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Virtual Prototyping and Physical Validation of an Inverted Pendulum: "Sea-Calf Bot"
Halmstad University, School of Information Technology.
Halmstad University, School of Information Technology.
2015 (English)Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

The work is motivated by the goal of linking reality and model, and to see if there is an opportunity to develop an inexpensive educational tool for training in cyber-physical systems.

This project has investigated the possibilities to build a cheap inverted pendulum with controller and connect this with the modeling language Acumen. Acumen models is used for comparison with the actual prototype.

To solve these problems has a 3D printer been used to create hardware, Arduino UNO for control and Raspberry Pi for enable communication with Acumen over WLAN.

The result was a cheap inverted pendulum, which can be built for a cost around 750 SEK. Graphs created in Acumen and from data collected from sensors can be analyzed.

With a model of the inverted pendulum system, the results show that Acumen can be used in the development of cyber-physical systems. There are differences between model and reality but also similarities.

Abstract [sv]

Arbetet motiveras av målet att knyta samman verklighet och modell, samt att se om det finns möjlighet att utveckla ett billigt utbildningsverktyg för utbildning i cyberfysiska system.

Detta projekt har undersökt möjligheter att bygga en billig inverterad pendel med regulator samt koppla samman denna med modelleringsspråket Acumen. I Acumen skapa en modell av systemet och jämföra den med en fysisk prototyp.

För att lösa dessa problem har en 3D skrivare använts för att skapa hårdvara. Arduino UNO för styrning och Raspberry Pi för att möjligöra kommunikation med Acumen över WLAN.

Resultatet blev en billig inverterad pendel, som kan byggas för en kostnad runt 750 kr. Grafer från Acumen, och från data samlad från sensorer kan analyseras.

Med en modell av en inverterad pendel visar resultaten att Acumen kan användas i utveckling av cyberfysiska system. Skillnader finns mellan modell och verklighet men även likheter.

Place, publisher, year, edition, pages
2015. , p. 110
Keywords [en]
Automatic Control, Cyber-Physical Systems, Inverted Pendulum, Lagrangian Mechanics, PD-Controller.
Keywords [sv]
Reglerteknik, Cyberfysiska System, Inverterad Pendel, Lagranges Ekvationer, PD-Regulator.
National Category
Control Engineering Computer Systems Mathematical Analysis Applied Mechanics Robotics
Identifiers
URN: urn:nbn:se:hh:diva-27946OAI: oai:DiVA.org:hh-27946DiVA, id: diva2:792642
Subject / course
Computer science and engineering; Mechatronics
Supervisors
Examiners
Available from: 2015-03-16 Created: 2015-03-04 Last updated: 2015-03-16Bibliographically approved

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Control EngineeringComputer SystemsMathematical AnalysisApplied MechanicsRobotics

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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