![]() For the expression of the plant, students are guided to execute the essential stages of the control system design, from system modeling, through the design of the basic or advanced control strategy in the MATLAB and Arduino environment, to the implementation and validation of the closed loop. The project is structured around a portable and cheap ball and beam whose integrated system is made using printed circuit boards as the first task. This article presents the methodology for developing a control laboratory project that provides practical experience based on the ABET criteria. Due to the diversity of communication and control equipment such as PLCs, robots, sensors or actuators, the presented technology, although it works on a laboratory structure, has applications in the real world and meets the specific requirements of Industry 4.0. Disassembling or repairing starts after assembling and the final assembled product fails the quality test. Technology operates synchronously with signals from sensors and eye-in-hand VSS. After disassembly or repair, CAS picks up the disassembled components and transports them to the appropriate storage depots for reuse. The multifunctionality is provided by the three actions, assembly, disassembly, and repair, while the flexibility is due to the assembly of different products. On the end effector of the RM, a mobile visual servoing system (eye-in-hand VSS) is mounted. The CAS has in its structure two driving wheels and one free wheel (2 DW/1 FW)-wheeled mobile robot (WMR) equipped with a 7-DOF robotic manipulator (RM). A/D/RML consists of a six-work station (WS) mechatronics line (ML) connected to a flexible cell (FC) equipped with a six-degree of freedom (DOF) industrial robotic manipulator (IRM). Our results also show that the proposed strategy can achieve string stability for the mean and variance for both the tracking and estimation errors in scenarios where the basic extrapolation strategy cannot.Ī communication and control architecture of a multifunctional technology for flexible manufacturing on an assembly, disassembly, and repair mechatronics line (A/D/RML), assisted by a complex autonomous system (CAS), is presented in the paper. The results show that for the considered cases, the proposed strategy outperforms the linear extrapolation approach in terms of tracking and estimation error variances. ![]() The performance of both strategies is analyzed through Monte Carlo simulations and experiments in an ad hoc testbed, considering various data loss and transmission loss probabilities depending on the inter-vehicle distance. We compare this approach to one purely based on the linear extrapolation of previous data. This strategy enables the followers to better deal with data dropouts. To address the lossy communication, we propose a strategy to estimate the missing data based on the Kalman filter with intermittent observations combined with a linear extrapolation stage. The vehicles use a predecessor-following topology, where each vehicle sends relevant data to the next, and data loss is modeled through a Bernoulli process. ![]() This article considers a homogeneous platoon with vehicles that communicate through channels prone to data loss. Additionally, we illustrate with experimental results some of the teaching activities that the platform is capable of performing. The agents are built from low cost components and programmed with open source software, enabling teaching experiences and experimental work with a larger number of agents that would otherwise be possible with other existing solutions. The individual agents can be used for simple PID experiments in a classroom or laboratory setting, while a collection of agents are capable of performing decentralized platooning with cooperative adaptive cruise control in a variety of settings, the latter being the main goal of the platform. The platform consists of train-like autonomous agents equipped with local speed estimation, distance sensing to their nearest predecessor, and wireless communications with other agents and a central coordinator. In this paper, we present the development of a low-cost multi-agent system experimental platform for teaching, and research purposes.
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