιχνηλατίσιμη απολύμανση.=============================================================================Demonstration of a prototype spraying / disinfection robot, developed by the Control Systems & Robotics Laboratory, at the Hellenic Mediterranean University (Heraklion, Greece).The battery-operated mobile platform carries an electric knapsack sprayer with electronic flow control and a blower unit, mounted on a 2 dof robotic arm. The latter can be controlled to aim the spray at a specific direction or implement programmable sweeping motions. The system also provides for variable spray flow rate, including an operation mode where the flow rate is automatically adjusted in relation to the vehicle's speed. Due to it's compact size and skid-steer drive, the robot is highly maneuverable and can effectively navigate through indoor as well as outdoor environments. The current prototype is teleoperated via an R/C transmitter with live video feed from an onboard camera. Semi- or fully-autonomous operation can be obtained with the addition of appropriate sensor suites.
Vision-based tracking for an underwater vehicle with undulatory fin propulsion (preliminary results) HMU-CSRL 2018-08-08 | This video presents preliminary results towards the development of a vision-based tracking scheme for the SQUIDBOT-mini prototype, a bio-inspired underwater vehicle with undulatory fin propulsion.The robot is equipped with a CMUcam5 (Pixy) vision sensor, configured to compute the location and size of a known target (a yellow ball) on the camera’s acquired images. Various controllers are designed to adjust the fins’ undulation parameters in order for the robot to follow the target.These controllers will eventually be combined in an overall vision-based scheme that will allow the vehicle to reliably track a diver.2018 Final year undergraduate project by G. TserpelisControl Systems and Robotics LaboratorySchool of Applied SciencesTechnological Educational Institute of Crete (Heraklion, Greece).Project supervisor: Dr. M. Sfakiotakis
Visual teleoperation of an anthropomorphic robotic hand HMU-CSRL 2016-10-10 | This video presents the visual teleoperation of an anthropomorphic robotic hand, mounted on an industrial robotic arm as an end-effector. The teleoperation is solely based on optical data for controlling the motion of the robotic arm-hand system, with 22 degrees of freedom (DoFs). The proposed scheme does not require the user to wear any motion capture glove or other exoskeleton devices. The main task for the system is to imitate user’s hand configurations for grasping objects or performing human gestures. The system consists of the following subsystems: [a] the 16-DoF robot hand “Talos”, developed by the Control Systems & Robotics Laboratory at the Technological Educational Institute of Crete.[b] the Mitsubishi RV-2A 6-DoF robot manipulator, and[c] the “3D Hand Tracking” software for the RGB-D Kinect sensor, developed by the Computational Vision & Robotics Laboratory of the Institute of Computer Science /FORTH. The interaction between the above subsystems is accomplished using a desktop PC with MATLAB installed. The Talos’ hand is used as an end effector of RV-2A and reproduces the movement of the user’s fingers and palm. As a result, the system’s motion imitates that of the user’s hand in near real time, without requiring the user to wear any motion capture gloves or other invasive devices.This research was conducted in the context of a postgraduate thesis, for the M.Sc. in "Advanced Manufacturing Systems, Automation and Robotics", at the Technological Educational Institute of Crete (T.E.I. of Crete).Postgraduate student: E. VeisakiSupervisors: Dr. J. Fasoulas, Dr. D. KosmopoulosYear: 2016Soundtrack information:Double Drift by Kevin MacLeod is licensed under a Creative Commons Attribution licence (creativecommons.org/licenses/by/4.0)Source: http://incompetech.com/music/royalty-free/index.html?isrc=USUAN1100254Artist: http://incompetech.com
Development and autonomous navigation of a field robot HMU-CSRL 2016-05-23 | This video presents the development and autonomous navigation in a row crop of a low-cost four wheel differential-drive field robot. The platform features a passive articulated suspension system, that allows the chassis to adapt to the ground morphology and its four drive wheels to remain in contact with the substrate when overcoming obstacles.The vehicle's motion control system includes individual PID controllers for closed-loop regulation of the four wheels' velocity. The platform is equipped with various internal state sensors and perceives its external environment by using only one web camera, installed on a pan/tilt mechanism. The images acquired by the webcam are processed in real-time by an Odroid Single-Board Computer, implementing a fuzzy logic motion controller that allows autonomous traversing of a row crop.The robot has been developed at the Control Systems and Robotics Laboratory of the Technological Educational Institute of Crete, in Heraklion, Greece.Postgraduate student: Em. KalykakisSupervisor: Dr. Em. Kavoussanos
Παρουσίαση SQUIDBOT στην εκπομπή ΣΚΑΪ ΤΩΡΑ HMU-CSRL 2015-12-17 | Η παρουσίαση του υποβρύχιου ρομπότ SQUIDBOT στην τηλεοπτική εκπομπή ΣΚΑΪ ΤΩΡΑ (16/12/2015).Το υποβρύχιο ρομποτικό πρωτότυπο αναπτύχθηκε στο Εργαστήριο Συστημάτων Ελέγχου και Ρομποτικής του ΤΕΙ Κρήτης.Για περισσότερα στοιχεία σχετικά με το SQUIDBOT: youtube.com/watch?v=0iDBF23gI6Iyoutube.com/watch?v=ytKzx2Xsukk
SQUIDBOT sea trials HMU-CSRL 2015-12-15 | This video shows footage from sea trials of the SQUIDBOT bio-inspired underwater robot, that employs a pair of undulatory fins for propulsion. Each fin is comprised of three individually actuated fin rays, which are interconnected by an elastic membrane. An on-board microcontroller (Arduino Mega 2560) generates the rays’ motion pattern that result in the fins’ undulations, through which propulsion is obtained. The prototype, which is fully untethered and energetically autonomous, also integrates an IMU/AHRS unit for navigation purposes, a wireless communication module, and an on-board video camera.The robotic prototype was developed at the Control Systems and Robotics Laboratory of the Technological Educational Institute of Crete, in Heraklion, Greece.The video's soundtrack "Rubix_Cube" by Audionautix is licensed under a Creative Commons Attribution license (creativecommons.org/licenses/by/4.0)Artist: http://audionautix.com
Dynamic modeling and experimental analysis of a two-ray undulatory fin robot [IROS-2015] HMU-CSRL 2015-08-13 | Accompanying video for the paper "Dynamic Modeling and Experimental Analysis of a Two-Ray Undulatory Fin Robot" (authors: M. Sfakiotakis, J. Fasoulas, and R. Gliva) which was presented at the2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-15)Hamburg, Germany (28 Sept. - 2 Oct. 2015)The paper was nominated as a "Best Paper Award" finalist.Abstract: Bio-inspired undulatory fin propulsion holds considerable potential for endowing robotic underwater vehicles with low-speed manoeuvrability and stable station-keeping. Robotic fins typically comprise a number of serially arranged and individually actuated “fin rays”, interconnected by a membrane-like flexible surface. Propulsive forces are generated by the propagation of a traveling wave along the mechanism, via appropriately timed ray oscillations. The present paper describes a dynamic model for an elementary two-ray fin system, analyzed as a standard robot mechanism with additional contributions arising from the elastic deformation of the flexible membrane and from the hydrodynamic forces. The model’s main aspects, particularly with regard to the hydrodynamic effects, are explored via simulation studies, as well as via experiments with a robotic prototype. The developed model can serve a number of purposes towards optimizing the mechanical design, the control strategies, and the propulsive efficacy of robotic undulatory fins.Update: A biomimetic underwater robot that employs a pair of such undulatory fins for propulsion can be seen in youtube.com/watch?v=ytKzx2Xsukk
Swing-up and balancing control of an inverted pendulum mechanism HMU-CSRL 2015-03-31 | This video presents swing-up and balancing control for a pole-on-cart mechanism (inverted pendulum configuration).The swing-up of the system from the stable downward position to the unstable upright position is accomplished by an energy-based controller, which takes into account the finite length of the cart travel along the linear guide.A linear state feedback controller, designed using LQR techniques, is employed for balancing the pole at the unstable upright position.The controllers have been developed as a Simulink block, running under the WinCon real-time extension at a 1kHz rate.The pole-on-cart mechanism was developed by K. Mouratis, as part of his undergraduate final year project (2013). Control Systems Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete Heraklion, Greece.
Propulsion control for a bio-inspired robotic undulatory fin HMU-CSRL 2014-12-25 | This video presents a biomimetic propulsion mechanism, inspired by the flexible undulating fins encountered in certain electric eel species (knifefishes, in particular). The prototype is comprised of eight actively-controlled fin rays (driven by R/C servos), which are interconnected by a flexible silicone membrane. Propulsion is obtained by the propagation of a traveling wave along the fin, obtained through appropriately coordinated motions of the rays. The results from a series of detailed parametric investigations (sample runs are shown in this video) reveal several important findings regarding the effect of the undulatory wave kinematics on the propulsion speed and efficiency. Based on these findings, two alternative strategies for propulsion control of the robotic fin have been developed. In the first one, the speed is varied through changes in the undulation amplitude (Amplitude Modulation Velocity Control scheme), while the second one involves simultaneous adjustment of the undulation frequency and number of waves (Frequency/Phase Modulation Velocity Control scheme), in a manner which enables attaining a specified desired swimming speed with optimum efficiency.The video presents experiments demonstrating closed-loop position control of the prototype, based on these two strategies.Additional details can be found in the following publication:M. Sfakiotakis, J. Fasoulas, M.M. Kavoussanos, and M. Arapis, “Experimental investigation and propulsion control for a bio-inspired robotic undulatory fin,” Robotica, vol. 33, no. 5, pp. 1062–1084, 2015.
Arduino-based embedded control of a Pendubot mechanism HMU-CSRL 2014-10-20 | This video presents an embedded controller developed for a laboratory pendubot unit. The pendubot is a mechatronic device used in control engineering education and for research in nonlinear control and robotics. This device is an underactuated two-link planar robot with an actuator at the shoulder but no actuator at the elbow. The developed embedded control unit is based on the 8-bit Arduino Mega 2560 microcontroller platform, with a custom-designed i/o shield. The latter integrates electronic circuitry for interfacing the microcontroller to the two rotary incremental encoders of the mechanism, as well as for generating the analog voltage signal, provided as reference input to the current mode servo amplifier unit that is used to drive the dc motor actuating the shoulder joint. The firmware implements state feedback controllers for balancing the pendubot at various unstable equilibria. Data regarding the state of the system are streamed in real time over a serial link during operation of the controller. 2014 Final year project by Kourtikakis Manolis and Kapellakis ManolisProject supervisor: Dr. M. SfakiotakisControl Systems Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece)
Development of a 16-dof robot hand HMU-CSRL 2014-04-10 | Design, Development and Control of the Talo's Robotic HandDr. J. Fasoulas, J. Konstandoudakis, N. KritsotakisThe needs for robots have recently changed from factory automation to human friendly robot systems that interact with the real world. Such robotic systems must be able to grasp and manipulate objects like humans. The development of dexterous robotic hands is essential and a challenging topic among Robotics Engineers.In our Automation & Robotics Lab, at the Mechanical Engineering Department of the Technological Educational Institute of Crete, we designed and developed a robotic hand that has real life grasping capabilities. The robot hand has 16 degrees of freedom, is made of ABS material using a 3D printer, and employs 16 r/c servos (driven by an SSC-32 controller) as actuators for the revolute joints of the fingers. The robot hand can be controlled by using special MATLAB instructions that are based in the forward and inverse kinematic analysis of the system.The Robot Hand shown in the video was developed as a final year project by J. Konstandoudakis, N. Kritsotakis (2012)Project supervisor: Dr. J. FasoulasAssistant ProfessorRobotics and Automation LaboratoryMechanical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece)
Development and control of an inverted pendulum system HMU-CSRL 2013-10-07 | This video presents the development of a pole-on-cart system, along with the design and implementation of appropriate controllers for balancing the pole in the upright unstable position (inverted pendulum configuration).The pole-on-cart system was created around a linear slide mechanism salvaged from an old dot matrix printer. Additional parts were designed in CAD software, and fabricated in ABSplus material using a 3D printer. A 48V DC motor, powered by a servo-amplifier in current mode, imparts the actuating forces to the cart through a cable drive transmission. The position of the cart along the track is calculated from the angular position of the motor's output shaft, which is measured using an optical encoder. A second optical encoder, mounted on the cart, is used to measure the angle of the pole. The pole balancing controllers were designed using LQR techniques, and run in real time under WinCon in Simulink.2013 Final year project by Mouratis Kyriakos (Kiriakos)Project supervisor: Dr. M. SfakiotakisControl Systems Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece).For swing-up control of this system, see youtube.com/watch?v=XWhGjxdug0o
Development of an experimental undulatory fin prototype HMU-CSRL 2013-09-27 | This video presents the development of a biomimetic propulsion mechanism, inspired by the flexible undulating fins encountered in certain electric eel species (knifefishes, in particular). The prototype is comprised of eight actively-controlled fin rays (driven by R/C servos), which are interconnected by a flexible silicone membrane. Propulsion is obtained by the propagation of a traveling wave along the fin, obtained through appropriately coordinated motions of the rays.2013 Final year project by Arapis ManolisCAD design by Alexandros PapadopoulosProject supervisor: Dr. M. SfakiotakisControl Systems Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece).
Robotic Stewart Platform HMU-CSRL 2013-07-19 | A Stewart platform is a type of parallel robot that incorporates six prismatic actuators. These actuators are mounted in pairs to the mechanism's base, crossing over to three mounting points on a top plate. Objects placed on the top plate can be moved in the six degrees of freedom in which it is possible for a freely-suspended body to move. These correspond to the three linear movements x, y, z (lateral, longitudinal and vertical), and the three rotations pitch, roll, & yaw. The Stewart platform design is extensively used in flight simulation, particularly in the so-called full flight simulator for which all 6 degrees of freedom are required. In this role, the payload is a replica cockpit and a visual display system, normally of several channels, for showing the outside-world visual scene to the aircraft crew that are being trained.The robotic Stewart platform shown in the video was developed as a final year project. It has been fabricated in ABSplus material using a 3D printer, and employs 6 r/c servos (driven by an SSC-32 controller) as actuators for the prismatic joints. A program written in Matlab is used to calculate the platform's inverse kinematics and send via RS-232 the appropriate commands to the SSC-32, in order to achieve the desired position/orientation for the object mounted on the top plate.2013 Final year project by Kalantzis S. SpirosRobotics and Automation LaboratoryMechanical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece).Project supervisor: Dr. J. Fasoulas
Electronic guitar tuner HMU-CSRL 2012-03-16 | The video demonstrates the use of a custom electronic guitar tuner, developed as a final year project. The tuner employs an AVR ATmega16 microcontroller, along with peripheral signal processing circuitry, to isolate and measure the fundamental frequency of the sound generated by the plucked string. Information to the user is provided on a 16x2 LCD screen, while a button is used to cycle through the desired string to tune.The device runs on two standard AA batteries and also implements an auto power off function to conserve battery life.2011 Final year project by Vardakis VaggelisMicroprocessors Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece).Project supervisor: Dr. M. Sfakiotakis
A PLC-controlled frappe-coffee making machine HMU-CSRL 2011-03-16 | Demonstration of an automatic machine, controlled by an S7-200 PLC unit, for preparing frappe coffee (a type of iced coffee which is very popular in Greece). The developed program allows selecting among three degrees of sweetness (determined by the amount of sugar and coffee used), while a portion of evaporated milk can also be added, if desired. 2010 Final year project by Baroumas Giorgos and Zambetis Stavros Control Systems Laboratory Electrical Engineering Dept. Technological Educational Institute of Crete (Heraklion, Greece). Project supervisor: Dr. A. Kiprakis
ATmega16-based DC motor control with LabView Interface HMU-CSRL 2011-02-27 | PID control of a DC motor, implemented on an AVR ATmega16 microcontroller with H-bridge driver hardware. A serial link with a LabView GUI has also been developed, that allows on-line adjustment of the setpoint and of the PID configuration and parameters, as well as monitoring of the various signals. This video demonstrates position control of the attached load, utilising a potentiometer for position feedback. Speed control has also been implemented using a tachogenerator for motor velocity feedback. 2010 Final year project by Stefanakis SteliosControl Systems Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece).Project supervisors: Dr. M. Sfakiotakis & Dr. A. Kiprakis
Pendubot control (video #2) HMU-CSRL 2011-02-22 | Demonstration of a custom-developed pendubot system.Additional info may be found in the other video of this series.2010 Final year project by Tsakiris MichalisControl Systems Laboratory Electrical Engineering Dept.Technological Educational Institute of Crete (Heraklion, Greece).Project supervisor: Dr. M. Sfakiotakis
Pendubot control (video #1) HMU-CSRL 2011-02-19 | Development and control of a pendubot system. Additional material may be found in the other video of this series. 2010 Final year project by Tsakiris Michalis Control Systems Laboratory Electrical Engineering Dept. Technological Educational Institute of Crete (Heraklion, Greece). Project supervisor: Dr. M. Sfakiotakis
Vision-guided pick-and-place robot HMU-CSRL 2011-02-13 | Demonstration of a vision-guided pick-and-place task by a SCORBOT ER-III robotic arm, employing a webcam mounted above the end-effector.The robot has been retro-fitted with a custom-developed control box integrating power supply, motor drivers (3 x L298) and a microcontroller unit (AVR ATmega128). The microcontroller also handles serial communication with a workstation PC, where Matlab is run for processing the images acquired by the webcam, solving the inverse kinematics, and issuing the corresponding commands to the robot.2010 Final year project by Kagialis Yannis, carried out at the Control Systems Laboratory, in the Electrical Engineering Dept. of the Technological Educational Institute of Crete (Heraklion, Greece).Project supervisor: Dr. Ar. Kiprakis
