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2 Acta Physica Polonica A

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Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

100%

Adar N. , Kozan R.

nr 1

269-271

Robotics and its applications have become increasingly important in the field of manufacturing industry. Robot manipulators are effectively used for this purpose. Control of manipulators is very important, however, highly nonlinear and multi-input multi-output (MIMO) complex structure of manipulators make the control difficult. This paper presents two-degree of freedom PID controller scheme for a six-degree of freedom rigid robotic manipulator. Traditional PID controllers are widely used due to their simple control structure and ease of implementation in industry. However load disturbances and parametric variation affect the robustness of the controller. The performance of proposed two-degree of freedom PID controller is compared with the traditional PID controllers. Matlab-Simulink program is used for real-time implementation of the proposed method. Experimental results show that two-degree of freedom PID control is better than the traditional PID for manipulator control in real time.

Application of Predictive Maintenance System in Drinking Water Pumping Stations

80%

Kiliç R. , Kozan R. , Karayel D. , Özkan S.

Acta Physica Polonica A

2017

tom 132

nr 3

1016-1021

Pumping stations are some of the most important facilities of water administration. Continuous operation of these facilities is of utter importance, to be able to serve at all times. Maintenance of these facilities is also crucial for uninterrupted operation. In this study, the functioning of the predictive maintenance technique, which is based on the vibration analysis, is briefly addressed, and the application of the technique in a real system is presented. In the real system, the steps that must be done in order to apply this system are shown step-by-step. At the end of the study, the failures determined by using the predictive maintenance method are analyzed, and solution suggestions are presented.