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SCIENTIFIC AND TECHNICAL REPORT, STAGE I (2018) PROJECT 1:Activity 1.1 System analysis for mobile platforms. In the process of designing the intelligent mobile platform, the solving of the following problems is pursued: • Creating a model, in real time, as accurately as possible of the environment in which the equipment evolves; • Creating a high-performance hardware structure that ensures the smooth tracking by the mobile of the desired trajectory, from point A to point B, without shocks, avoiding collisions and ensuring stability during movement; • Implementation of software programs and algorithms that ensure, on the one hand, the control of the actuation elements, based on the information received from the sensory system, so that the hardware equipment of the wheelchair ensures the achievement of the movement parameters according to the above mentioned wishes. and traffic management from intersections and, on the other hand, the "user interface" - mobile equipment to be as friendly as possible. Determination of the quantities to be measured (distances, speeds, accelerations). In conclusion, the movement parameters, in relation to the obstacles, which must be measured during the movement of the mobile wheelchair are: distances (on the x, y and z axes, for example to determine the distance and relative position in relation to the obstacles), the speeds (for example for maintaining a constant speed of movement while traveling), acceleration (for example for comfortable starting and stopping of the platform safely). Results: The following results were obtained:Measurements systemically described: mechanical, electrical, electronic and informatical. Determining the necessary precision for the identified measurements. The purpose of using special mobile trolleys for people with disabilities is to compensate for affected movement functions. The nominal speed of such a wheelchair must be approximately the value of the speed of movement of a person without disabilities. Results: The following results were obtained: Systemically described working specifications: mechanical, electrical, electronic and informatcal. Identification of the types of sensors that can support the main solutions identified: sonar (wireless gyroscopes, GPS receivers, infrared sensors, limiters, artificial view sensors). Analysis of the technical and economic performances for the configurations of sensors usable on mobile platforms. According to the system analysis for mobile platforms, following which the sizes to be measured and their accuracy were determined, the following types of sensors were selected and analyzed: LiDAR type sensorsThe study of the solutions presented in the specialized literature revealed the existence of variants of mobile platforms that use 2 or 3 LiDAR sensors capable of creating three-dimensional maps of the environment in which the mobile platform moves. Since the cost of such a LiDAR sensor is very high, we propose a variant in which a 3D LiDAR sensor will be used, to provide a global picture of the environment in which the mobile platform is moving, assisted by a number of 2D LiDAR sensors, whose cost is considerably lower.

Fig.1 Example of 2D mapping of the environment around the mobile platform

Fig.2 Example of 3D mapping of the environment around the mobile platform The main LiDAR sensor will need to provide three-dimensional mapping of the environment in which the mobile platform is moving, providing information on the existing obstacles, having compact dimensions, ensuring the necessary measurement accuracy and not harming the human eye. The characteristics resulting from the modeling and simulations performed in the laboratory are described in the Detailed Scientific Report. Auxiliary 2D laser sensors: Due to the configuration of the mobile platform, the use of a single LiDAR 3D device leads to the appearance of "blind areas" in its immediate vicinity. The characteristics resulting from the modeling and simulations performed in the laboratory required for these sensors are described in the Detailed Scientific Report. Proximity sensors and distance measurement (inertial, infrared, sonar, laser, image): In the structure of the mobile platform, it is necessary to use a sensorial system of distance measurement to help avoid obstacles. The following types of sensors have been studied and analyzed: Proximity sensor O1DLF3KG / IO-LINK: Optical proximity sensors are especially preferred in non-contact measurements because light transmission and reflection can be used without contact with the object surface. HRLV-MaxSonar-EZ0 ultrasonic sensor: HRLV-MaxSonar-EZ is the most cost-effective solution for applications where distance detection accuracy, low voltage operation and low cost are important. GP2Y0A710K0F and GP2Y0A02YK0FŞ distance sensors are distance measuring sensors, composed of an integrated combination of optical distance measuring sensor, IRED (infrared light emitting diode) and a signal processing circuit.

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Using the types of sensors studied we simulated the following configurations for distance sensors:

Fig. 3 Proposal to place the distance sensors on the mobile platform

Fig. 4 Configuration 1

Fig. 5 Configuration 2 Integrated devices accelerometer and gyroscope & accelerometer and compass The Inertial Measurement Unit (IMU) should have an integrated sensor that ensures the fusion of measured data on 9 axes by combining acceleration and rotation motion plus steering information into a single data stream for the application. , and the IMU Accelerometer and Compass should have an integrated linear 3D acceleration digital sensor and a 3D digital magnetic sensor and both include an I2C auxiliary communication port. Thermal Vision Sensor: The Thermal Vision Sensor should be an 8x8 pixel size array. It must be able to detect the temperature. The sensor should be similar to a thermal camera, only at very low resolution Gesture tracking systems: In the following paragraphs we will identify and analyze existing solutions in the specialized literature, as well as commercial solutions used as human-machine interface devices based on human gesture tracking: head movement, mimicry, eye movement. Eye movement tracking systems: The eye tracking system is a dedicated human-machine interface system for controlling some devices, using the gaze to enter the input data. Head tracking systems: The head tracking system is dedicated to the hands-free control of some IT devices. This feature makes it very useful for paraplegic persons with a high degree of physical disability. Microsoft Kinect: The aim is to integrate this system into the wheelchair for tracking voice commands, gestures and upper body movement.

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After studying the field from the informatical, electronic and economic point of view of the solutions presented in the specialized literature, as well as of the commercial ones, modeling and simulations were carried out in the laboratory, and the sensors that meet all the technical requirements, imposed by the precision needed to design the mobile platform. , and economical are: the LiDAR sensor produced by the Velodyne company, model VLP-16 Puck,: RPLiDAR A2, LIDAR Lite P3, the O1DLF3KG / IO-LINK proximity optical sensor, the HRLV-MaxSonar-EZ sensor, the GP2Y0A710K0F distance sensor, the sensor GP2Y0A02YK0F distance measuring device, integrated accelerometer and compass LSM303DLHC, MPU6050 integrated accelerometer and gyroscope device, Grid-EYE (Qwiic) thermovision sensor - AMG8833, TRACKIR 5 system, Tobii Eye Tracker 4C system, Microsoft Kinect. Results: The following results were obtained: Configurations for sensors analyzed in systemic description: electronic, informatical and economical. Selecting the optimal solutions for the analyzed sensors: Following the analysis performed during this activity, the optimal solutions, from the sensory point of view, for the mobile platform are presented in the table below:

Nr. crt.

Sensor name Sensor Type Sensor Role Price

1 Velodyne Puck VLP16 Lidar Laser sensor Distance measurement 42300 2 RPLIDAR A1M8 - 360 Laser Scanner

Development Kit Laser sensor Distance measurement 999

3 LIDAR Lite P3 Laser sensor Distance measurement 899 4 RPLidar A2 Laser sensor Distance measurement 5 DJI Guidance Artificial view sensor Obstacle detection on 5

directions

6 TRACKIR 5 Artificial view sensor Head tracking 7 Tobii Eye Tracker 4C Artificial view sensor Eye tracking 8 Grid-EYE (Qwiic) - AMG8833 Artificial view sensor Termovision 249 9 Camera video Artificial view sensor Gesture recognition 10 Accelerometru + Giroscop IMU MPU

6050 Electromechanic sensor

Measuring acceleration and position of the mobile platform

199

11 FLORA Accelerometru+ Compas LSM303DLHC

Electromechanic sensor + magnetic sensor

Measuring acceleration and orientation of the mobile platform

98

12 Senzor de distanta GP2Y0A02YK0F Infrared sensor Distance to objects measurement

58

13 Senzor de distanta GP2Y0A710K0F Infrared sensor Distance to objects measurement

160

14 Senzor de proximitate O1DLF3KG/IO-LINK

Optical sensor Distance to objects measurement

15 HRLV-MaxSonar-EZ0 Ultrasonic sensor Distance to objects measurement

Results: Solutions for sensors selected in systemic description: electronic, computer and economical Activity 1.2 Systemic integration of the individual sensory solutions selected in Activity 1.1 In the section below are presented several variants of sensory systems that equip the mobile platform, systems that integrate sensors and translators of different types, from older or younger generations, with higher or lower prices, so as to ensure , on the one hand, all the information necessary for the process of generation by the management system of the necessary decisions and of an appropriate diversity and, on the other hand, to ensure a good price, without affecting the quality of the acquired data, so that the price-quality indicator for the product discussed in this project to be acceptable.

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Design of the sensory structure for the mobile platform In the section below it is proposed, by a systemic description, a possible variant of the sensory structure for the mobile platform considered in the present project that will fulfill the corresponding attributes from the mechanical, electrical, electronic and economic point of view.

Results: The following results were obtained: Sensory structure integrated in systemic description: electronic, informatical and economic. Activity 1.3 Analysis and selection of the solutions of conversion, signals and numerical coupling of the architectural components. Analysis and selection of wired and wireless communication solutions to support sensory integration. Within Activity 1-1-1, the optimal solutions for sensor configurations usable on mobile platforms were identified, analyzed and selected. Selected sensor configurations require the use of signal conversion and numerical coupling solutions with the DECISION SYSTEM; the information provided by the sensors falls into one of the following categories of signal: analog, numeric by I2C communication protocol, numeric by IO-Link Master protocol, numeric by Ethernet protocol. Thus, for sensor configurations that provide analog output signal it is necessary to purchase an analog-numeric conversion module, so that the converted information is available as soon as possible for the DECISION SYSTEM. The USB data acquisition module should have a user-configurable digital integrated circuit. The IO-Link Master communication protocol is a wired, bi-directional, digital industrial communication protocol (standard IEC 61131-9), intended for the interconnection of digital sensors located on a restricted area and then relaying the remote information through the Ethernet communication protocol. Results: The following results were obtained: 1) The solution for signal conversion and numerical interfacing of sensory components. 2) The solution for the communication between the components of the sensory system and the driving system. Analysis and selection of sensory integration techniques between artificial view sensors based on actual images and the other sensors. Analysis and selection of solutions for integration and interface of the sensory architecture in the

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management architecture for the mobile platform. The fusion solution is also known as data fusion (multi-sensor) and is a subset of information fusion. Some of the possible solutions for the integration and interface of the sensory architecture in the driving architecture for the mobile platform are proposed in the diagrams below:

Variant 1 - Solution for integrating and interfacing the sensory architecture in the driving architecture, using the video camera, the kinect sensor as a human-machine interface system, and the type 1 (GP2Y0A710K0F), type 2 (GP2Y0A02YK0F) distance sensors, systems in technology LiDar (360 Laser Scanning Kit and LiDar LITE P3) for obstacle detection as well as the integrated accelerometer and gyroscope device for measuring the acceleration and position of the mobile platform.

Variant 2 - Solution for integrating and interfacing sensory architecture into driving architecture, using video camera, head motion tracking system, eye movement tracking system as human-machine interface system, and type 1 distance sensors (GP2Y0A710K0F ), type 2 (GP2Y0A02YK0F), LiDar technology system (Velodyne Puck VLP16), proximity sensors (O1DLF3KG / IO-LINK) for obstacle detection as well as the integrated accelerometer and gyroscope device for measuring the acceleration and position of the mobile platform. A possible solution for the way of integrating and interfacing the sensory architecture, from the point of view of the placement on the mobile platform is represented in the figure below:

Results: The following results were obtained: 1) The solution of sensory integration between the selected sensors. 2) Solutions for integrating sensory architecture into the mobile platform management architecture. CONCLUSIONS: The detailed scientific report highlights the scientific solutions that the project team of Project 1 offers for the requirements of Stage 1. In the detailed scientific report uploaded on the P1 project platform (http://cidsactech.ucv.ro/data/_uploaded/ Documents / RAPORT_CIDSACTEH_P1.pdf password: cidsacteh), the

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solutions / results for research related to Phase 1 can be viewed. Project 1 “Intelligent and distributed management of 3 complex autonomous systems integrated in emerging technologies towards personal medical-social assistance and service of manufacturing lines. flexible precision ”. Dissemination - Articles (ISI or BDI) 22nd International Conference on System Theory, Control and Computing (ICSTCC), October 10-12, 2018, Sinaia, Romania (IEEE Xplore Digital Library, Thomson Reuters Conference Proceedings Citation Index):

1. Computer Vision Techniques for Collision Analysis. A Study Case - Manta Liviu Florin, Sorin Dumitru, Dorian Cojocaru.

2. Dynamic Navigation Aspects of an Automated Medical Wheelchair – Mircea Nitulescu, Mircea Ivanescu 3. Hyper-Redundant Arm with ER Fluid Based Actuator and Control System – Ionel Cristian Vladu, Stoian Viorel.

The 28th EAEEIE - European Association for Education in Electrical and Information Engineering Annual Conference, September 26-28, 2018, Reykjavik (IEEE Xplore Digital Library):

1. Young Engineers Involved in Education and Research – Dorian Cojocaru, Manta Liviu Florin, Cristina Resceanu, Daniela Patrascu Pana.

PROJECT 2: Activitatea 1.4. Background of the methodology for implementing PHS_SVF The activity consists in carrying out an extensive analysis of the feasibility of the solution for PHS_SVF to identify the specific project requirements arising from them. As a result of the analysis, a feasibility study was developed on meeting the objectives. The study demonstrates the ways in which the Hybrid Simulation Platform for Virtual Manufacturing Systems (PHS_SVF) offers the possibility of developing new techniques dedicated to the design and exploitation of manufacturing processes and at the same time providing the services necessary to increase competitiveness and productivity. The validation of the solution will be done by confirming the design, simulation, analysis and reconfiguration mode of an assembly / disassembly manufacturing line with two Autonomous Complex Systems (SAC) integrated in service technologies with collaborative action: SAC-ARP , autonomous robotic platform with two drive wheels and SAC-VAM, autonomous vehicle with 4 multi-directional motors and manipulator. In order to achieve the PHS_SVF objectives during this stage, it was necessary to implement a virtual development environment (MVD) for modeling the manufacturing lines capable of emulating several simulation structures. MVD allows the integration of different concepts and new technologies, such as embedded systems, hardware-in-loop, model-based architectures, cloud computing networks and sensor networks. The following achievements can be considered as results of the PHS_SVF utilization - Virtual prototypes of factories controlled by sensor networks based on models. - Cloud computing based manufacturing system for the automatic control of factories. - Support for context-aware and adaptive manufacturing. - Supervising and control architectures for automatic control and robotic preparation platforms. - Applications in the "Internet of things" service environment - Development of fault detection, risk analysis and hazard prevention algorithms - Implementation of the new algorithms in a standardized reusable function block format - Development of the communication objects that will ensure a secure access to the cloud services from the embedded devices of the simulation platform - Implementation, testing and validation of the system library, whose software assets (models, algorithms, data stractures, standards) can be easily utilised as structural components from various other fields of engineering. - A powerful tool in the educational process which can be used successfully in realization of any project, thesis or dissertation license. A summary of the PHS_SVF project quantifiable results and their correspondence to the objectives is given in the following table

Table 1

PHS_SVF objectives Correspondent target outcomes (expected results) Simulating continuous and discrete manufacturing processes, forecasting the behaviour of manufacturing systems and processes

Analysis of three types of modeling and simulation technology in digital manufacturing, for products, processes and manufacturing systems

Rapid development of software prototypes which provides at least part of the functionality of a system and enables testing of a design before source code is written or hardware is built.

Designing products to an even larger extent through virtual optimization methods, including product machining process, assembly process, production system planning, reorganization and reconfiguration

Advances in terms of high performance computing power and communication speed, smart sensor technologies for generating and exploiting Big Data

PHS_SVF platform implements a new infrastructure called Sensor-Cloud Infrastructure (SCI) which can manage physical sensors on IT infrastructure.

Standardization of the software assets under function block standard.

Development of a standard block format which guarantees assets interoperability .

A new generation of modelling, simulation, forecasting and decision support methods and tools.

Integrating in models stochastic factors which affect the balancing efficiency of mixed-model assembly lines in

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the virtual assembly environment. Multi-modal visualisation and interaction technologies, sustaining a real-time control of production

Developing a Hardware-in-loop (HIL) architecture which allows visualization to be attachable to a specific behavioral model.

Modelling and simulation methods including multi-scale and integrated discrete/continuous models, which allow reducing the ramp-up or changeover time

Implementation of HPS procedures, which gives the process planner the opportunity to integrate components into a system that could be in a mostly simulated phase

Multidisciplinary and multiobjective design optimisation tools taking a holistic approach;

Developing a Fractal Multi-Agent Systems (FMAS) methodology for manufacturing applications which allow self-reconfiguration through a restructuring process assuming the holonic features of VMS.

Integrating virtual and physical experiments building on the combination of simulated, experimental, and real world data in real time.

Use of multiple accurate simulation models alongside the parallel development and implementation of the system as a whole.

Developing integrated knowledge-based systems covering the complete product life-cycle with advanced analytics,

Developing a HPS ontology which provides a conceptual architecture, such that a general interpretation of a manufacturing system’s implementation is made possible

Exploit the potential of Internet-based services, including cloud computing and networked software, utilizing open source approaches

The on-line library is conceived to provide cloud services for access and computing of a large amount of software assets, using an open-source both from the services representation and the user access

Increased awareness of cloud services benefits.Implementation of computing architectures, patterns and programming models for the usage of heterogeneous and distributed computing resources

The platform offers flexibility concerning the continuous testing and updates regarding the algorithms and the module that involved in the "life cycle" of the control sequences, in order to improve the existing ones.

Implementing the Need-Oriented Programming paradigm which consists in the improvement of the software pakages, exploiting the collaborative dimensions of software development

The platform gives the possibility to users to test the assets and send feedback; they also have the possibility to send reports and resolutions about the modules and the entire framework which can adapt to users needs.

Enhancement of industrial – research collaboration by technical data sharing

Sharing information about the latest research algorithms can build stronger relationships between the academic and industrial research

Activity 1.5. Comparative analysis of the different modeling solutions (continuous or hybrid) of flexible manufacturing and re-manufacturing of reusable products served independently or collaboratively by autonomous robotic systems of SAC-ARP and / or SAC-VAM type Through the technical study it was verified and documented how are met the requirements for integration in the model of the manufacturing lines served by robotic systems, of the kinematic models for the complex autonomous systems as well as the industrial specifications for distributed sensor configurations and visual servoing systems according to the requirements of the partners projects 1 and 3. To maintain the homogeneity of the project, the elaborated models corresponded to the same mechatronic assembly / disassembly line used in Project 4. The line was assimilated with a discrete event system, which justifies the use of Petri Nets as a modeling tool. The line consists of five stations (see Fig. 1). For the sake of simplification, a standard Petri net model has been developed for each station.

Fig.1. Block diagram of the mechatronic assembly / disassembly line For the explanation of the model, the details about station 1 are presented below. For the other stations, the working principles and the modeling methodology are similar. Station 1 contains a conveyor belt (B1), two inductive sensors located at the beginning and end of the belt (SP1, SP2), an RFID (RFID1) - located at the end of the conveyor belt, a deposit (D1) consisting of: a frame inside which there are stored

SP1 SP2

B1

D1

SF1 SF2P1

SC

SP3 SP4

B2

D2

SF3 SF4P2

SI1

SP5 SP6

B3

SI2

C

R

OI

SP7 SP8

B4

D3

SF5 SF6P3

SI3

SP9

RFID1 RFID2

SP10 SP11

B5

D4

P4

SI4

RFID3

SO1 SO2 SO3

SO4

PSE

STATIA 1 STATIA 2 STATIA 3 STATIA 4 STATIA 5

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pallets, pallets, an optical sensor (SO1) to confirm the existence of a pallet in the frame, two feedback sensors (SF1, SF2) - located on the sides of the frame, a capacitive sensor (SC) - placed under the frame. Station 1 is a supply station for the line. Up to four finished products can be chosen. For each finished product, the internal component products are chosen and their placement on the pallet. Up to 4 internal products can be chosen. A pallet is released. The release is done in two steps: 1) Extends the cylinder and locks the penultimate piece; 2) The feedback sensors withdraw and release the last product. If the product has been released and placed on the conveyor belt, the capacitive sensor under the parts warehouse is activated and the programmable controller gives the start command. When the product reaches RFID 1, the conveyor belt stops, data is introduced to the palette, and then the conveyor belt 1 starts again. The SP2 sensor is activated, the SP3 sensor is activated, the conveyor belt B2 starts. Figure 2 shows the RP model for the operation of station 1.

Fig.2. Petri net model for the operation of Station 1.

The meaning of the notations in fig.2 is: Transitions STATION 1: T1 - Order number of finished products, order internal parts for the finished product, place parts based on each finished product; T2 - Optical sensor SO1 deactivated (we have pallets in depot D1); T3 - Optical sensor SO1 activated (we do not have pallets in depot D1); T4 - Extends the cylinder from depot D1 and blocks the penultimate piece; T5 - The feedback sensors SF1 and SF2 withdraw and release the last product; T6 - SC activated; T7 - Starting band B1; T8 - RFID1 activation, B1 band stops; T9 - Starting band B1; T10 - Activation SP2, Band B2 starts; T11 - SP3 activation, B1 band stops; T12 - Activation SI2, a new palette is released from depot D1. Positions STATION 1: P1 - Start; P2 - Present Palet; P3 - Depot D1 empty; P4 - Penultimate pallet blocked; P5 - The last palette falls on the B1 band; P6 - B1 pallet; P7 - Pallet transport on B1 band; P8 - Writing RFID1 information; P9 - Free B2 band; P10 - Transfer pallet on B1 band; P11 - Pallet transfer on the B2 band; P12 - Pallet transfer on the B2 band. A Petri net model was developed for each station. By connecting them, a Petri net model is composed for the entire manufacturing line. In the extended report, the characteristic data for the sensors used and details regarding the industrial vision systems to be procured in the next stage are provided in order to satisfy the requirements of the project (rapid integration, industrial design, communication capabilities according to the industrial standards). Activity 1.6. Design of the Virtual Development Environment (MVD). MVD is a practical transposition of the concept of Hybrid Process Simulation in designing and reconfiguring a flexible manufacturing line. For the development environment of the virtualization solution, an open-source application was chosen: Node Red. The advantages of using this open source solution, compared to the development of its own programming environment are: - The existence of a stable solution, which benefits from support and upgrade; - Visual, intuitive way of performing execution flows; - Modular organization of functions (included in a block function library); - Allows the development of new functions, using Javascript language; - Extended portability through compatibility of flows and programs with Linux, Windows operating systems, running on embedded equipment (Raspberri Pi), in Docker containers or in the cloud. The architecture of the development environment is a multi-level one, which allows the addition of several levels of processing and the integration of new IoT equipment with the existing process elements. At the lowest level are the sensors and actuators of the manufacturing line. The equipments can communicate directly with the development environment or intermediate levels of gateway type, having an aggregation role. The higher processing level will be the development environment, which will run the data analysis functions, implement virtual sensors and allow the modeling and simulation of the manufacturing line.

T1 P1 T2 T4 T5 T6 T7 T8 T9 T10P2 P4 P5 P6 P7 P8 P10

T3 P3P9

T11P11 P12 T12 P13

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Fig.3. Example of structure with 2 streams and two execution threads, for two process parameters

The development environment can run multiple streams simultaneously, each consisting of several threads. A processing flow works by exchanging messages between nodes. A simple example of a process flow reading with two execution threads is illustrated in Fig. 3. To ensure the modularity of the application, a selection of nodes or execution threads can be organized in a subflow, which is equivalent to the concept of complex block function because it includes both input and output parameters as well as internal nodes for processing implementation. Nodes can be input nodes, which allow the acquisition of data, output nodes, which displays the result of processing in a graphical interface or send messages for the command of some elements or for alarming, processing nodes, which include both predefined functions and the possibility of their development in JavaScript and working nodes with the interface (Dashboard). In addition, there are dedicated functions for interacting with social networks, storing files, executing command lines or interacting with Raspberry Pi. Due to the fact that Node Red uses a model based on execution flows, the events are represented in the form of messages circulating between the nodes, launching functions whose results are transmitted at the output in the form of actions. Thus, the application is very well suited to the Petri structures chosen for modeling the components of the manufacturing line. For example, the implementation mode for station 1 is presented below, the implementation for the rest of the stations being similar. Station 1 was modeled using 12 transitions and 12 positions. The process starts with ordering a number of finished products, nr_pf, each having a number of components, nr_pi. The input elements are: 2 inductive sensors, SP1 and SP2, for identifying the input and output of the station band, respectively, 1 RFID sensor, called RFID1, for identifying the stopping position for writing data on the pallet, 1 optical sensor, SO1, for checking the existence of the pallets in the frame, 2 feedback sensors, SF1 and SF2, which confirms that the piece is in the correct position and can also be released from the depot, and a capacitive sensor, SC, which confirms the placement of the piece on the band. An additional parameter, B2_free, informs us if band 2 is free. The drive elements are the conveyor belt actuator, B1, which is actuated only at a constant speed, the cylinder for the D1, CD1, for locking the penultimate part, and two limiters for the tank, activated by the activation of the feedback sensors, SFL1 and SFL2. The complete diagram for the implementation of this model is illustrated in Fig. 4. Input nodes were used for each parameter read from the process. Two intermediate parameters, calculated by means of functions, have been defined to identify the constraints required for T1 and T12 transitions. For the states that suppose also the action of some elements of the process have been implemented Switch type messages that evaluate each message received, and if they are addressed, they will send the Change type command to the actuator, changing its value. For example, if the message received from the Petri node Station 1 is P1, indicating the current state, then upon entering this state node P1 will send the command to change the status of the parameter CD1 from true to false.

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Fig. 4. Implementation of the Station 1 model using a Petri net

CONCLUSIONS The scientific report highlights the solutions that the work team of Project 2 offers for the requirements of Stage 1. In the detailed scientific report uploaded on the P2 project platform (http://cidsacteh.upb.ro), the solutions and results for research can be viewed in the section "Formalization and analysis of requirements for the realization of the hybrid simulation platform for virtual manufacturing systems PHS_SVF". RESULTS: The following results were obtained: 1. Feasibility study on meeting the requirements of the project 2. Functional model of a mechatronic line with hybrid manufacturing technology, assisted by SAC-ARP and SAC-VAM with independent or collaborative service. 3. Functional model of the Virtual Development Environment 4. Functional models with Hybrid Petri nets for the stations related to a mechatronic assembly / disassembly line (laboratory model) 5. Interface mechanisms of the Simulation Platform for Virtual Manufacturing Systems with industrial equipment PERFORMANCE INDICATORS REACHED

Type of indicators Name of indicators UM/an Articles accepted in ISI indexed magazines (in press, published only online) 1

Conference attendees 4 Informational products 1 Services 1 Computer Services 1 Studies 1 Other Results 3

Justification: 1. Feasibility study on the implementation and exploitation of the Simulation Platform for Virtual Manufacturing Systems (study) 2. Virtual Development Environment (informational product) 3. Monitoring service for precision assembly / disassembly lines, integrated in hybrid manufacturing technologies (service) 4. Procedure for accessing virtual data collected in real time from assembly / disassembly processes (computer service) DISEMINATION Articles in Journals (ISI) 1. R Dobrescu, D. Merezeanu, S. Mocanu - Process simulation platform for virtual manufacturing systems evaluation, Computers in Industry, https://doi.org/10.1016/j.compind.2018.09.008, 2018 Papers published in the volumes of international scientific events: 1. D. Popescu, L. Ichim, V. Mihai, New flexible robotic platform as support in technical education and research, 10th International Conference on Education and New Learning Technologies, July 2018, DOI: 10.21125/edulearn.2018.0165

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2. S. Mocanu, G. Geampalia, O. Chenaru, R. Dobrescu, Fog-based Solution for Real-Time Monitoring and Data Processing in Manufacturing, Proceedings of the International Conference on System Theory, Control and Computing – ICSTCC 2018, 2018 3. M. Nicolae, M. Craciunescu, S. Mocanu, R. Dobrescu, Framework Architecture for Manufacturing Systems Emulation, Proceedings of the International Conference on System Theory, Control and Computing – ICSTCC 2018, 2018 4. M. Nicolae, R. Dobrescu, S. Mocanu, Trajectory Control of an Autonomous System Dedicated to Assisted Living, Proceedings of the International Conference on System Theory, Control and Computing – ICSTCC 2018, 2018 Note: The underlined authors are part of the UPB team for the CIDSACTEH project. The only author who is not a member of the team is conf. Daniel Merezeanu, UPB. PROJECT 3: Objective 1 Kinematic and dynamic modeling. Activity 1.7 This report presents the results of the researches to reach the first objective, considering two directions: -1a kinematic and dynamic models, corresponding to the situation in which all parameters are completely determined, for mobile platforms with 2 two-wheel drive (and steering wheels) and two free 2DW / 2FW wheels, or with 2 two-wheel drive (and steering wheel) and one wheel free 2DW / 1FW equipped with 6 degree 6 freedom robot manipulator (DOF); -1b kinematic and dynamic models for four-wheel drive platform and multi-directional steering (4DW / SW), equipped with 6-degree (6-DOF) robotic manipulator. The kinematic and dynamic models, corresponding to the situation in which all the parameters are completely determined, for the mobile platforms with 2 two-wheel drive (and steering wheels) and two free wheels 2DW / 2FW, or with 2 two-wheel drive (and steering wheels) and a 2DW free wheel / 1FW equipped with 6 degree of freedom (6 DOF) robotic manipulator are determined for SAC-ARP (Autonomous Complex-Assisted Robotic Personal System) management. The equipment considered for SAC-ARP, in this project, are:- the Pioneer 3-DX (2DW / 1F) mobile robot equipped with the Pioneer 5-DOF Arm manipulator or the Cyton Gamma 1500 6-DOF robotic manipulator; - the PowerBot (2DW / 2F) or PatrolBot (2DW / 2F) mobile robot equipped with the Pioneer 5-DOF Arm manipulator or the Cyton Gamma 1500 6-DOF robotic manipulator 1.a.1 The kinematic model Modeled mobile platform, is a mobile robot of type 2DW / 1FW or 2DW / 1FW equipped with two drive wheels with differential traction and a third wheel for support, or another 2 support wheels. In Figure 1.1. is represented the robot with all the sizes that characterize them.

Fig. 1.a.1. - The kinematic model of the mobile platform type 2DW / 1FW and 2DW / 2FW According to the literature approaches, the kinematic modeling of the robot can be done using the system of equations (1):

(1) where: - and are the Cartesian coordinates that define the geometric center of the robot;

- represents the linear speed of the robot;

- defines the angle of the direction of travel of the robot;

- refers to the angular velocity of the platform; - refers to the angular velocity of the platform.... The kinematic model of the mobile robot with two drive wheels and one or two steering wheels is a non-linear model.Starting from the kinematic model of two-wheeled mobile robots, PatrolBot and Pioneer, used in the project

where: - xr and yr represents the plane position of the robot

- qr its orientation angle, - and vr and ωr the speed of translation and rotation of the robot respectively

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It is defined the tracking error between the desired robot position - the position of a virtual robot that would accurately track the required trajectory and the real position , by positioning the real robot in a coordinate system related to the virtual robot as represented in figure 1.2

. By derivation one can deduce the dynamics of the trajectory tracking error as:

(2) For this model of the robot a sliding-mode controller has been designed, which can be found in the extended report http://cidsacteh.ugal.ro/index.php/proiecte-componente/proiect3. 1b. Model of a four-wheeled robot (vehicle) and steering wheel used for non-linear driving The Autonomous Complex System - The SAC-VAM Multidirectional Autonomous Vehicle, integrated in medical-social assistance technologies, considered in this project, is based on the SEEKUR Robot Base autonomous vehicle, with 4-wheel drive and 4DW / 4SW steering. This autonomous vehicle, which has the possibility of multidirectional travel on any type of terrain, can be equipped with a 6-degree (6-DOF) robotic manipulator and / or with a plow, to become a Complex Autonomous System - Multidirectional Autonomous Vehicle SAC-VAM integrated in the medical-social assistance technologies being thus able to transport, treat and manipulate a medical tray with a heavy load, thus having the possibility to perform rescue on any type of terrain. When discussing a kinematic model of a 4-wheel drive vehicle and steering, the following assumptions are considered: a) the wheel distances are strictly fixed; b) the steering axis of each wheel is perpendicular to the surface; c) the vehicle is not made up of flexible parts. 1b. Model of a four-wheeled robot (vehicle) and steering wheel used for non-linear driving A general kinematic model of a vehicle is shown in Fig. 1.b.2.A. and in figure B the representation of the simplified model is given. In the general model, each wheel has a certain pitch angle and a slip angle . The slip angle is calculated

based on the longitudinal and lateral speeds of the wheels ( , ), as follows:

Figure 1.b.2.A. The kinematic model for a 4-wheel motor vehicle and steering a B. The simplified kinematic model (bicycle type) Ţinând cont de alunecări, restricţiile nonholonomice sunt date de

ecuaţiile următoare:

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where v – is the linear and simplified vehicle speed of a four-wheel drive robot and steering wheel. 1.c Dynamic model for SAC-ARP and SAC-VAM Nonholonomic mechanical systems can be described by the dynamic equations based on the Euler-Lagrange formula [6]:

(1) while nonholonomic constraints can be expressed by:

where: -q is the n-dimensional vector of the configuration variables; -M(q) is a positive defined nxn dimension matrix;

-C(q, ) q is the n-dimensional vector of the centripetal and Coriolis couples; - G(q) is the n-dimensional vector of gravitational couples; - B(q) is a matrix of dimension nxr, the matrix of transformation of those entries into the n variables; - τ is the r-dimensional vector of the inputs; - λ represents Lagrange multipliers of force constraints. From equation 1 and using that and are 0, the following dynamic model is obtained:

(2) The explanation of the dynamic model can be found in the report extended to http://cidsacteh.ugal.ro/index.php/rezultatep3 The fullfilment degree for the Activity 1.7 is 100% Objective 2 Design and implementation of management structures. Activity 1.8 and Activity 1.9 2.a Activity 1.8 Design and implementation of the management structures of SAC-ARP, management with advanced techniques, based on kinematic and dynamic models. In this paper, a hybrid (continuous - with discrete events) structure is proposed distributed and hierarchized, over time, whose general architecture is presented in figure 2.a.1. At the basic level you will find the interface with the execution elements (the DC motors that ensure the movement) and with the sensors in the robot structure. The higher hierarchical level is the level of control and fault tolerance that ensures the robot's autonomy and the performance required in the trajectory tracking operation. The third level of the hierarchy is responsible for the communication tasks and implements a data server and an order server, in order to provide valid data and commands through the wireless network to the other nodes of the distributed system. This hybrid driving structure is used to drive the complex autonomous system consisting of the mobile platform equipped with manipulator.

Figura 2.a.1 Stthe structure of the advanced control system

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For the real-time implementation of the hybrid driving structure, a server-side application was used whose structure is represented in fig. 2.A.2. The client application, the specific functions, the monitoring and diagnostic tasks, as well as the fault tolerance module are explained in the extended report: http://cidsacteh.ugal.ro/index.php/proiecte-componente/proiect3.

Figura 2.a.2 The structure of the server-side application from the base level Implementation, loop simulation and real-time testing

Figura 2.a.3 Structura nivelului de comandă Description of the command algorithm levelThe command level aims to ensure that the robot operates in trajectory tracking mode, meaning that the system follows a certain trajectory while respecting time constraints. The objective of the driving algorithm is to minimize position errors, ie longitudinal, lateral and angular error. The structure of this level is shown in figure 2.a.3. The sliding mode command law, and the graphical representations of the SAC response can be found in the extended report to the client application, the specific functions, the monitoring and diagnostic tasks, as well as the fault tolerance module are explained in the extended report: http://cidsacteh.ugal.ro/index.php/proiecte-componente/proiect3. The graphical representation of the tracking of some trajectory is given in Figure 2.a.4 of the extended report http://cidsacteh.ugal.ro/index.php/proiecte-componente/proiect3. Using the sliding-mode controllers also solved the problem of tracking a predefined trajectory. The main objective in the trajectory tracking problem is to minimize the distance (longitudinal and lateral) and angle errors even when there are disturbances. The desired trajectory (reference) is defined in time (there are time constraints). It follows that each trajectory is associated with a linear velocity profile and an angular velocity profile. During this stage four laws of non-linear type (sliding-mode) were implemented and tested and then the performances of these laws were investigated by simulation: Also, a sliding-mode controller based on the dynamic model with uncertainties was implemented and tested (for the case of mass and / or inertia variations of the mobile platform-manipulator arm assembly are taken into account). The regulation laws and the system response can be found in the extended report http://cidsacteh.ugal.ro/index.php/proiecte-componente/proiect3.

Figura 2.a.7. The mobile manipulator

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The computing algorithms were written in C ++, and for the real-time implementation of the sliding-mode controllers, the mobile platforms developed by the MobileRobots company (Pioneer, PatrolBot, PowerBot, etc.) existing within the Research Systems management center were used. of processes, Laboratory for the management of nonlinear systems https://erris.gov.ro/Process-Control-Systems . The general scheme used for the real-time management of mobile platforms is given in figure 2.a.5 of the extended report http://cidsacteh.ugal.ro/index.php/proiecte-componente/proiect3. The Cartesian coordinates of the final point (end-effector) at the end of the manipulator are given by the equations:

where (xM, yM) is the position of grip of the mobile base manipulator:, qr is the orientation of the base:, q1, q2 represents the angles of the manipulator's arms and: l1, l2 are the lengths of the manipulator's arms.The kinematic equations of motion

of the mobile platform are:

with the restriction: . For the connection point of the manipulator with the mobile platform (xM, yM) se poate scrie:

Examples of the robot's trajectory for different scenarios can be found in the full report, http://cidsacteh.ugal.ro/index.php/rezultatep3 . 2.b Activity 1.9 Design and implementation of the management structures of SAC-VAM, management with advanced techniques, based on kinematic and dynamic models. There are several scenarios (cases) for which the synthesis of nonlinear control laws is made. The block diagram used for the management structure of SAC-VAM with non-linear controller is given in Figure 2.b.1

Figura 2.b.1. Block diagram used to test the control structure of SAC VAM The simulation results for the nonlinear control law explained in the extended report:

Figura 2.b.2. The tested route and the required speeds (desired). Conclusions: The scientific report highlights the solutions that the project team of the Project 3 offers for the requirements of Stage 1. In the detailed scientific report uploaded on the P3 project platform http://cidsacteh.ugal.ro/index.php/rezultatep3 ), you can view the solutions and the results of the researches related to the Stage 1. Results : -Kinematic and dynamic models of the SAC-ARP complex autonomous system- The kinematic and dynamic modes of the SAC-VAM complex autonomous system- Intelligent and distributed management structure of SAC-ARP and SAC-VAM- Design of the control laws for the non-linear regulator that ensure the displacement in the workspace under conditions of compliance with the conditions of robustness to the variation of the parameters- Intelligent management structure based on advanced techniques of SAC-ARP and SAC-VAM integrated in technologies of medical-social assistance and technologies of service of flexible manufacturing lines of precision, A / D and P / R, laboratory ( mechatronics lines);-Reports with the results of the testing of the models of the autonomous systems SAC-ARP and SAC-VAM integrated in technologies of medical-social assistance under simulation regime (various scenarios, case studies: http://cidsacteh.ugal.ro/documente/RTS_Proiect_3.pdf sau http://cidsacteh.ugal.ro/index.php/rezultatep3 ); Deliverable: Activity 1.7 100% degree of fulfillment http://cidsacteh.ugal.ro/index.php/rezultatep3 - The kinematic and dynamic modes of the SAC-ARP complex autonomous system; - The kinematic and dynamic modes of the SAC-VAM complex autonomous system;

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Activity 1.8 100% degree of fulfillment http://cidsacteh.ugal.ro/index.php/rezultatep3 - Intelligent and distributed management structure of SAC-ARP. Results of simulation of SAC ARP models, Activity 1.9 100% degree of fulfillment http://cidsacteh.ugal.ro/index.php/rezultatep3 - - Intelligent and distributed management structure of SAC-VAM. Results of simulation of SAC VAM models Dissemination: Hybrid Modelling and Simulation of a P/RML with Integrated Complex Autonomous Systems, George PETREA, Adrian FILIPESCU, Eugenia MINCĂ, Adriana FILIPESCU, Proceeding of CSS IEEE 22nd International Conference on System Theory, Control and Computing (ICSTCC), 10-13 oct2018, Sinaia, Romania pp.439-455. Visual Servoing Systems Based Control of Complex Autonomous Systems Serving a P/RML , George PETREA, Adrian FILIPESCU, Razvan ŞOLEA, Adriana FILIPESCU, Proceeding of CSS IEEE 22nd International Conference on System Theory, Control and Computing (ICSTCC), 10-13 oct2018, Sinaia, Romaniapp 323-328 -Trajectory Tracking Nonlinear Control and Narrow Spaces Navigation of a WMR, Razvan ŞOLEA, George CIUBUCCIU, Daniela CERNEGA, Adrian FILIPESCU, Proceeding of CSS IEEE 22nd International Conference on System Theory, Control and Computing (ICSTCC), 10-13 oct2018, Sinaia, Romania, pp. 329-334. -Extended Approach for Modelling and simulation of Mechatronics Lines Served by Collaborative Mobile Robots, Eugenia MINCĂ, Adrian FILIPESCU, Henri George COANDĂ, Florin DRAGOMIR, Elena Otilia DRAGOMIR, Adriana FILIPESCU, Proceeding of CSS IEEE 22nd International Conference on System Theory, Control and Computing (ICSTCC), 10-13 oct2018, Sinaia, Romania pp. 335- 341. Project 4: Summary The researches, related to the chapter Stage 1-4, have led to the development of models and simulation results for precision flexible fabrication lines, integrated in hybrid fabrication technologies, for assembly/disassembly (A / D) with SAC integrated in service technologies, SAC-ARP, autonomous robotic platform with two drive wheels, one or two free wheels and manipulator, SAC-VAM, autonomous vehicle with 4 multi-directional motors and manipulator. Taking advantage of the modeling and simulation results, the disassembly station was designed, as well as the robotic handling platform, designed for flexible manufacturing. At the end, can be delivered the technical solutions for the manufacturing flexibility and reversibility objectives can be delivered: the technical project for the execution of the additional modules, as well as the project of the additional system of distributed sensors and visual servoing systems. Scientific and technical description: Models with Hybrid Petri Nets (HPN) for precision flexible fabrication, for assembly/disassembly, served by SAC-ARP, mobile robots (2DW / 1FW) and SAC-VAM autonomous vehicle (2DW / 2FW) equipped with 6- DOF Arm. Simulation results in Visual ObjectNet ++ and Sirphyco regarding the evolution of the discrete and continuous states of the line and SAC-ARP, SAC-AVM Task 1.10 1.10.1. Modeling the assembly/disassembly (LA/D) fabrication line, with SAC integrated in service technologies, SAC-ARP, autonomous robotic platform with two drive wheels, one or two free wheels and SAC-VAM, autonomous vehicle with 4 multidirectional drive wheels and manipulator. a. Modeling of the assembly/disassembly (LA/D) fabrication line with SAC-ARP /VAM integrated in service

technologies The mechatronic line of assembly / disassembly was assimilated with a system of type SDE (system with discrete events), if we consider the dynamics of the process, as well as control aspects of the manufacturing process. This explains the use of Petri Nets as a modeling tool. Considering the dynamics of the assembly / disassembly process and the use of autonomous robotic systems (SAR), for servicing, for modeling were used Hybrid Petri Nets (HPN). Furthermore, considering the control/synchronization aspects of the SAR line, Synchronized HPN (SHPN) was used.

Figure 1

In this context, we agree to assimilate SAR with complex autonomous systems (SACs) whose role is to achieve fabrication flexibility and reversibility. Since the SACs used in the service of precision flexible fabrication lines (PFFL) can work singly - in robotic assistant (ARP) or in multiple combinations - in autonomous mobile vehicle (VAM), we agree to use the generic notations SAC- ARP and SAC-VAM.

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Models with Hybrid Petri Nets (RPH) for flexible precision fabrication lines, assisted by SAC-ARP and / or SAC-VAM. In the realization of the PFFL model, a generalized configuration of the manufacturing / servicing process was considered: the mechatronic line is composed of "N" workstations, served by a SAC-ASR. The model shows the dynamics of the mechatronic line served by SAC-ARP, corresponding to the "j" station. The working process from station "j" is served by SAC-ARP, which represents the sub-process with continuous state variation. We agreed that the modeled state parameter should be "distance left (t)" by the SAC-ARP until the task of handling / transport / storage of the landmark processed in station "j". The continuous variation of the SAC-ARP state requires the use of continuous PN (CPN). Coordination of SAC-ARP actions with PFFL dynamics, required the use of synchronization signals of specific PFFL actions / events and SAC service systems. The generalized model was customized for the HERA & Horstmann mechatronics line provided at UDJ, partner in the complex project. The customized model on a PFFL is composed of 5 workstations, served by a SAC-ARP equipped with a manipulator (Figure 2 from the extended scientific report uploaded on the P4 project site http://cidsacteh.valahia.ro/p4/files/Raport_extins.pdf). b. Modeling of the assembly / disassembly (LA / D) fabrication line with two SAC integrated in parallel action service

technologies, SAC-ARP, autonomous robotic platform with two drive wheels, one or two free wheels and SAC-VAM, autonomous vehicle with 4-wheel drive multi-directional and manipulator

a)

b)

Figure 2

Models with Synchronized Hybrid Petri Nets (SHPN) for precision flexible fabrication lines, assisted by SAC-ARP and SAC-VAM with parallel service. The PFFL is served by a SAC-ARP equipped with a manipulator and a SAC-VAM destined for the transport of the processed landmark. The two SACs work in parallel (Figure 2a) and carry out handling / transport / storage tasks. In Figure 2b, we highlight the planning / coordination of the actions of the two SACs by synchronization signal:

E1dd(j) – synchronizes the closing (STOP) of the processing in station "j", with the START moment of the action of the first SAC-ARP

E2dd(j) – synchronizes the closing (STOP) of the action "close gripper", with START actuating the PFFL conveyor E0dd(j) – synchronizes the closing (STOP) of the actions of manipulation (pick-up and dropping) of the SAC-ARP,

with the moment of START of the SAC-VAM

The SHPN model (Figure 4 http://cidsacteh.valahia.ro/p4/files/Raport_extins.pdf) highlights the hybrid aspect of the PFFL process dynamics served by the SAC-ARP and SAC-VAM robotic systems as well as the action synchronization aspects with PFFL. The RPHS model was customized on the HERA & Horstmann mechatronics line from UDJ served by the two SACs, partner in the complex project.

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c. Modeling the assembly / disassembly (LA / D) manufacturing line with two SACs integrated in service technologies with collaborative action, SAC-ARP, autonomous robotic platform with two drive wheels, one or two free wheels and SAC-VAM, autonomous vehicle with 4 multi-directional driving wheels and manipulator

a)

b)

Figure 3

Models with Hybrid Petri dishes (RPH) for precision, flexible assembly / disassembly fabrication lines serviced by SAC-ARP, mobile robots (2DW / 1FW) and SAC-VAM autonomous vehicle (2DW / 2FW) equipped with 6- DOF Arm, with collaborative service. The PFFL was considered to be served by SAC-VAM_1 (in Figure 3b noted SAC-VAM1) equipped with manipulator and SAC-ARP_2 (in Figure 3b noted SAC-VAM2) intended for the transport of the processed landmark. The two SACs work collaboratively (Figure 3a) and carry out handling / transport / storage tasks. In Figure 3b, we highlight the planning / coordination of the actions of the two SACs by synchronization signals: E1dd(j) – synchronizes the completion of processing in station “j”, with the START moment of SAC-ARP_1 action E2dd(j) – synchronizes the closing of the "close gripper" action for SAC-ARP_1, with START conveyor actuation of

PFFL E3dd(j) – synchronizes the completion of the handling actions (pick-up and dropping) of SAC-ARP_1, with the moment

of START repositioning in the Dj + 1 workstation for SAC-ARP_2 E4dd(j) – synchronizes the closing of the "close gripper" action for SAC-ARP_2, with the moment of START conveyor

actuation of PFFL The model of PFFS served by the collaborative SAC is the one in Figure 6 from http://cidsacteh.valahia.ro/p4/files/Raport_extins.pdf. The simulation results are presented in the chapters Activity 1.11 and Activity 1.12, which collects the simulation results of generalized and customized models on mechatronic laboratory lines. 1.10.2. Integration in models of the technical specifications for the SAC-ARP and SAC-VAM servicing technologies and for distributed configurations of sensors and visual servoing systems according to projects 2 and 3. Particularization of the models on the reversible manufacturing line in the laboratory, LA/D Distributed configurations of sensors and video servoing systems, integrated into the models of the assembly? disassembly (LA/D) fabrication lines for SAC-ARP and SAC-VAM servicing technologies and flexible and/or reversible manufacturing To achieve, in the exploitation of the mechatronic line, the objectives of flexible fabrication (FF) and reversible fabrtication (R) on the mechatronic line, now noted with PFFL/ R, we propose a technical solution for modifying / improving the functionality of the SMART Assembly/Disassembly Mechatronic Line (SMART A/DML). At the level of the 6 stations, 5 assembly and one disassembly, the additional distributed systems and video servoing systems were designed, in accordance with the results of the PFFL/R modeling. The objectives of this new approach are to synchronize the operation of PFFL/R with SAC-VAM and SAC-ARP, working in collaborative or parallel regime, as well as to implement the proposed technical solution for achieving the flexibility of the mechatronic line.

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a) b)

Figure 4

For each workstation, we argue the proposal of the new distributed sensor system, through logical schemes that highlight the logic of the operation of each module of the PFFL/R as part of the mechatronic system. We exemplify the researches performed through the logic scheme (Figure 4a) after which the command of station 1 of the PFFL/R is performed. Regarding the video servoing system, it was proposed to mount a mobile video camera, on the SAC-VAM manipulator (Figure 4b), which ensures the function of a mobile servoing system. In order to determine the positioning map of SAC-VAM in the process of servicing the PFFL/R, it was proposed to install 3 video cameras in fixed positions within the PFFL/R location. Distributed configurations of sensors and video servoing systems, integrated in models of the assembly / disassembly (LA / D) fabrication lines for SAC-ARP and SAC-VAM servicing technologies and flexible and / or reversible fabrication. Customization on the SMART Assembly / Disassembly Mechatronic Line (SMART A / DML) In Figure 5 we find the system of sensors existing on the ASTI_SMART Assembly / Disassembly Mechatronic Line designed to achieve the objectives derived from the operations of benchmarking, according to the technical solution of the manufacturing of didactic equipment company ASTI Automation. To the existing situation was added the system of distributed sensors that additionally equip the mechatronic line (PFFL) so that it becomes a flexible, reversible and synchronized PFFL system with SAC-ARP and SAC-VAM service systems. Task 1.11 and Task 1.12 The simulations of the SHPN models (see Figure 10 from http://cidsacteh.valahia.ro/p4/files/Raport_extins.pdf) indicate the changes of the state parameters of the entities involved in the process, according to the synchronization signals received. They highlight aspects related to the projected process: lack of delays and bottlenecks, minimum execution time of tasks, synchronization of PFFF/R with the planned actions of SAC-ARP and/or SAC-VAM. The markings corresponding to the discrete variation states (the assembly/disassembly operations of the workpiece, the discrete positions of SAC-ARP and SAC-VAM) are 0 or 1, depending on the dynamics of the processes assimilated as being discrete variation. For the continuously variable position of the two robotic systems (SAC-ARP and SAC-VAM) with parallel or collaborative action, the states with continuous variation are highlighted, which is reflected in the continuous variation in time of the associated markings. CONCLUSIONS The detailed scientific report highlights the scientific solutions that the project team of Project 4 offers for the requirements of Stage 1. In the detailed scientific report uploaded on the P4 project platform (http://cidsacteh.valahia.ro/p4/files/Raport_extins.pdf , password: CidSacTeh), you can view the solutions / results for research related to Step 1.Project 4 „Modeling and simulation of precision flexible fabrication lines, integrated in hybrid assembly/disassembly fabrication technologies (A/D with SAC integrated in service technologies, SAC-ARP, autonomous robotic platform with two drive wheels, one or two free wheels and manipulator, SAC-VAM, autonomous vehicle with 4- multi-directional driving wheels and manipulator”. RESULTS STAGE 1 The following results were obtained (http://cidsacteh.valahia.ro/p4/files/Raport_extins.pdf): 1. Models with Hybrid Petri Nets (HPN) of precision flexible fabrication lines, assisted by SAC-ARP and SAC-VAM

with independent or collaborative service 2. Models with Hybrid Petri Nets (HPN) for precision flexible fabrication lines, for assembly/disassembly, serviced by

SAC-ARP, mobile robots (2DW / 1FW) and SAC-VAM autonomous vehicle (2DW / 2FW) equipped with Manipulator 6- DOF Arm

3. Simulation results in Visual ObjectNet ++ and Sirphyco regarding the evolution of the discrete and continuous states of the line and SAC-ARP, SAC-AVMSAC-VAM

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PERFORMANCE INDICATORS REACHED Activity 1.1. Models with Hybrid Petri Nets (HPN) of precision flexible fabrication lines, assisted by SAC-

ARP and SAC-VAM with independent or collaborative service; Activity 1.2. 1 research job supported by the program; Activity 1.3. 1 research job supported by the program;/Simulation results in Visual ObjectNet ++ and

Sirphyco regarding the evolution of the discrete and continuous states of the line and SAC-ARP, SAC-AVM.

DISSEMINATION: Articles (ISI sau BDI) Minca E., Filipescu A., Coandă H.G., Dragomir F., Dragomir O.E., Filipescu A. - Extended Approach for Modelling and Simulation of Mechatronics Lines Served by Collaborative Mobile Robots, Proceedings of the International Conference on System Theory, Control and Computing – ICSTCC 2018, 2018 Awards

1. Second place for Mihai Cărămidă at the International Electric & Automation Show IEAS 2018, Bucharest, September 18-20, 2018, for the work ”Towards Neural Control of the Mobile Robots” at the „Inovare Tehnică” section, coordinating professors: conf.dr.ing. Otilia Dragomir, conf.dr.ing. Florin Dragomir, http://www.ieas.ro/noutati/castigatorii-concursului-premiile-studentesti-pentru-inovare-tehnica/

2. 3rd place for Marius Stoenescu, Valentin Păunescu Brick in the International Electric & Automation Show IEAS 2018, Bucharest September 18-20, 2018, for the work ”Developing of a mobile robotic platform dedicated to an assembly line” ” at the „Inovare Tehnică” section, coordinating professors: Eugenia Mincă, Florin Dragomir, http://www.ieas.ro/noutati/castigatorii-concursului-premiile-studentesti-pentru-inovare-tehnica/

SUPPORTED WORKPLACES BY THE PROGRAM, INCLUDING NEW HUMAN RESOURCES The project team that contributed to the researches in Stage 1.Project 4, consists of 11 (eleven) researchers (included in the personnel list of project 4). Of these, 2 (two) are young researchers newly hired at the UVT partner, in the position of Researcher in automation. PRESENTATION OF THE STRUCTURE OF THE OFFER OF RESEARCH AND TECHNOLOGICAL SERVICES WITH THE INDICATION OF THE LINK FROM THE ERRIS PLATFORM RESEARCH AND TECHNOLOGICAL SERVICES

1. Products / IT products / Technologies Precise and reversible flexible manufacturing line, serviced by SAC-ARP (Autonomous complex system - Personal Robotic Assistant) and SAC-VAM (Autonomous complex system - Autonomous Mobile Vehicle)

Description - The real-time management structure of precision assembly / disassembly lines, integrated in hybrid manufacturing technologies, assisted in the reversible SAC disassembly process integrated in assistive technologies. Achievement in progress. https://erris.gov.ro/Valahia-University-of-Targoviste

2. Services

Hybrid technology for precision flexible fabrication, for assembly / disassembly on mechatronic laboratory lines with integrated SAC_ARP and SAC-VAM

https://erris.gov.ro/Valahia-University-of-Targoviste,

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Figure 5

Proiect component: Pr.5 Conducerea inteligentă, cu tehnici avansate și navigatia bazată pe senzori performanți, sistem video-biometric și sistem servoing vizual a sistemului autonom complex SAC-SI integrat în tehnologia de asistare a persoanelor cu dizabilităţi neuro-motorii severe Adresa web: http://www.cidsacteh.ugal.ro/index.php/proiecte-componente/proiect-5 REZUMAT: Raportul științific pune în evidență soluțiile pe care echipa de lucru a Proiectului 5 le oferă pentru cerințele Etapei 1. In Raportul științific detaliat încărcat pe platforma proiectului P5 (http://www.cidsacteh.ugal.ro/documente/Raport_extins_Pr5.pdf), se pot vizualiza soluțiile și rezultatele pentru cercetari aferente Etapei 1. ”Analiza si modelarea structurilor senzoriale specifice tehnlogiilor de asistare medico-sociala si deservire de linii de fabricatie de precizie cu sisteme autonome compplexe integrate”. Activitatea: Act 1.13 - Modelarea cinematica a sistemului robotic autonom format din scaun cu rotile şi manipulator robotic cu 7-DOF integrat in tehnologia de asistare a persoanelor cu dizabilitati neuro-motorii; Pentru a înţelege comportamentul mecanic al unui sistem de tipul scuanului cu rotile este necesar să se studieze cinematica acestuia. Procesul de studiere al cinematicii are în vedere descrierea mişcării în funcţie de contribuţia fiecărei roţi. De asemenea, fiecare roată impune constrângeri cinematice asupra mişcării, de exemplu, imposibilitatea de alunecare în lateral. În funcţie de geometria şasiului, roţile au legătură între ele, contribuind la formarea unor constrângeri generale asupra mişcării acestuia.

Cinematica şi dinamica unui scaun cu rotile poate fi modelată pe baza unor prezumţii de model: • WMR nu conţine părţi flexibile; • Există cel puţin un element de conducere pe fiecare roată; • Axele de conducere sunt perpendiculare pe suprafaţa plană.

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Pe baza acestor prezumţii se obţin ecuaţiile care descriu cinematica unui scaun cu rotile - pot exista constrângeri holonomice şi constrângeri nonholonomice. Acestea pot fi scrise sub urmatoarea forma:

𝐴(𝑞)�̇� = 0 unde 𝐴(𝑞) ∈ 𝑅*,- este o matrice de grad înalt.

Fie 𝑠/(𝑞),… , 𝑠-2*(𝑞) un set neted (i.e, continuu diferenţiabiul) şi linear independent de câmpurile de vectori în spaţiul nul al A(q), i.e 𝐴(𝑞)𝑠3(𝑞) = 0, 𝑖 = 1, … , 𝑛 −𝑚.

Fie 𝑆(𝑞) = [𝑠/(𝑞),… , 𝑠-2*(𝑞)] matricea de grad înalt format din aceşti vectori, astfel încât: 𝐴(𝑞)𝑆(𝑞) = 0 Figura 1.13.1 reprezintă un model geometric al unui scaun cu rotile care defineşte principalele variabile necesare

pentru a obţine modelul cinematic. Scaunul cu rotile are 2 roţi motoare diametral opuse, având raza r, şi 2 roţi libere de tip castor. Ambele roţi motoare au ataşate

Figura 1.13.1 - Scaun mobil cu două roţi motoare şi două libere pentru persoanele cu handicap locomotor

Fig. 1.13.2 Manipulator Cyton Gamma 1500

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Originea sistemului de coordinate ale scuanului cu rotile cu coordonatele (xc, yc) este definite de Pc, şi se presupune că este pe axa X la o distanţă d de PG. f este unghiul format de axa X care aparţine lui {W} si axa X care apartine lui {R}.

Echilibrul rabotului este menţinut de către cele două roţi libere al căror effect va fi ignorant. Astfel, q = [xc, yc, f, qr, ql]T denot[ configuraţia sistemului, i.e., cele 5 coordonate generalizate (n=5).

Pentru modelul cinematic, se presupune că pentru fiecare contact, există o mişcare pură de rostogolire. Presupunând că viteza lui Pc este în direcţia axei de simetrie (axa X) şi roţile nu prezintă alunecări, următorul set de constrângeri (m=3), este obţinut:

�̇�=𝑐𝑜𝑠𝜑 − �̇�=𝑠𝑖𝑛𝜑 − �̇�𝑑 = 0 �̇�=𝑐𝑜𝑠𝜑 + �̇�=𝑠𝑖𝑛𝜑 + �̇�𝑏 − 𝑟�̇�G = 0 �̇�=𝑐𝑜𝑠𝜑 + �̇�=𝑠𝑖𝑛𝜑 − �̇�𝑏 − 𝑟�̇�H = 0 Ecuaţiile de mai sus pot fi scrise sub formă matriceală (a se vedea Raport extins Pr.5 - etapa I) Manipulatorul CytonGamma1500 are 7 grade de libertate la care se adaugă unul adițional care este reprezentat

de gripper. Toate axele sunt complet intependente și pot fi controlate simultan utilizând software-ul de control inclus. Utilizand cinematica directă se poate calcula poziția și orientarea end-effector-ului folosindu-se de unghiurile

articulațiilor. Pentru a realiza cinematica directa a unui braț robotic s-a utilizat metoda de reprezentare Denavit Hartenberg.

Acesta metoda presupune realizarea în prima fază prentru fiecare articulație în parte a cadrului de coordonate corespunzător. Această etapă este urmată de etapa alegerii parametrilor a, d, ϴ, α, urmând să fie folosite în matricea omogenă de transformare, 𝑇-.

Parametrii a, d, ϴ, α sunt definiți ca fiind: - ϴ este rotația în jurul axei ZK2/, reprezintă variabila articulației,daca articulația cu indicele n-1 s-a rotit; - α reprezintă rotația în jurul axei XK, valoarea sa fiind dată de unghiul dinre ZK și ZK2/în jurul axei XK; - d reprezintă deprasarea dintre cadrul n și n-1 de-alungul axei ZK2/,variabila articulației dacă aceasta este

prismatică; - a reprezintă deplasarea dintre cadrele n și n-1 de-alungul axei XK.

Matricea omogenă de transformare 𝑇- : 𝑇- = 𝑅M(𝛳3)𝐷M(𝑑3)𝐷,(𝑎3)𝑅,(𝛼3)

R

𝐶𝛳3 −𝑆𝛳3 0 0𝑆𝛳3 𝐶𝛳3 0 00 0 1 00 0 0 1

T R

1 0 0 00 1 0 00 0 1 𝑑30 0 0 1

T R

1 0 0 𝑎30 1 0 00 0 1 00 0 0 1

T R

1 0 0 00 𝐶α3 −𝑆α3 00 𝑆α3 𝐶α3 00 0 0 1

T =

= R

𝐶𝛳3 −𝑆𝛳3𝐶α3 𝑆𝛳3𝑆α3 𝑎3𝐶𝛳3𝑆𝛳3 𝐶𝛳3𝐶α3 −𝐶𝛳3𝑆α3 𝑎3𝑆𝛳30 𝑆α3 𝐶α3 𝑑30 0 0 1

T (*)

unde RW și RX reprezintă rotația, DW și DX denotă translația𝐶𝛳3 și 𝑆𝛳3 reprezintă cos𝛳3 respectiv sin𝛳3. Cinematica directă a end-effector-ului respectând cadrul de bază este determinată prin multiplicarea tuturor matricilorT. Indicele i asociat parametrilor a, d, θ, α denotă faptul că aceștia sunt atașați cadrului cu același indice.

Din cinematica directă reiese poziția end-effector-ului, cunoscute fiind unghiurile fiecărei articulații. Pentru determinarea poziției acestuia trebuie aplicată ecuația (*) în ecuația următoare.

𝑇_` = 𝑇/`𝑇a/𝑇ba𝑇cb𝑇dc𝑇_d𝑇e_ (**) Pasul următor în realizarea cinematicii directe constă în identificarea valorilor corespunzătoare parametrilor

𝑎, 𝑑, 𝛳, 𝛼. Acestea se regăsesc în tabelul descris in Raport extins Pr.5 - etapa I . Aceste variabile sunt utilizate pentru scrierea matricilor omogene de transformare corespunzatoare articulațiilor

manipulatorului, apoi sunt folosite împreună pentru realizarea programului de simulare în Matlab. Pentru deteminarea poziției end-effector-ului sunt înmulțite cele 7 matrici corespunzătoare celor 7 articulații

conform relației (**). Rezulatul final poate fi consultat in Raport extins Pr.5 - etapa I.

Activitatea: Act 1.14 - Modelarea dinamica a sistemului robotic autonom format din scaun cu rotile şi manipulator robotic cu 7-DOF integrat in tehnologia de asistare a persoanelor cu dizabilitati neuro-motorii;

Scaunul cu rotile are doua roti diferentiale – motoare si două roţi libere utilizate pentru scabilitatea platformei mobile. Rotile diferentiale au doua grade de libertate; de rotaţie în jurul axei rotii motorizate şi punctul de contact. Roţile libere (care se găsesc in partea din faţă a scuanului cu rotile) au trei grade de libertate - in jurul axei rotii de rotatie,punctul de contact şi roata.

Cele doua roti motoare sunt alimentate de două motoarele DC şi au aceeaşi raza a rotii, r. Punctul Pc este originea axei scaunului cu rotile, care este amplasat la intersecţia longitudinală dintre axa X si laterala Y. Centrul de masă (COM)

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se afla la punctul PG. b este distanţa măsurată de la centrul scaunului cu rotile la central rotii de-alungul axei y a cadrului de referinţă. Se presupune ca modelul rotii este reprezentat de un disc subţire, solid având un singur punct de contact cu terenul de suprafaţă. d reprezintă distanţa dintre punctul Pc şi punctul PG , care este de-alungul axei x. Pozitia scaunului cu rotile poate să fie specificată complet prin următorul vector de coordonate generalizate,

𝑞 = [𝑥=,𝑦=, 𝜑, 𝜃/, 𝜃a]f unde xc si yc sunt coordinate ale scaunului cu rotile. 𝜑 reprezinta orientarea cadrului WMR din cadru inertial si [𝜃/, 𝜃a] este vectorul de deplasare unghiulară pentru scuanul cu rotile (wheel1 şi respectiv wheel2). Având în vedere ca sistemul este neholonomic şi că nu există alunecare, constrângerile de rulare pentru ambele roţi sunt scrise ca,

𝑟�̇�/ = �̇�= cos𝜑 + �̇�= sin𝜑 + 𝑏�̇� 𝑟�̇�a = �̇�= cos𝜑 + �̇�= sin𝜑 − 𝑏�̇�

Ecuatia de mai sus descrie viteza longitudinala a centrului de greutate a scaunului cu rotile care e constrans de viteza longitudinal a rotilor generate de rotatia pura. Utilizand aceleaşi premise, constrangerea poate fi scrisa astfel,

0 = �̇�= cos𝜑 − 𝑥= sin𝜑 − 𝑑�̇� unde viteza lateral masurata de-alungul intoarcerii axelor scaunului cu rotile este constransa la viteza zero. În scopul de a obţine ecuaţia dinamică a sistemului, utilizând formula Lagrangian, scaunul cu rotile poate fi compartimentat în trei părţi şi anume corpul platformei şi cele două roţi (de exemplu, wheel1, wheel2).

Determinarea sistemului de ecuaţii dinamice prin utilizarea metodei lui Newton: Metoda lui Newton este o alta formalitate principal pentru a deriva ecuatia legata de dinamica unui sistem

mecanic. Ecuatiile Newton pentru corpul scaunului cu rotile sunt date ca, 𝑚G�̈� = cos𝜑 (𝑅/ + 𝑅a) − sin𝜑 (𝑅b + 𝑅c) 𝑚G�̈� = sin𝜑 (𝑅/ + 𝑅a) + cos𝜑 (𝑅b + 𝑅c) 𝐼GM�̈� = 𝑏(𝑅/ − 𝑅a) − 𝑑(𝑅b + 𝑅c) − 2𝐼nM�̈� Se poate observam ca setul de ecuatii derivate utilizând metoda lui Newton are aceesi forma ca ecuatiile derivate

utilizand metoda Lagrange daca 𝑅3 = 𝜆3. Aceasta arata consistent dintre cele doua modele dezvoltate utilizand metodele Newton si Lagrange.

Determinări ale limitărilor dinamice:Utilizând constrângerile din secţiunea descrisă în Raport extins Pr.5 - etapa I, valorile maxime de viteză, accelerare şi decelerare pot fi obţinute. Viteza, acceleraţia, şi decelerarea scaunul cu rotile au următoarele constrângeri:

unde:

unde nrobot, nalunecare, nsiguranta sunt prezentate în ecuaţiile (1.14.22), (1.14.31) şi respectiv (1.14.42), Arobot, Abasculare, Asigurnata sunt prezentate în ecuaţiile (1.14.28), (1.14.40), şi respectiv (1.14.36), Drobot, Dbasculare, Dsiguranta sunt definire în ecuaţiile (1.14.24), (1.14.41), şi respectiv (1.14.37).

Figura 1.14.. Diagrama scaunului cu rotile pe o traiectorie curbă, în planul XZ - stanga.

Diagrama corpului, pentru a găsi maximul de acceleraţie înainte de patinarea roţii - dreapta. Activitatea: Act 1.15 – Testarea prin simulare numerică a modelelor cinematice şi dinamice ale scaunului cu rotile împreună cu manipulator robotic cu 7-DOF integrat in tehnologia de asistare a persoanelor cu dizabilitati neuro-motorii;

lim)( Vt £n lim)( Ata £ lim)( Dtd £lim min( , , ) min(1.7,1.073,0.5) 0.5 /robot alunecare sigurantaV m sn n n= = =

2lim min( , , ) min(0.9650,0.225,1.0593) 0.225 /robot basculare alunecareA a a a m s= = =

2lim min( , , ) ( 1.3950, 0.225, 1.0593) 1.3950 /robot basculare alunecareD d d d m s= = - - - = -

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Pentru vizualizarea comportamentului scaunului virtual s-a creat un mediu 3D în care putem vizualiza modul în care se v-a deplasa scaunul cu rotile.

Fig.1.15.1 Schema Simulink de virtualizare a scaunului cu rotile utilizand modelul dinamic

Fig. 1.15.2 Scaun virtual

În Fig.1.15.2 este prezentat scaunul virtual implementat cu vedere din lateral și din spate. Softul realizat permite schimabarea vizualizării. Cu schema Simulink din fig.1.15.2 s-au realizat o serie de simulări pentru a determina dacă scaunului virtual are comportamentul scaunului cu rotile fizic.

Fig. 1.15.5 Rezultate obtinute in Matlab/Simulink utilizand modelul dinamic al scaunului cu rotile.

Caz: II

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Unghi q1 q2 q3 q4 q5 q6 q7 [°] 0 45 45 0 0 90 0

Fig.1.15.6. Rezultate în urma simulărilor (bratul robotic cu 7 grade de libertate) pentru 2 cazuri utilizand mediul Matlab.

În figurile 1.15.6 apar doar 5 dintre cele 7(+end-effector=8) articulații deoarece a doua articulație, a treia și a patra, din figură, reprezintă de fapt câte două articulații. Motivul este unul simplu, distanțele dintre articulațiile menționate anterior sunt setate la 0. Acest lucru simulează un braț uman care are câte două grade de libertate la o singură articualație.

REZULTATE ETAPA 1 S-a obtinut urmatorul rezultat:

- Modelul funcţional a SAC-SI integrat in tehnologia de asistare a persoanelor cu dizabilitati neuro-motorii. INDICATORII DE REALIZARE ATINSI Activitatea 1.13. -Analize, model cinematic nonholonomic, cu intrari/iesiri si restrictii; Activitatea 1.14. - Studii, analize, model dinamic nonholonomic, cu intrari/iesiri si restrictii; Activitatea 1.15. - Model funcțional al scaunului cu rotile si manipulator cu 7 grade de libertate in mediul de simulare Matlab/Simulink. - Rezultate de simulare în aplicația Matlab/Simulink a SAC-SI integrat in tehnologia de asistare a persoanelor cu dizabilitati neuro-motorii. DISEMINARE: Articole (ISI Proceedings sau BDI) 1. A. Filipescu, R. Solea, A. Filipescu Jr., G. Stamatescu, G. Ciubucciu, ”Trajectory-Tracking Sliding-Mode Control of the Autonomous Wheelchair Modeled as a Nonholonomic WMR”, 2018 IEEE 14th International Conference on Control and Automation (ICCA), June 12-15, 2018. Anchorage, Alaska, USA, pp. 1168-1173, DOI: 10.1109/ICCA.2018.8444335 - link LOCURI DE MUNCA SUSTINUTE PRIN PROGRAM Echipa de proiect care a contribuit la cercetari in Etapa 1. Proiect 5, este formata din 3 (trei) cercetatori (inclusi in lista de personal a proiectului 5). PREZENTAREA STRUCTURII OFERTEI DE SERVICII DE CERCETARE SI TEHNOLOGICE CU INDICAREA LINK-ULUI DIN PLATFORMA ERRIS SERVICII DE CERCETARE SI TEHNOLOGICE

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Denumire - ErrisServ.1.Serviciu de cercetare pe platforma SAC-SI pentru asisatare medicală a persoanelor cu dizabilități severe.

- Teh.3. Tehnologia de asisatare medicală a persoanelor cu dizabilități severe cu Sistem autonom complex - Scaun inteligent (SAC-SI) integrat.

Link la platforma ERRIS: https://erris.gov.ro/Process-Control-Systems Research services: 2.1. Researches for the Autonomous Complex System-Intelligent Wheeled Chair platform to assist people with severe neuromotor disabilities. Technological services: 3. Medical assistance technologies for elderly and people with severe neuromotor disabilities using the integrated Autonomous Complex System-Intelligent Wheeled Chair. Equipments: 3. Manipulator structure with 7 degrees of freedom.

4. Autonomous electric wheelchair for disabled people. Complex project manager

Adrian Filipescu, Prof., Ph. D., Eng.