CONTROLS AND MECHATRONICS
FURUTA PENDULUM
I designed a full semester laboratory module on Digital Control System using LabVIEW (GE420). This lab module teaches students how to use LabVIEW Real Time and FPGA to design and implement various control algorithm, including PID, Lead-Lag, LQR and LQG. The self balancing Furuta Pendulum is the final lab module, where students design a state feedback controller and a state observer in LabVIEW and deploy it to the Real Time target.
Specifications:
- NI sbRIO 9632
- LabVIEW RT, FPGA, Control Design and Simulation Module
- Sampling Time : 1 ms
MINI SEGBOT
This is the final project for my Digital Control class (ME461). The robot is programmed in C and uses TI-MSP430. It is equipped with an accelerometer and a rate gyro to sense the angular displacement from the vertical axis. The dynamic model of the Mini Segbot is derived from Lagrangian Mechanics and linearized about the equilibrium condition. The full state feedback controller is designed using LQR technique.
Specifications:
- Controller: TI MSP430
- C and Matlab
- Sampling Time : 1 ms
ANALOG CLOCK
This is the final project for my Mechatronics class (GE423). The arms of the analog clock are actuated using two servo motors to display the hours and the minutes. In conjunction, a double digit seven segment is added for displaying the seconds. (Note: This code is modified for display purpose)
Specifications:
- Controller: TI MSP430
- C
- Sampling Time : 1 ms
E-JET PRINTING
This video presents the camera view of an E-Jet printing process. The printer prints 300 um x 300 um flower image with a droplet size of 2 um. The stage trajectory is generated using a JPEG to G-Code converter I designed in Matlab (Details of this E-Jet printer can be found in my MS Thesis). The pulsing signal used to generate the droplet is performed using NI-PCI6229 data acquisition system.
- LabVIEW, DAQ MX, Matlab
- Image Size: 300 um x 300um
- Droplet diameter
