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Title Description Author(s) Picture Download
3 DOF Quadrotor

 This plant is a non-linear system consisting of a frame with 4 propellers mounted on a 3 DOF pivot joint. The joint permits the frame to freely roll, pitch and yaw, due to the lift force and the torque generated by the propellers, each coupled to a DC motor. The maximum pitch and roll are limited to +-40º. The power applied to each motor is used to independently control the angular speed of each propeller. The orientation of the frame is determined by the optical encoders mounted over each axis.

 Eva Besada, José Antonio López

application/java-archive ejs_Cuatri-Rotor.jar
Ball and beam system (advanced)

 The system consists of two different subsystems: the ball and beam itself and a motor with a gear wheel, which is connected to the first module through a level arm. The beam consists of a steel rod in parallel with a nickel-chromium wire-wound resistor forming the track on which the ball is free to roll. Measuring the voltage in the steel rod provides the position of the ball in the beam. The control objective of this system is to move the ball to the desired position in the beam. For this purpose, two measurements are taken (the position of the ball and the angle of the motor), and the control signal is applied to the motor. The advanced version of this lab allows uers to program their own controllers instead of just using the PID implemented in the basic version.

 María Guinaldo

application/java-archive ejs_BallBeamAdv.jar
Ball and beam system (basic)

 The system consists of two different subsystems: the ball and beam itself and a motor with a gear wheel, which is connected to the first module through a level arm. The beam consists of a steel rod in parallel with a nickel-chromium wire-wound resistor forming the track on which the ball is free to roll. Measuring the voltage in the steel rod provides the position of the ball in the beam. The control objective of this system is to move the ball to the desired position in the beam. For this purpose, two measurements are taken (the position of the ball and the angle of the motor), and the control signal is applied to the motor.

 Maria Guinaldo

application/java-archive ejs_BallBeamBasic.jar
Ball and hoop system

 The Ball and Hoop system is an electromechanical device consisting of a ball rolling on the rim of a hoop. The hoop is mounted on the shaft of a servomotor and can rotate about its axis. The rotation of the hoop causes an oscillatory movement of the ball around its equilibrium point. The behavior of the ball is similar to the dynamic of a liquid inside a cylindrical container. The main objective of this system is to control these oscillations.

 Ernesto Fábregas

application/java-archive ejs_BallAndHoop.jar
Ball and plate system

 The Ball and Plate system is an electromechanical device consisting of a ball rolling on a rigid square plate. The main purpose of this system is to control the position of the ball by manipulating the slope of the plate in two perpendicular directions. This system is considered to be a bidimensional extension of the traditional ball and beam system and it is emplyed in the aeronautical industry for the development of aerial and terrestrial vehicles simulators.

 Ernesto Fábregas

application/java-archive ejs_BallAndPlate.jar
Control of an autonomous robot

 In this practice, an autonomous underactuated mobile robot equipped with differential wheels is controlled. The objective is to locate the obstacles that are present in its playground in order to draw a map.

 Dictino Chaos, Luis de la Torre

application/java-archive ejs_RobotLego.jar
Diffraction I

 The aim of the experiment is to study the diffraction patterns produced by different diffracting objects. Students can observe the diffraction patterns projected over the translucent screen, thanks to the use of a webcam. From the visual analysis of these figures, they can check the validity of the light diffraction theory and, by determining the position of the intensity minima and maxima, estimate the size of those objects that produce such figures.

 Juan Pedro Sánchez, Jacobo Sáenz, Luis de la Torre

application/java-archive ejs_DiffractionExp1.jar
Diffraction II

 The aim of the experiment is to study the diffraction patterns produced by different diffracting objects. Students obtain the intensity outline of a diffraction pattern acquiring intensity measurements with the photodiode; the later processing of such measurements allows the total characterization of the figure, checking the validity of the theory and determining the object size with higher precision than in the "Difraction I" remote lab.

 Juan Pedro Sánchez, Jacobo Sáenz, Luis de la Torre

application/java-archive ejs_DiffractionExp2.jar
Direct current motor (advanced)

 This system is a DC motor with a rev counter. The motor moves a load which consists in a steel disc. An adjustable magnetic break applies a viscous friction effect, allowing therefore the modification of the time constant of this first order system. The angular position and velocity of the motor are controlled adjusting the input voltage. The position is measured with a potentiometer connected to the axis of the motor. The advanced version of this lab allows uers to program their own controllers instead of just using the PID implemented in the basic version.

 Héctor Vargas, Luis de la Torre, Jacobo Sáenz

application/java-archive ejs_BallBeamAdv.jar
Direct current motor (basic)

 This system is a DC motor with a rev counter. The motor moves a load which consists in a steel disc. An adjustable magnetic break applies a viscous friction effect, allowing therefore the modification of the time constant of this first order system. The angular position and velocity of the motor are controlled adjusting the input voltage. The position is measured with a potentiometer connected to the axis of the motor.

 Héctor Vargas, Luis de la Torre

application/java-archive ejs_ServoBasic.jar
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