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The realisation of the ideas of smart factories and sustainable manufacturing can be quickly realised in companies where industrial production is high-volume, low-mix. However, it is more difficult to follow trends toward industry 4.0 in craft industries such as tooling. This kind of work environment is a challenge for the deployment of sustainability and smart technologies because many stages involve the so-called “manual processing according to the worker’s feeling and experience.” With the help of literature review and testing in the production environment, we approach the design of a procedure for planning a sustainable technological upgrade of craft production. The best method proved to be a combination of a maturity model, process mapping with flowcharts, critical analysis, and customised evaluation model. Workplace flexibility, as a move towards sustainability, is presented in a laboratory environment on screwing performed by human wearing HoloLens and collaborative robot.
Brigita Gajšek; Saša Stradovnik; Aleš Hace. Sustainable Move towards Flexible, Robotic, Human-Involving Workplace. Sustainability 2020, 12, 6590 .
AMA StyleBrigita Gajšek, Saša Stradovnik, Aleš Hace. Sustainable Move towards Flexible, Robotic, Human-Involving Workplace. Sustainability. 2020; 12 (16):6590.
Chicago/Turabian StyleBrigita Gajšek; Saša Stradovnik; Aleš Hace. 2020. "Sustainable Move towards Flexible, Robotic, Human-Involving Workplace." Sustainability 12, no. 16: 6590.
In the serial hybrid electric propulsion system of a small propeller aircraft the battery state of charge is fluctuating due to the diversity of possible power flows. Overwhelming visual information on the cockpit displays, besides requiring visual pilot attention, increases pilot workload, which is undesirable, especially in risky flight situations. Haptic interfaces, on the other hand, can provide intuitive cues that can be applied to enhance and simplify the cockpit. In this paper, we deal with an enhanced power lever stick, which can provide feedback force feel with haptic cues for enhanced information flow between the pilot and the powertrain system. We present selected haptic patterns for specific information related to the fluctuating battery state of charge. The haptic patterns were designed to reduce pilot workload, and for easy use, safe and energy-efficient control of the hybrid electric powertrain system. We focus on the advanced control design for high-performance force feedback required for rendering fine haptic signals, which stimulates the sensitive haptics of a pilot’s hand-arm system. The presented control algorithm has been designed by the sliding mode control (SMC) approach in order to provide disturbance rejection and high-fidelity haptic rendering. The proposed control design has been validated on an experimental prototype system.
Aleš Hace. The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft. Energies 2019, 12, 2974 .
AMA StyleAleš Hace. The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft. Energies. 2019; 12 (15):2974.
Chicago/Turabian StyleAleš Hace. 2019. "The Advanced Control Approach based on SMC Design for the High-Fidelity Haptic Power Lever of a Small Hybrid Electric Aircraft." Energies 12, no. 15: 2974.
Advanced motion control applications require smooth and highly accurate high-bandwidth velocity feedback, which is usually provided by an incremental encoder. Furthermore, high sampling rates are also demanded in order to achieve cutting-edge system performance. Such control system performance with high accuracy can be achieved easily by FPGA-based controllers. On the other hand, the well-known MT method for velocity estimation has been well proven in practice. However, its complexity, which is related to the inherent arithmetic division involved in the calculus part of the method, prevents its holistic implementation as a single-chip solution on small-size low-cost FPGAs that are suitable for practical optimized control systems. In order to overcome this obstacle, we proposed a division-less MT-type algorithm that consumes only minimal FPGA resources, which makes it proper for modern cost-optimized FPGAs. In this paper, we present new results. The recursive discrete algorithm has been further optimized, in order to improve the accuracy of the velocity estimation. The novel algorithm has also been implemented on the experimental FPGA board, and validated by practical experiments. The enhanced algorithm design resulted in improved practical performance.
Aleš Hace. The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs. Electronics 2019, 8, 361 .
AMA StyleAleš Hace. The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs. Electronics. 2019; 8 (3):361.
Chicago/Turabian StyleAleš Hace. 2019. "The Improved Division-Less MT-Type Velocity Estimation Algorithm for Low-Cost FPGAs." Electronics 8, no. 3: 361.
Velocity measurement by an incremental encoder is an important issue for advanced motion control applications such as robotics. In this paper, we deal with a kind of MT-type velocity estimation method. Though the conventional MT method is well known and has been well proven in practice, it requires execution of an arithmetic division operation that prevents an efficient implementation on low-cost FPGA-based control platforms. Thus, we propose a divisionless MT-type algorithm, which can provide a similar performance in velocity estimation accuracy as the conventional method, but requiring significantly less FPGA resources, since it implements only simple arithmetic operations such as addition, subtraction, and multiplication, that can be implemented more easily on the processing hardware. Furthermore, the algorithm is fast in execution, thus, it provides the output in only a few clock cycles. Though the proposed algorithm can be described in a recursive form, the stability of the estimation process is not jeopardized, although it is an important issue in this case. Hence, the algorithm is introduced in a form which assures stability in a wide speed range. We show the implementation of the algorithm on the experimental FPGA platform. The experimental results validated the proposed divisionless MT-type algorithm fully for accurate velocity estimation.
Aleš Hace; Milan Čurkovič. Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm. Sensors 2018, 18, 3250 .
AMA StyleAleš Hace, Milan Čurkovič. Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm. Sensors. 2018; 18 (10):3250.
Chicago/Turabian StyleAleš Hace; Milan Čurkovič. 2018. "Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm." Sensors 18, no. 10: 3250.
This paper deals with incremental encoder velocity estimation. More specifically, it addresses the computation issues of the well-known MT-method, used widely in advanced motion control applications. The MT-method calculus involves arithmetical division, which is a very unsuitable operation for digital implementation on real hardware, such as an FPGA. Thus, we propose a novel divisionless algorithm for velocity estimation. The proposed method possesses the advantages of both frequency count and period count methods as the well-known MT-method to produce reasonably accurate and smooth velocity signals in a wide speed range. However, its advantages in terms of simpler calculus make it significantly more suitable for a single-chip FPGA cost-effective solution. This paper presents the method and shows the results with simulation data and real encoder data acquired by practical digital circuit hardware. The shown results fully verify the proposed algorithm.
Ales Hace; Milan Curkovic. A Novel Divisionless MT-Type Velocity Estimation Algorithm for Efficient FPGA Implementation. IEEE Access 2018, 6, 48074 -48087.
AMA StyleAles Hace, Milan Curkovic. A Novel Divisionless MT-Type Velocity Estimation Algorithm for Efficient FPGA Implementation. IEEE Access. 2018; 6 ():48074-48087.
Chicago/Turabian StyleAles Hace; Milan Curkovic. 2018. "A Novel Divisionless MT-Type Velocity Estimation Algorithm for Efficient FPGA Implementation." IEEE Access 6, no. : 48074-48087.
Spoštovani ! Fakulteta za elektrotehniko, računalništvo in informatiko (FERI) ter Fakulteta za strojništvo (FS) Univerze v Mariboru (UM) edini v Sloveniji izvajata kakovostne samostojne študijske programe Mehatronike na dodiplomski univerzitetni in visokošolsko strokovni 1. stopnji ter na podiplomski magistrski 2. stopnji študija. Inženir Mehatronike je v domači industriji, še bolj pa v naši soseščini, izredno in vedno bolj iskan profil, strokovnjaki na tem področju pa sodelujejo v proizvodnji in razvoju najbolj sodobnih mehatronskih izdelkov z visoko dodano vrednostjo. Študijski programi Mehatronike na Univerzi v Mariboru se odlikujejo s projektno orientiranim načinom izobraževanja, kjer študentje delajo v skupinah na različnih praktičnih mehatronskih problemih polnih sodobnih tehnoloških izzivov. Rezultate svojega projektnega dela predstavijo študentje javno konec šolskega leta na Letni konferenci Mehatronike. Tako letos naši študentje na konferenci organizirani 29.6.2017 predstavljajo skupaj 31 projektov, od tega 7 projektov študentje visokošolsko strokovnega programa, 17 projektov študentje univerzitetnega dodiplomskega študijskega programa, in 7 projektov študentje podiplomskega magistrskega študijskega programa. Projekti se nanašajo na industrijsko mehatroniko, izdelčno mehatroniko, proizvodno in servisno robotiko, avtomatizacijo, sistem močnostne elektronike, itd.. Povzetke teh projektov smo zbrali v pričujoči zbornik, kjer so razvidne osnovne informacije, več podrobnosti pa boste lahko zvedeli na konferenci. Vsi projekti so zanimivi in zato vas v imenu organizatorjev FERI in FS vabimo, da se udeležite tudi letošnje Letne konference Mehatronike! Spoštovani ! Fakulteta za elektrotehniko, računalništvo in informatiko (FERI) ter Fakulteta za strojništvo (FS) Univerze v Mariboru (UM) edini v Sloveniji izvajata kakovostne samostojne študijske programe Mehatronike na dodiplomski univerzitetni in visokošolsko strokovni 1. stopnji ter na podiplomski magistrski 2. stopnji študija. Inženir Mehatronike je v domači industriji, še bolj pa v naši soseščini, izredno in vedno bolj iskan profil, strokovnjaki na tem področju pa sodelujejo v proizvodnji in razvoju najbolj sodobnih mehatronskih izdelkov z visoko dodano vrednostjo. Študijski programi Mehatronike na Univerzi v Mariboru se odlikujejo s projektno orientiranim načinom izobraževanja, kjer študentje delajo v skupinah na različnih praktičnih mehatronskih problemih polnih sodobnih tehnoloških izzivov. Rezultate svojega projektnega dela predstavijo študentje javno konec šolskega leta na Letni konferenci Mehatronike. Tako letos naši študentje na konferenci organizirani 29.6.2017 predstavljajo skupaj 31 projektov, od tega 7 projektov študentje visokošolsko strokovnega programa, 17 projektov študentje univerzitetnega dodiplomskega študijskega programa, in 7 projektov študentje podiplomskega magistrskega študijskega programa. Projekti se nanašajo na industrijsko mehatroniko, izdelčno mehatroniko, proizvodno in servisno robotiko, avtomatizacijo, sistem močnostne elektronike, itd.. Povzetke teh projektov smo zbrali v pričujoči zbornik, kjer so razvidne osnovne informacije, več podrobnosti pa boste lahko zvedeli na konferenci. Vsi projekti so zanimivi in zato vas v imenu organizatorjev FERI in FS vabimo, da se udeležite tudi letošnje Letne konference Mehatronike!
Aleš Hace; Uroš Župerl. 6th Annual Conference of Mechatronics 2017. 6th Annual Conference of Mechatronics 2017 2017, 1 .
AMA StyleAleš Hace, Uroš Župerl. 6th Annual Conference of Mechatronics 2017. 6th Annual Conference of Mechatronics 2017. 2017; ():1.
Chicago/Turabian StyleAleš Hace; Uroš Župerl. 2017. "6th Annual Conference of Mechatronics 2017." 6th Annual Conference of Mechatronics 2017 , no. : 1.