Back to robot building

Efter ett års uppehåll (främst på grund av den tid som jag spenderat med Formula Student) är jag tillbaka till robotbyggande. Projektet nu är att bygga om den självbalanserande roboten och göra ett antal förbättringar.

  • Atmel ARM32 Arduino Due istället för 3 små micro controllers. Bättre design.
  • LCD display
  • Improved IMU
  • More robust connectors and neater wiring
  • Bluetooth
  • Wireless programming
  • Realtidsoperativsystem (RTOS) för att schemalägga trådar på processorn. Bättre än nuvarande lösning där trådarna delades upp på flera processorer.


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Generating an interface for robust manual control using Supervisory Control Theory

This is a project at Chalmers consisting of implementing a control system generated from Supervisory Control Theory.

Problem description

"Operation sequencing and resource safety is a non-trivial task within modern manufacturing systems. Typically, this task is handled manually which is time-consuming and error-prone. Whether a particular system works correctly is determined by how long it has been able to function without severe error. Obviously this situation is not sustainable and can be greatly improved by using software tools and mathematics to guarantee correct functionality. Such "model-based formal methods" is one main part of the research within the Automation group at Chalmers. This project aims at implementing a proof-of- concept of existing methods."

Present at IFAC 2014

Our paper was good enough to be presented by our examiner, Martin Fabian, at IFAC 2014. http://www.ifac2014.org/

Our solution

1. Create a model of the sequence:

Sequence to manufacture a full car

Sequence to manufacture a full car

2. Express it as automatas:

Representation of operations as automata

Representation of operations as automata

3. Extract guards to forbid bad behaviors e.g. deadlocks and forbidden states:

Guard extraction from non-blocking supervisor

Guard extraction from non-blocking supervisor

4. The HMI is implemented in HTML5 and AngularJS that communicates to the OPC server of the PLC:

The HMI with only executable operations being shown

The HMI with only executable operations being shown


Overview of the system and the implementation


Download the article Robust Manual Control of a Manufacturing System using Supervisory Control Theory in collaboration with Martin Fabian.

Download the source code from Bitbucket

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