MagnetoShield: A Novel Open-Source Magnetic Levitation Benchmark Device for Mechatronics Education and Research.

This article presents an open-source device illustrating the well-known magnetic levitation experiment. The uniqueness of this particular device lies in its exceptionally small dimensions, affordability and availability, which makes it a perfect design for take-home experiments for education but it can also serve as a referential design for testing various control algorithms in research. In addition, this paper provides a comprehensive hardware design for reproducibility along with the detailed derivation of the mathematical model, system identification and validation. Moreover, the introduced hardware comes with an easy-to-use open-source application programming interface in C/C++ for the Arduino IDE, Simulink and CircuitPython. REXYGEN, another environment similar to Simulink, had also been used to demonstrate the capabilities of the MagnetoShield.

Computationally Efficient Continuous-Time Model Predictive Control of a 2-DOF Helicopter via B-Spline Parameterization.

This paper investigates one way to reduce the computational burden of continuous-time model predictive control (MPC) laws by representing the input/output signals and related models using B-spline functions. Such an approximation allows to implement the resulting feedback control law more efficiently, requiring less online computational effort. As a result, the proposed controller formulates the control signals as continuous polynomial spline functions. All constraints assumed over the prediction horizon are then expressed as constraints acting on the B-splines control polygon vertices. The performance of the proposed theoretical framework has been demonstrated with several real-time experiments using the well-known 2-DOF laboratory helicopter setup. The aim of the presented experiments was to track given step-like reference trajectories for pitch and yaw angles under notable parameter uncertainties. In order to suppress the influence of uncertainties, the control algorithm is implemented in an adaptive mode, equipped with the recursive least squares (RLS) estimation of model parameters and with the adaptation of stabilizing terminal set and terminal cost calculations. Thanks to the presented framework, it is possible to significantly reduce the computational burden, measured by the number of decision variables and input constrains, indicating the potential of the proposed concept for real-time applications, even when using embedded control hardware.

Hybrid Virtual Commissioning of a Robotic Manipulator with Machine Vision Using a Single Controller.

Digital twin (DT) is an emerging key technology that enables sophisticated interaction between physical objects and their virtual replicas, with applications in almost all engineering fields. Although it has recently gained significant attraction in both industry and academia, so far it has no unanimously adopted and established definition. One may therefore come across many definitions of what DT is and how to create it. DT can be designed for an existing process and help us to improve it. Another possible approach is to create the DT for a brand new device. In this case, it can reveal how the system would behave in given conditions or when controlled. One of purposes of a DT is to support the commissioning of devices. So far, recognized and used techniques to make the commissioning more effective are virtual commissioning and hybrid commissioning. In this article, we present a concept of hybrid virtual commissioning. This concept aims to point out the possibility to use real devices already at the stage of virtual commissioning. It is introduced in a practical case study of a robotic manipulator with machine vision controlled with a programmable logic controller in a pick-and-place application. This study presents the benefits that stem from the proposed approach and also details when it is convenient to use it.

Advanced Supervision of Smart Buildings Using a Novel Open-Source Control Platform.

Gathering data and monitoring performance are at the heart of energy efficiency and comfort securing strategies in smart buildings. Therefore, it is crucial to present the obtained data to the user or administrator of such a building in an appropriate form. Moreover, evaluating the data in real time not only helps to maintain comfort, but also allows for a timely response from the user or operator to a possible fault. Continuous online monitoring and analysis of process behaviour, which is referred to as advanced supervision, is addressed in this paper by developing a procedure that will form an artificial operator autonomously supervising process. After introducing several techniques that are used for signal analysis, we propose an approach to advanced supervision of processes in smart buildings or other industrial control systems. The developed procedure is implemented on a control system platform that is particularly suitable for this purpose. Moreover, this platform includes a framework that provides support for the implementation of advanced control techniques and it is based on open-source tools, which is rarely seen in industrial applications. The developed advanced supervision procedure has been tested in simulation as well as in a practical case study using a real two-storey family house.