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Contribution to the Solving of the 3D Manipulator Mechanism of the Military Robotic System

Radek DOSKOČIL, Jiří FISCHER and Václav KŘIVÁNEK

Abstract


The article deals with the development and design of manipulator body for mobile military robotic system that has been designed to Department of Air Defence. Own manipulator mechanism has concept of the 3D spherical type manipulator. The entire mechanical part is constructed on the basis of three relatively independent motion modules, each fitted with an individual drive DC motor with gear. The paper also contains the calculation of kinematic variables by means matrix method.

Keywords


3D, Robotic, Manipulator, Mechanism, DC Motor, Matrix.
Full paper

2015-12-18 10:40

Measuring of Copter Motor Power Characteristics

Josef ČASAR, Jiří FISCHER and Vadim STARÝ

Abstract


The article deals with the measuring of power characteristics of an electric copter motor. The aim is to design and realize the measuring workplace and algorithms, to verify declared parameters and get performance characteristics. The measurement is focused especially on a rotor thrust force. For more effective and accurate measuring, specific operations have been automatized. The whole process can be controlled by either open-source electronic prototyping platform Arduino or National Instruments myRIO device. The mechanic part of measuring workplace is realized by a pendulum with one degree of freedom. The object that was verified in this experiment was the motor 850Kv AC2830-358 with the 10×47 propeller made by 3DRobotics company.

Keywords


Motor control, measuring, rotors, engine characteristics, pendulum.
Full paper

2015-12-17 08:47

The Testing of Airborne Object Assessment Expert System

Jakub NOVÁK

Abstract


This paper describes the creation of the rule and test base of an expert system designed for airborne object identification purposes of the NATO Integrated Air and Missile Defence System (NATINAMDS). In the first part, there is a description of the problem and a brief introduction of the design and realization of the system. In what I consider to be the main part of the paper, I describe the methods suitable for „learning“and subsequent testing of the ID system. Firstly, I focus on the learning process which includes the methodic for rule base creation. Following that, the system is tested by a set of airborne objects to assess the learning process.

Keywords


Expert system, learning knowledge base, testing identification system, NATINAMDS.
Full paper

2015-05-12 21:09

The Inference Mechanism For Expert System Categorizing Airborne Objects

Jakub NOVÁK

Abstract


This article describes the inferential mechanism designed and written as a part of an expert system for assessment of airborne objects in the assigned airspace. The paper theoretically describes different types of inferential mechanisms and associated methods utilized by them. The design of the inferential mechanism is described by classes with their attributes and functions (source code). The inference mechanism works in two steps. I describe source code, which evaluates rules from base of rules and the process of identification.

Keywords


Inference, Inference Mechanism, Expert System, NATINAMDS.
Full paper

2015-01-13 09:44