Web-Based Control and Robotics Education (eBook)
XXIV, 346 Seiten
Springer Netherlands (Verlag)
978-90-481-2505-0 (ISBN)
Spyros G. Tzafestas received his B.Sc. in Physics (1963) and Graduate Diploma in Electronics (1965) from Athens University, Diploma of Electrical Engineering, from Imperial College (1967), M.Sc. (Eng.) in Control from London University (1967) and Ph.D. in Systems and Control from Southampton University, England (1969). From 1969 to 1973 he was Research Leader at the Computer Science Division of the Nuclear Research Center 'Demokritos', Athens. From 1973 to 1984 he was Professor of Automatic Control at the University of Patras, and from 1985 to 2006 he was Professor of Control and Robotics at the National Technical University of Athens (NTUA), Greece. Temporary visiting teaching and / or research positions include : University of Calabria, Italy (1985, 1987), University of Delft, The Netherlands (1991) and MIT, USA (1992). He is currently Director of the Institute of Communication and Control Systems, and as a Professor Emeritus he is leading the Intelligent Automation Systems Research Group engaged with research carried out in ICCS-NTUA mainly in the framework of national and European projects.
Dr Tzafestas is the Recipient of D.Sc. of Southampton University (1978), and Honorary Doctorates of the Technical University of Munich (Dr.-Ing. E.h., 1997) and the Ecole Centrale de Lille (Dr. Ing.-Honoris Causa, 2003). He has published 30 edited research books, 60 book chapters and over 700 Journal and Conference technical papers in the field of control, robotics and Intelligent Systems. He has been the coordinator of national and EU projects in the fields of IT, Intelligent systems, robotics, control and CIM. He is an associate editor of 15 Journals, and he was the Editor - in - Chief of the Journal of Intelligent and Robotic Systems (1988-2006) and of the Book Series 'Micro processor - Based and Intelligent Systems Engineering, Kluwer (1993-2006). Presently, he is the Editor of the Springer book series on Intelligent Control and Automation Systems.
He is a Fellow of IEE, now IET (London), a Life Fellow of IEEE (New York) and a Member of ASME, NYAS and the Hellenic Technical Chamber (TEE). He received the Greek Society of Writers' Award and the Ktesibios Award from the IEEE Mediterranean Control Association (2001). Dr Tzafestas has over the years organized and / or chaired several international conferences (IEEE, IMACS, SIRES, IASTED, EUCA).
For the things we have to learn before we can do them, we learn by doing them. Aristotle Teaching should be such that what is offered is perceived as a valuable gift and not as a hard duty. Albert Einstein The second most important job in the world, second only to being a good parent, is being a good teacher. S.G. Ellis The fast technological changes and the resulting shifts of market conditions require the development and use of educational methodologies and opportunities with moderate economic demands. Currently, there is an increasing number of edu- tional institutes that respond to this challenge through the creation and adoption of distance education programs in which the teachers and students are separated by physical distance. It has been verified in many cases that, with the proper methods and tools, teaching and learning at a distance can be as effective as traditional fa- to-face instruction. Today, distance education is primarily performed through the Internet, which is the biggest and most powerful computer network of the World, and the World Wide Web (WWW), which is an effective front-end to the Internet and allows the Internet users to uniformly access a large repertory of resources (text, data, images, sound, video, etc.) available on the Internet.
Spyros G. Tzafestas received his B.Sc. in Physics (1963) and Graduate Diploma in Electronics (1965) from Athens University, Diploma of Electrical Engineering, from Imperial College (1967), M.Sc. (Eng.) in Control from London University (1967) and Ph.D. in Systems and Control from Southampton University, England (1969). From 1969 to 1973 he was Research Leader at the Computer Science Division of the Nuclear Research Center "Demokritos", Athens. From 1973 to 1984 he was Professor of Automatic Control at the University of Patras, and from 1985 to 2006 he was Professor of Control and Robotics at the National Technical University of Athens (NTUA), Greece. Temporary visiting teaching and / or research positions include : University of Calabria, Italy (1985, 1987), University of Delft, The Netherlands (1991) and MIT, USA (1992). He is currently Director of the Institute of Communication and Control Systems, and as a Professor Emeritus he is leading the Intelligent Automation Systems Research Group engaged with research carried out in ICCS-NTUA mainly in the framework of national and European projects. Dr Tzafestas is the Recipient of D.Sc. of Southampton University (1978), and Honorary Doctorates of the Technical University of Munich (Dr.-Ing. E.h., 1997) and the Ecole Centrale de Lille (Dr. Ing.-Honoris Causa, 2003). He has published 30 edited research books, 60 book chapters and over 700 Journal and Conference technical papers in the field of control, robotics and Intelligent Systems. He has been the coordinator of national and EU projects in the fields of IT, Intelligent systems, robotics, control and CIM. He is an associate editor of 15 Journals, and he was the Editor – in – Chief of the Journal of Intelligent and Robotic Systems (1988-2006) and of the Book Series "Micro processor – Based and Intelligent Systems Engineering, Kluwer (1993-2006). Presently, he is the Editor of the Springer book series on Intelligent Control and Automation Systems. He is a Fellow of IEE, now IET (London), a Life Fellow of IEEE (New York) and a Member of ASME, NYAS and the Hellenic Technical Chamber (TEE). He received the Greek Society of Writers’ Award and the Ktesibios Award from the IEEE Mediterranean Control Association (2001). Dr Tzafestas has over the years organized and / or chaired several international conferences (IEEE, IMACS, SIRES, IASTED, EUCA).
Contents 9
Contributors 11
Outline of the Book 14
Acronyms 20
Teaching Control and Robotics Using the Web 24
1.1 Introduction 24
1.2 Review of the Web-Based Control and Robotics Educational Platforms 26
1.2.1 E-Course/E-Classroom Environments 26
1.2.2 Web-Based Virtual Laboratories 27
1.2.3 Web-Based Remote Laboratories 28
1.3 Web Telerobotics and Internet Delay 30
1.3.1 General Issues 30
1.3.2 The Quality of Service Model of Communication Networks 32
1.3.3 Internet Delay Modeling and Estimation 34
1.3.3.2 The ARIMA Internet Delay Estimation Technique 36
1.4 General Characteristics of Web-Based Virtual Laboratories 38
1.4.1 General Architecture of VLabs 38
1.4.2 Communication Characteristics 40
1.4.3 Human–Computer Interface Characteristics 42
1.4.4 System Modeling 42
1.5 General Characteristics of Web-Based Remote Laboratories 43
1.5.1 General Requirements of Remote Labs 43
1.5.2 General Architecture of Remote Labs 44
1.6 Some Examples 46
1.6.1 Example 1: Internet Delay Estimation 46
1.6.2 Example 2: Effect of Time Delay on Teleoperation 47
1.6.3 Example 3: The Wheel-Driven Robot Lab of the University of Hagen 47
1.6.4 Example 4: The Remote Control Lab (Recolab) 48
1.6.5 Example 5: The Distributed Control Lab (DCL) 49
1.7 Concluding Remarks 51
1.8 Appendix: Software Environments for Developing Web-Based Educational Platforms 51
1.8.1 Web 2.0 51
1.8.2 Matlab 52
1.8.3 LabVIEW 52
1.8.4 VRML 53
1.8.5 Java 53
1.8.6 HTML and HTTP 54
1.8.7 PHP Hypertext Preprocessor 55
1.8.8 CORBA 55
References 56
Control System Design and Analysis Education via the Web 62
2.1 Introduction 62
2.2 Ch Control Systems Toolkit 63
2.2.1 Design and Implementation 64
2.2.2 Simple Application Example 65
2.2.3 Extending the Simple Example 66
2.3 Web Based Control Design and Analysis 69
2.3.1 Web Control Application Example 71
2.4 Customized Design and Implementation of Web-Based Control Systems 72
2.4.1 Root Locus Web Application Example 73
2.4.1.1 Problem Description 73
2.4.1.2 Problem Solution 73
2.4.2 Compensator Web Tool Development 78
2.4.2.1 The CRequest Class 78
2.4.2.2 The CResponse Class 79
2.4.2.3 Source Code Example 79
2.5 Conclusion 81
References 81
Web Based Control Teaching 83
3.1 Introduction 83
3.2 Motivation for Web Based Control Teaching 84
3.3 Virtual Control Design Laboratory 87
3.3.1 Web Sisotool – A Standard MATLAB Web Server (MWS) Application 88
3.3.2 M-file Application 90
3.4 A DSP-Based Remote Control Laboratory 93
3.4.1 A DSP-Based Remote Control Laboratory 94
3.4.2 RC Oscillator Experiment 96
3.4.2.1 Description of the Experiment 96
3.4.3 DC Motor Speed Control Experiment 99
3.4.3.1 Experiment Description 99
3.5 Conclusion 103
References 103
Web-Based Control Education in Matlab 105
4.1 Introduction 105
4.2 Standard Solutions 106
4.2.1 The Matlab Web Server 106
4.2.2 Web Applications and Matlab Builders Products 107
4.2.2.1 The Matlab Builder for JAVA 108
4.2.2.2 The Matlab Builder for .NET 111
4.2.3 Matlab Compiler and CGI Scripts 112
4.3 Alternative Solutions 112
4.3.1 Matlab Dynamic Data Exchange (DDE) 113
4.3.2 The Component Object Model 114
4.3.3 Matlab and Java 116
4.3.3.1 Calling Java from Matlab 116
4.3.3.2 Calling Matlab from Java 116
Java Matlab Interface 117
JMatLink 117
Java Runtime Class 117
JNI Wrapper for Matlab’s C Engine 118
JMatlab/Link 118
4.3.4 Communication via File 119
4.3.5 Communication via TCP/IP 119
4.3.5.1 The MathWorks Instrument Control Toolbox 120
4.3.5.2 The TCP/UDP/IP Toolbox 120
4.3.5.3 The S-function Block 120
4.4 Client Applications 121
4.5 Conclusions 122
References 123
Object-Oriented Modelling of Virtual-Laboratories for Control Education 125
5.1 Introduction 125
5.2 Implementation of Virtual-Labs with Batch Interactivity 127
5.3 Implementation of Virtual-Labs with Runtime Interactivity 128
5.3.1 Virtual-Lab Implementation by Combining the Use of Ejs, Matlab/Simulink and Modelica 129
5.3.2 Virtual-Lab Implementation using VirtualLabBuilder 130
5.4 Case Study I: Control of a Double-Pipe Heat Exchanger 133
5.4.1 Virtual-Lab Model 133
5.4.2 Composing the Virtual-Lab 135
5.5 Case Study II: Control of an Industrial Boiler 137
5.5.1 Virtual-Lab Model 138
5.5.2 Composing the Virtual-Lab 138
5.6 Case Study III: Solar House 140
5.6.1 Virtual-Lab Model 140
5.6.2 Composing the Virtual-Lab 140
5.7 Conclusions 144
References 145
A Matlab-Based Remote Lab for Control and Robotics Education 148
6.1 Introduction 148
6.2 The Automatic Control Telelab 149
6.2.1 ACT Features 149
6.2.2 Teaching Experiences 151
6.3 ACT Experiments Description 152
6.3.1 Control Experiment 152
6.3.1.1 Designing User-Defined Controllers 153
6.3.1.2 Running the Experiments 153
6.3.2 Remote System Identification 156
6.3.3 Student Competition Overview 158
6.3.3.1 A Competition Session Description 160
6.4 The ACT Architecture 163
6.5 The Robotics and Automatic Control Telelab 165
6.5.1 General Architecture 166
6.5.2 Experiments description 167
6.5.2.1 Inverse Kinematics Experiment 167
6.5.2.2 Visual Servoing Experiment 169
6.5.2.3 Future Developments 171
6.6 Conclusions 171
References 172
Implementation of a Remote Laboratory Accessible Through the Web 173
7.1 Introduction 173
7.2 Examples of Existing Virtual Labs 174
7.3 User Interface 177
7.4 Software Architecture 178
7.4.1 Basic Details 178
7.4.2 Advanced Details 181
7.5 Hardware Architecture 182
7.6 Experiments 184
7.6.1 Ball Balancing Device Experiment 184
7.6.2 Rotating Web Cam Experiment 187
7.7 Conclusions 188
References 189
Teaching of Robot Control with Remote Experiments 190
8.1 Introduction 190
8.2 Educational Strategy 191
8.3 The DSP-Based Remote Control Laboratory 193
8.4 Control of a Mechanism with Spring 195
8.4.1 Dynamic Model of the Mechanism with Spring 196
8.4.2 Control Design for the Mechanism with Spring 199
8.4.2.1 Cascade Control 199
8.4.2.2 PD Control 200
8.4.2.3 Computed Torque Control 201
8.4.3 Remote Experiments Using the Mechanism with Spring 203
8.5 Control of the SCARA Robot 205
8.5.1 The Dynamic Model of the SCARA Robot 205
8.5.2 Control Design for the SCARA Robot 207
8.5.2.1 Cascade Control 207
8.5.2.2 PD Control 208
8.5.2.3 Computed Torque Control 208
8.5.3 Remote Experiments with the SCARA Robot 209
8.6 Students’ Feedback 209
8.7 Conclusions 211
References 212
Web-Based Laboratory on Robotics: Remote vs. Virtual Training in Programming Manipulators 214
9.1 Introduction 214
9.2 Remote Labs: Literature Survey 216
9.3 Research Motivation and Objectives 217
9.3.1 Technological Background: Virtual Reality in Telerobotics 218
9.3.1.1 Telerobotics: Historical Evolution 218
9.3.1.2 Telerobotics and Virtual Reality: Synergy 220
9.3.1.3 Web-Based Telerobots 223
9.3.2 Technological and Educational Research Objectives 225
9.4 Design of a Virtual and Remote Robot Laboratory Platform 227
9.4.1 E-Training Scenarios in Robot Manipulator Programming 227
9.4.2 Platform architecture and Web-Based Graphical User Interface 229
9.4.3 Robot Programming Modes: Virtual Pendant and e-Console 231
9.4.3.1 The Virtual Pendant Emulator 232
9.4.3.2 E-console: V.+. Robot Programming User Interface 233
9.5 Pilot Study: Research Methodology and Results 235
9.5.1 Experimental Protocol 235
9.5.2 Experimental Results 237
9.5.3 Analysis of Experimental Results – Discussion 239
9.6 Conclusion – Future Research Directions 240
References 243
Design and Educational Issues within the UJI Robotics Telelaboratory: A User Interface Approach 245
10.1 Introduction 245
10.1.1 The Aim of the System 245
10.1.2 A Brief Account of the State of the Art 246
10.2 System Description – The Architecture 246
10.2.1 Implementation Details 250
10.3 System Description – The User Interface 252
10.3.1 Using a Web Navigator 253
10.3.2 By Means of a Programming Language 254
10.3.3 Through the Java Interface 255
10.4 A New Network Protocol: SNRP 257
10.4.1 The SNRP Description 257
10.4.2 Example of a SNRP Library 259
10.5 Teaching Experiences with the Tele-Laboratory 259
10.5.1 Basic Experiments 260
10.5.1.1 SNRP and XML-RPC Experiment 260
10.5.1.2 HTTP Experiment 260
10.5.2 Advanced Experiments 261
10.5.2.1 Java Interface Experiment 261
10.5.2.2 Programming Language Experiment 262
10.6 Conclusions and Work in Progress 264
References 265
Web-Based Industrial Robot Teleoperation: An Application 266
11.1 Introduction 266
11.2 System Architecture 268
11.2.1 The Robot SMART 3-S 269
11.2.2 The C3G 9000 Controller 269
11.2.3 The PC Server 270
11.2.4 The Web Cams 271
11.3 Teleprogramming and Supervisory Control Functions 271
11.3.1 Shared Autonomy Control 272
11.3.2 Supervisory Control Functions 273
11.3.3 Off-Line VRML Trajectory Simulation 274
11.4 Software Architecture 275
11.4.1 C3G-9000 Software 275
11.4.2 PC-Server Software 276
11.4.3 PC-Client Software 277
11.5 Teleoperation User Interface 277
11.5.1 Shared Autonomy 280
11.6 Conclusions 281
References 282
Teleworkbench: A Teleoperated Platform for Experiments in Multi-robotics 284
12.1 Introduction 284
12.2 The Teleworkbench System 285
12.2.1 Teleworkbench Server 287
12.2.2 Video Server 288
12.2.3 WWW Server 288
12.2.4 Teleworkbench Post-experiment Analysis Tool 288
12.2.4.1 Visualization Generator 289
Data Extractor 290
Scene Generator 291
MPEG-4 Scene Encoder 291
12.2.4.2 Interactive Video as User Interface 292
12.2.5 Teleworkbench Application Programming Interface (API) 292
12.2.6 Teleworkbench Graphical User Interface (GUI) 293
12.3 Robot Platform 294
12.3.1 Khepera Minirobot 295
12.3.2 BeBot – HNI Minirobot 295
12.4 Application Scenarios in Research and Education 295
12.4.1 From Local to Remote Experiment 297
12.4.1.1 Web Service Interfaces for Mobile Autonomous Robots 298
12.4.1.2 Robot Tele-Programming 298
12.4.2 Batch, Interactive, and Sensor Experiments 299
12.4.3 From Simulator to Real-Robots 301
12.4.3.1 Robot Path Planning 303
12.4.4 Robotic Experiment Analysis 304
12.4.4.1 Robot Motor Controller 305
12.4.4.2 Cooperative Multi-robots 305
12.4.4.3 Swarm Robots 306
12.4.4.4 Unknown Environment Exploration 308
12.5 Challenges for a Teleoperated Robotic Laboratory in Research and Education 310
12.6 Summary and Future Work 311
References 312
Web-Based Control of Mobile Manipulation Platforms via Sensor Fusion 314
13.1 Introduction 314
13.2 Prior Work 315
13.3 Design Specifications 316
13.3.1 Data Acquisition 316
13.3.2 Sensors 316
13.3.2.1 Sonar Sensor 317
13.3.2.2 Infrared Proximity Sensor 318
13.3.3 Jazzy 1122 Wheelchair 320
13.4 Applications 321
13.4.1 Manipulability 321
13.4.2 Navigation and Obstacle Avoidance 322
13.4.3 Path Planning and Map Building 323
13.5 Implementation and Results 325
13.6 Conclusions and Future Work 327
References 328
Web Based Automated Inspection and Quality Management 330
14.1 Introduction 330
14.2 Web-Based AI and QM System – How It Works? 332
14.3 Literature Review 332
14.4 System Architecture for AI and QM 334
14.5 Metrology Hardware – Sensors and Instrumentation 335
14.5.1 Discrete Digital and Analog Sensors 335
14.5.2 Discrete Metrology Instrumentation 336
14.5.3 Vision Systems and Vision Sensors 336
14.5.4 Coordinate Measuring Machines (CMMs) 338
14.6 Metrology Hardware Integration 339
14.6.1 Discrete Digital and Analog Sensor Integration 339
14.6.2 Discrete Metrology Instrumentation Integration 341
14.6.3 Vision System and Vision Sensor Integration 342
14.6.4 CMM Integration 342
14.7 Control System Integration 343
14.7.1 PLC Based Control 344
14.7.2 Opto 22 Based Control 344
14.7.3 NI – LabView Based Control 344
14.8 Supervisory System Integration 345
14.8.1 ControlNet™ 345
14.8.2 Ethernet 345
14.9 Enterprise/Management Information System Integration 345
14.10 Overall System Integration – An Example 346
14.11 System Safety 347
14.12 Educational Impact 347
14.13 Conclusion 348
References 348
Biographies 350
Index 359
| Erscheint lt. Verlag | 31.7.2009 |
|---|---|
| Reihe/Serie | Intelligent Systems, Control and Automation: Science and Engineering |
| Zusatzinfo | XXIV, 346 p. |
| Verlagsort | Dordrecht |
| Sprache | englisch |
| Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
| Mathematik / Informatik ► Mathematik ► Angewandte Mathematik | |
| Naturwissenschaften ► Physik / Astronomie | |
| Technik ► Elektrotechnik / Energietechnik | |
| Technik ► Maschinenbau | |
| Wirtschaft ► Betriebswirtschaft / Management ► Logistik / Produktion | |
| Schlagworte | Automation and Robotics • Chaos • Complex Systems • control engineering • Industrial Robot • Internet • learning • MATLAB • Modeling • Neural networks • Nonlinear Dynamics • programming • robot • Robotics • Simulation • systems theory control • Technology Education • Telerobotics • Web |
| ISBN-10 | 90-481-2505-7 / 9048125057 |
| ISBN-13 | 978-90-481-2505-0 / 9789048125050 |
| Haben Sie eine Frage zum Produkt? |
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