The paper describes the digital twin of a Li-ion battery cell based on the MATLAB/Simulink generic model. The digital twin is based on measured data for constant current/constant voltage charging and discharging cycles with State of Health (SoH) up to 79%, also including fast charging. Mathematical equations used for the digital twin are obtained by 3D data fitting of measured SoH, battery capacity, and battery cell current. The input to the proposed digital twin is only the measured battery cell current, and its output includes State of Charge (SoC), SoH, and battery cell voltage. The designed digital twin is tested and compared with MATLAB/Simulink generic model and battery cell measurements for constant discharging current and dynamically generated discharging current profile. The results show significant improvement in the generic MATLAB/Simulink model.

This paper describes a high-frequency soft-switching dc-dc converter with a simple energy recovery capacitor snubber on the secondary side. The presented dc-dc full-bridge converter with the energy recovery snubber removes the main drawbacks of the classic Phase Shifted PWM (PS-PWM) dc-dc converter, e.g., the circulating current flowing during the free-wheeling interval and dependency of the soft switching on the load current. The converter utilizes a full-bridge topology with pulse-width modulation and a centre-tapped full-wave controlled rectifier with one active switch. The zero-voltage switching on the primary side is ensured by utilising only the magnetizing current of the high-frequency transformer, and thus is load-independent. The proposed energy recovery snubber is described in detailed time waveforms of the converter and verified by simulation. The control algorithm also removes the circulating current, which is typical for PS-PWM converters. The soft-switching of the secondary side transistor is achieved by a simple capacitor snubber with an energy-recovery circuit connected to the output of the dc-dc converter. The principle of operation is verified by measurements on a 2 kW, 50 kHz laboratory model of the proposed dc-dc converter.

This paper presents a quadrotor drone designed for the 3D reconstruction of indoor environments using a depth camera and a tracking camera. The drone’s hardware and software components are described, including the Holybro X500V2 kit, the Intel RealSense T265 tracking camera, and the Intel RealSense D435i depth camera. The paper outlines the process of building a complete TF tree, capturing point clouds with RtabMap, and streaming video. The drone’s pose stabilization and successful test flight in an indoor environment are also discussed, including its ability to navigate through indoor spaces and provide accurate data for 3D reconstruction. The paper concludes with recommendations for future development, such as autonomous navigation and exploration of unknown areas. The results demonstrate the feasibility and potential of this drone for creating detailed and comprehensive maps of indoor environments.

The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.