606 research outputs found
A framework for the real-time integration of mechatronic systems data with augmented reality applications to enhance human-machine interaction
No full textQuesto lavoro presenta lo sviluppo di un framework basato su una rappresentazione dei dati orientata agli oggetti, progettato per modellare e organizzare le numerose informazioni associate a un sistema meccatronico. L'approccio proposto struttura i dati in modo da enfatizzarne la rilevanza rispetto alla posizione spaziale dei componenti del macchinario, migliorandone l'accessibilità e l'interpretabilità. Tale organizzazione costituisce la base per applicazioni di realtà aumentata (AR), permettendo agli utenti di interagire con le informazioni in maniera più intuitiva ed efficace.
L'integrazione della tecnologia AR nell'interazione uomo-macchina ottimizza i flussi operativi, semplificando attività come la manutenzione, il controllo qualità e il monitoraggio in tempo reale dei macchinari. Questo framework offre un metodo solido per sfruttare l'AR, colmando il divario tra la complessità dei dati del sistema e la loro comprensione da parte degli utenti, aprendo la strada a processi industriali più efficienti e consapevoli.This work presents the development of a procedure framework based on an object-oriented data representation to model and organize the extensive information associated with a mechatronic system. By structuring data in a way that emphasizes its relevance to the spatial positioning of components within the machinery, the proposed approach enhances the accessibility and interpretability of the system's information. This data organization serves as a foundation for augmented reality (AR)-based applications, enabling users to interact with the information more intuitively and efficiently. The integration of AR technology into human-machine interaction improves operational workflows by facilitating tasks such as maintenance, quality control, and real-time machine monitoring. This approach provides a robust method for leveraging AR to bridge the gap between complex system data and user understanding, paving the way for more efficient and informed industrial processes
KARAKTERISTIK PENDIDIKAN JESUIT DALAM PENDIDIKAN DASAR DAN MENENGAH DI PERKUMPULAN STRADA
No full textAbstract: Strada Association is an educational community belonging to the Archdiocese of Jakarta which was founded by three Jesuits. The establishment and management of the Strada Association has until now been entrusted to the Society of Jesus. Strada's long history indicates that there are characteristics of Jesuit education to be found there. However, since its inception, the characteristics of Jesuit education have not been clearly revealed in the manual on how to act for teachers and leadership elements within the Strada Association. The purpose of this research is to find out the important elements, and the ways in which Branch Head, Supervisor, Principals, and teachers to experience fully, live, and implement the characteristics of Jesuit education in the Strada Association. Through qualitative research methods, researcher seeks to find the characteristics of Jesuit education through in-depth interviews, with key persons (informants), namely people who the author believes know about the situation of the Strada Association. Data analysis was carried out by observing the appreciation, livelihood, and implementation of the characteristics of Jesuit education. The results of the study indicate that the characteristics of Jesuit education in general have been, and are being lived, lived, and implemented by the interviewed informants. The conclusion that can be drawn is that the characteristics of Jesuit education can be found in the Strada Association community.Keywords: college; characteristics; Strada; and formation Abstrak: Perkumpulan Strada merupakan komunitas pendidikan milik Keuskupan Agung Jakarta yang didirikan oleh tiga Jesuit. Pendirian dan pengelolaan Perkumpulan Strada hingga sekarang dipercayakan kepada Serikat Jesus. Sejarah Strada yang panjang, mengindikasikan ada karakteristik pendidikan Jesuit yang dapat ditemukan di sana. Akan tetapi sejak awal pendiriannya karakteristik pendidikan Jesuit belum terungkap secara jelas dalam buku pedoman cara bertindak para guru dan unsur pimpinan di lingkungan Perkumpulan Strada. Tujuan penelitian ini adalah untuk mengetahui unsur-unsur penting, dan cara Kepala Cabang, Pengawas, para Kepala Sekolah, dan guru dalam menghayati, menghidupi, serta melaksanakan karakteristik pendidikan Jesuit di Perkumpulan Strada. Melalui metode penelitian kualitatif, peneliti berupaya menemukan karakteristik pendidikan Jesuit melalui wawancara mendalam, dengan key person (informan) yaitu orang-orang yang penulis yakini mengetahui tentang keadaan Perkumpulan Strada. Analisis data dilakukan dengan pengamatan terhadap penghayatan, penghidupan, dan pelaksanaan karakteristik pendidikan Jesuit. Hasil penelitian menunjukkan bahwa karakteristik pendidikan Jesuit secara umum sudah, dan sedang dihayati, dihidupi, dan dilaksanakan oleh para informan yang diwawancarai. Kesimpulan yang dapat ditarik adalah karakteristik pendidikan Jesuit dapat ditemukan di dalam komunitas Perkumpulan Strada.Kata kunci: kolese; karakteristik; Strada; dan formas
An Unified Design Procedure for Flying Machining Operations
No full text"Flying machining" represents synchronization of an axis (slave) with a master axis in motion. One of the most important aspects of the design of “flying machining” operation is the choice of the proper law of motion of the slave axis. In literature, technical reports and papers can be found concerning this subject, but they deal with specific problems and the solutions or suggestions proposed are specific as well, suitable for those cases. In order to try to overcome this limitation, in this paper we analyze the subject of the flying machining operations from a wider point of view. We propose a uni?ed design procedure with general validity, suitable for the choice of the slave axis’ law of motion for whatever “flying machining” operation. Furthermore methodologies for the selection of the drive system will be proposed. The procedure is described applying it on a cross sealing operation, typical of wrapping machine
TEACHING INDUSTRIAL ROBOTIC APPLICATIONS FOR SMART TECHNOLOGIES ENGINEERING CURRICULUM
No full textThe School of engineering of the University of Bergamo offers a new curriculum in Smart Technology Engineering (hereafter STE) that combines traditional aspects of mechanical engineering with additional knowledge on ICT, electronics, automation and robotics as well as on manufacturing plants design (Smart Manufacturing), building automation and human activities (Smart Living).
The professional figure emerging from this course has a solid engineering and methodological basis and has an overview of advanced mechanical systems, being able to properly select and employ the new technologies in the design and management of mechanical devices and machinery, manufacturing processes, complex systems by integrating advanced technologies in the fields of electronics, controls and robotics.
The syllabus of the STE curriculum is composed of several courses covering a wide range of topics belonging to different disciplines. The first-year study plan includes a set of compulsory courses while, in the second year, the students have a wide choice of elective courses dealing with different subjects that allows them to deepen their knowledge according to their preferences. Moreover, in the second semester of the second year, students, organized in small groups, have to carry out a multidisciplinary laboratory activity, and to develop a project in collaboration with industrial partners or within the University laboratories, under the supervision of a team of professors.
The laboratory activities take 21 ECTS and deal with the following subjects Robotics and Industrial Machinery, Manufacturing and Production Systems, Industrial Systems Engineering and Advanced Materials.
The projects proposed to the students are highly multidisciplinary, involving knowledge concerning the above mentioned subjects.
In particular, the following projects have been proposed: 3D Vision System for Guidance of 6dof Manipulators, Optimization of the equipment’s usage according to the process parameters, Optimization of the hydrogen tank threading cycle, The Smart Press Brake, Digital Twin, Tridimensional Geometry and Surface Reconstruction, Study and Development of an Acoustic Camera Based on MEMS Microphones Arrays.
The paper reports in details the project concerning a robotic working cell in which a 6dof articulated robot is guided by means of a 3D visual system; the final goal is to design the working cell as a whole for an automated machine or a production plant.
The project isn’t focused just on the robot but on the overall working cell, that is composed of the programing environment, the 3D camera, the image processing software and the picking vacuum device.
The 6dof manipulator has been programmed using both a high-level software application (WinCaps) and a low-level software tool kit (Orin2). Moreover, the robotic station has been interfaced with a discrete-event simulation software (FlexSim) widely used in automated manufactures in order to perform a comprehensive simulation of the plant where the working cell is included.
In conclusion such highly multidisciplinary projects highlight that STE students attending those laboratory activities acquire high level competences and skills on the design and management of complex systems composed of different part synergically interacting each other
AN EDUCATIONAL VIRTUAL TEST RIG FOR THE SIMULATION OF HYBRID STEPPING MOTORS
No full textThe study plan of the Mechatronics offered by the School of Engineering of the University of Bergamo includes the course of “Drives for mechanical systems" (6 ECTS), delivered in the second semester. The main educational goal of this course is to introduce the student to the basic concepts of electrical motors and drives, whose study is an important aspect of mechatronics education.
In particular, this paper focuses on hybrid stepping motors, which operates on a rather simple principle, but exhibit some critical running conditions, mainly due to the loss of synchronization between the stator’s magnetic field and the rotor.
Hybrid stepping motors, compared to other drive systems, are low-cost and easy to use devices. For these reasons, and thanks to their robustness and reliability, they are widely used in several fields, mainly for small size automation. Typical applications include small robots and small automated machine, computer peripherals, a wide range of automotive devices like headlights levelling/swivelling, climate flaps adjustments, etc. Furthermore, the peculiar incremental motion of a stepping motor allows to develop open-loop applications without the need of position/velocity transducers.
From the educational point of view, such topic is usually explained by means of two complementary approaches: theoretical frontal lectures concerning motor’s running principle, mechanical configuration and modelling, and experimental activities carried out in our Mechatronics and Mechanical Dynamics lab. where a research test rig, for stepping motor characterization, is available. Thanks to this device, students can learn in deep the complex electromechanical behavior of this type of motors.
Regrettably, in the last two academic years, on the account of COVID19 outbreak, all lectures were delivered online and no activity was allowed in presence, therefore it was not possible to carry out the usual laboratory activity.
In order to overcome these restrictions and to properly replace the experimental activity, we have developed a simulation based virtual test rig. The simulation code has been written in Matlab, and it is based on a simplified electromechanical model of the stepping motor, of its drive and of the coupled load. Moreover, most of the model parameters can be easily drawn from their data-sheets. In particular, the virtual test rig allows to display rotor’s angular position and velocity, motor’s torque, currents flowing in the motor’s phases and can detect the loss of synchronization.
Users of this virtual testing environment, in our case graduate students of the Mechatronics curriculum, can simulate the behavior of the stepping motor coupled with the load, varying both motor and drive parameters (for example, drive voltage motor’s phases resistance and inductance, the rated current and the rotor inertia) as well acting on load parameters (e.g. load inertia, friction and applied torque).
Students seemed to appreciate this approach and after a very short training on the simulation software they were able to proceed by themselves with a better understanding of stepping motor behavior.
In conclusion we can say that the presented virtual test-rig can be efficiently and properly used to carry on “virtual experimental activities” replacing the experimental activity usually carried out on the actual test-rig
A simple visual servoing control of a wheeled mobile robot
No full textIl lavoro tratta della realizzazione di un sistema di visione semplice ed economico, dedicato al pilotaggio di un mobile robot. Il sistema è realizzato mediante l’impiego di una telecamera fissa che inquadra un’area di lavoro in cui può spostarsi il robot. L’acquisizione e la successiva elaborazione dell’immagine viene eseguita mediante un comune PC in ambiente Windows; le coordinate del robot così determinate vengono inviate ad un altro PC che, mediante un sistema operativo real-time, provvede ad inviare i segnali di pilotaggio al robot.Sempre nell’ottica della massima semplicità ed economicità, lo scambio di dati tra i due PC viene realizzato attraverso la porta parallela, mediante un originale protocollo sviluppato ad ho
Educational in mechatronics for mechanical engineering students: development of a SCARA robot prototype
No full textNella moderna realtà industriale, è sempre più evidente la presenza di macchine o impianti “meccatronici”, cioè sistemi caratterizzati da una forte interazione fra discipline fra loro differenti come la meccanica, l’elettronica, la teoria dei controlli e l’informatica. La progettazione di questi sistemi non può prescindere dalla loro peculiare multidisciplinarietà: si rende sempre più necessaria, quindi, la presenza di una figura professionale in grado di coordinare ed integrare le diverse parti costituenti il sistema, in modo da impostare il progetto in maniera ottimale fin dalle fasi iniziali.A questo proposito l’offerta formativa della Facoltà di Ingegneria dell’Università di Bergamo prevede il corso di Sistemi Meccatronici rivolto agli studenti di Ingegneria Meccanica. La memoria descrive una procedura progettuale (sintesi funzionale, progetto costruttivo, scelta azionamenti, ecc.) per la realizzazione di un prototipo di robot SCARA azionato da motori passo-passo, progetto d’anno durante il corso. Nell’articolo sono riportate le fasi di sintesi del robot, le simulazioni e le prove svolte sui prototipi realizzat
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