Embedded Files
Microcontroller: Atmega32, BASIC Stamp II
Parallel/Serial (RS-232) Communication (MATLAB/C)
Bluetooth Module Interfacing
Webcam, LCD Interfacing
7 Segment Interfacing: MAX7219
Device Drivers: L293D, ULN2003.
IR Sensors, ADC, Light dependent resistors
Robotic arms controlled through Robot Programming Language, SCORBASE.
Real-time capturing of microstructure images using MATLAB.
Servo motors, stepper motors, simple dc motors, pneumatic actuators.
Motion Capture System
Digital Stop Watch
Digital Stop Watch
The major goal of this lab assignment was to develop a digital stop watch. The basic interfacing of LCD module, MAX7219 7-Segment display driver, speaker, shift register for capturing inputs using switches and pulse generator is first achieved. The successful implementation of the stop watch is possible with synergistic integration of the components in the system. A digital stop watch is developed which operates in two modes i.e. normal stop watch mode and timer mode. The timer mode provides the user an option to enter hours, minutes and seconds after which the watch should give a buzzer. Both the modes provide option to pause or continue and stop the watch. In addition, the watch also has the feature of Auto Sleep Mode which kicks in when the watch is idle for some time. The user can also turn this mode off. Also, the watch provides audio visual cues to the user for user friendliness.
Digital Multimeter
Digital Multimeter
The major goal of this lab assignment was to develop a digital multi-meter. The basic interfacing of LCD module, shift register 74X165, shift register 74x595, ADC, operational amplifier, relay, MOSFET is achieved with the BASIC Stamp II. A digital multi-meter is developed which operates in four modes i.e. Ohmmeter, Voltmeter, Digitally Controlled Voltage Source using R-2R, Digitally Controlled Voltage Source using PWM. All the modes also provide the feature to make multiple measurements and retain the last two readings. In addition to this the developed multi-meter also offers a feature to check the continuity of a circuit. Also, the system has the feature of Auto Sleep Mode which kicks in when the system is idle for some time. The multi-meter also provides visual cues to the user for user friendliness
Speed Control of a DC Motor
Speed Control of a DC Motor
The goal of this assignment was to develop a Speed control system for a DC motor. Various control methods were to be employed, both open loop and closed loop. All control methodologies are implemented using MATLAB GUI. The important feature of the system is the auto-calibrate function which provides the capability to calibrate the system at three different levels depending on the desired level of accuracy and recommend whether to use the calibration or not based on the statistics of fit. In closed loop control, on-off, differential, proportional, proportional-plus-differential and proportional-plus-integral-plus-differential are implemented. The system also has a feature to run a diagnostics in order to assess its state of health. A monitoring feature which employs a webcam to monitor the fan by the user is also present. This can be of importance in remote operation of the motor. In addition, the system also provides the feature of data logging both for calibration and for controls.
Autonomous mobile robots capitalize on their ability to intelligently, efficiently and reliably interact with their environment. This makes them suitable for various applications that are hazardous or unpleasant for human beings. Their task may range from as simple as following a line, to as complex as enduring the extreme environment of a distant planet, and thereby collect useful data for humans. We develop an autonomous mobile robot guided by a vision system for sorting objects based on their color....Read More
An Electronic Differential based Electric Vehicle
An Electronic Differential based Electric Vehicle
A study of the dynamics of a four-wheeler is carried out to assess the effect of various vehicle parameters on it. A mathematical model is then developed for the proposed design of the Electric Vehicle. Computer simulations are carried out for the developed mathematical model in MATLAB using Virtual Reality Toolbox. Finally a full-scale prototype of the computer controlled vehicle is developed to demonstrate the kinematics of the designed electronic differential on a stationary platform in a freely suspended condition. The real-time data acquisition unit captures data from the steering angle sensor and the speed sensors to provide feedback for actuating the two motors at the rear end to differentially drive the two wheels so as to create the effect of a virtual differential. The series wound DC motors are controlled through relays using PWM and the speed sensor is realized by designing an incremental encoder using an IR sensor. The steering angle sensor consisted of a rotary type potentiometer coupled with the steering arm of a rigid axel mechanical steering which provides input to an 8-bit ADC whose output is fed to a computer through parallel port. A pulse of required duty cycle and frequency is then generated based on the error signal present to provide a proportional control to the motors.
Associated Report:
P. Agarwal, G. Sharma, D. Ghosh, M. Satish, A. Upadhay, "Design and Development of a Battery Operated Electric Car with an Electronic Differential", B.Tech Project Report, MNNIT Allahabad, 2007. [Report]
Prototype of the Designed Electric Vehicle capable of simulating a Virtual Differential.
Modeling of the vehicle in IDEAS for positioning of electric motors.
Simulation of the Vehicle using Virtual Reality ToolBox in MATLAB.
(The 3-d model existing in MATLAB demo has been used for the simulation)
A system for Dynamically Balancing a Bicycle
A system for Dynamically Balancing a Bicycle
(Developed during the Summer Fellowship Programme of Indian Institute of Technology, Madras, India in the Laboratory for Precision Engineering and Instrumentation, Department of Mechanical Engineering under the guidance of Professor Nilesh J. Vasa.)
A study of the dynamics of a bicycle is carried out to evaluate the effect of key parameters like wheel base, head angle and trail on stability. It is observed that the design of front fork has a major impact on the stability of the bicycle. Second-order models are developed for the bicycle and a transfer function is finally established relating the roll angle to the steer angle. A PID controller is then modeled in MATLAB using Simulink. The response of the controller for various inputs like impulse, step etc. is then obtained. A frequency response study is then carried out for sinusoidal inputs using Bode plot and Nyquist Criterion.
Steering motor mounting
MATLAB simulation of bicycle balancing and bicycle model in IDEAS
Automated Guided Vehicle for Mixed Model Assembly Line
Automated Guided Vehicle for Mixed Model Assembly Line
A computer controlled automated guided vehicle is developed with a capability (1) to identify balls of different colors, (2) to place them at their appropriate location based on their color. The vehicle is a white line follower installed with two sensors for guiding it to track the line. In addition to this, the vehicle is equipped with a sensor cluster capable of identifying few colors. The sensor is based on the theory that different colors have different reflectivity. All the sensors are based on a circuit consisting of a Light Dependent Resistor connected in series with a rotary type potentiometer so as to generate a voltage output based on the reflectivity of the color present in front of it. The vehicle is installed with four DC geared-motors for driving the vehicle and two such motors for operating the flaps to capture the ball. The code for controlling the vehicle is written in C and the vehicle is connected to the computer through parallel port.
Side and front view of the developed Automated Guided Vehicle
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