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| Individual Projects | |
1.1 Image processing and AGV control |
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| 1.1 | Image processing and AGV control |
| Description | Developed software controls mobile robot which uses a web camera as its only sensor. The real-time application processes the image from the camera and identifies a previously defined pattern using a Sobel filter, Gradient filtering and circular Hough transform.    Experiment: AGV follows a simple pattern (13,592KB) |
| Research | K.Petrinec |
| Started | 2005 |
| 1.2 | Internet-based System for Supervised Fish-farming |
| Description | The technology of fish farming has made great advances in the past decades. These advances have resulted in lower prices and a global increase in fish production. Such new and improved production technology also means that not only water quality, but also other parameters relevant to fish growth, such as water temperature, water pH and oxygen levels need to be monitored consistently. Created expert system is based on the expertise of top fish farming specialists. This expert system can be used by a number of users in real time. Moreover, it enables users to observe key parameters of the production system through the program application Server. The execution and development of the application was based on a complete model of hardware and software support. The prototype of an electronic module was designed, built, and programmed. The module consists of a computer-operated input-output unit that enables the control of actuators (aerators and automatic feeders) in the fish farm. The Internet-based System for Supervised Fish Farming was developed on two fish farms in Croatia. The system was used for several months. Its impact on production efficiency was compared directly to the previously used method of production. The results have shown that the use of the expert system to control feeding has significantly reduced the amount of food used, as opposed to unsupervised feeding, while the biomass growth remained the same. The results have also shown an increase in fish meat quality. All these factors have increased the fish farms' profit. What is more, the optimal use of food in fish ponds directly connected to natural water resources has resulted in the decrease in water pollution.
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| Research | K.Petrinec, Z.Kovacic, Z.Petrinec |
| Support | Riba d.d. Kaniška Iva, Republic of Croatia |
| Started | 2004 |
| 1.3 | An Expert System for Freshwater Fish-farming Industry |
| Description | The pilot expert system consists of one server PC, one client PC, two subsystem for generating minimal sample flow and two measuring devices (Fig. 3.). The server was installed in Zagreb, the capital town of Croatia. The client was installed at the Belje - Mirkovac fish farm, Croatia, which is 300 km east of Zagreb. The measuring devices and the subsystems were installed at the experimental fishpond (Fig. 1-2.) beside the fish farm. Communication between the client and the measuring instruments is established via serial RS-232 protocol. The server communicates with clients and vice versa via TCP/IP protocol while data is exchanged using Windows Socket 2. |
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| Research | K.Petrinec, Z.Kovacic, Z.Petrinec |
| Support | Ministry of Science and Technology, Republic of Croatia |
| Started | 2001 |
| 1.4 | Servo Control of a Meteorological Radar Antenna |
| Description | This project is concerned with a problem of positioning a radar antenna for the purpose of meteorological observations. Initially, application will contain a cascade position-angular speed control loop with a simple GUI for setting reference positions and speeds, as well as for visualisation of key system variables. Application of intelligent control algorithms will be considered in the future developments of the control system. |
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| Research | K.Petrinec, B.Dugandzic, Z.Kovacic |
| Support | Suprem d.o.o., Zagreb, Croatia |
| Started | 2003 |
| 1.5 | Sysman |
| Description | Sysman is intended as final user, debug or factory oriented application, delivered with SCM boards. Sysman communicates with SCM boards via RS232 or TCP/IP by using GDB or JTAG protocol. Any SCM application, flash or data can be downloaded, uploaded or checked. Also, depending on application, paremeters can be set or checked. |
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| Research | K.Petrinec, T.Reichenbach |
| Support | SITEK s.p.a. Italy |
| Started | 2000 |
| 1.6 | AGV Control System |
| Description | The goal of this project is to make a feasable concept, develop control algorithms of practical value and implement software modules for AGV Control System for Euroimpianti (EI) Automated Guided Vehicles (AGV-s). Among others, main project tasks encompass development and implementation of a path-planning and path-tracking algorithms intended for AGV motion along straight-line and arc path segments. Compatibility with the EI layout and path planner must be achieved. The project tasks also include on-line calculation of position and speed references, implementation of PI and fuzzy logic path tracking controllers and building a simulation model of the AGV Control System for testing of developed algorithms. Regarding high-level control tasks, we need to handle a mission management in the multi-AGV industrial environment. This involves development of software that calculates a mission model for all AGVs, then development of an algorithm for determination of all feasible paths including the shortest ones, development of SW for dynamic path reconfiguration and on top of all, implementation of the user-interface for mission determination and fixed path definition. Compatibility with the AGV's on-board PLC program must be achieved. |
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| Research | Z.Kovacic, S.Bogdan, K.Petrinec, M.Puncec |
| Support | SITEK s.p.a. Italy |
| Started | 2003 |
| 1.7 | Trajectory Planner |
| Description | Implementation of Taylor and Ho-Cook trajectory planning algorithm on 5-axes robot model within 3D environment. The application is written in C++. Model of robot and 3D environment is simulated by using OpenGL. The model represents 5-axes Rhino robot. |
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| Research | K.Petrinec |
| Support | LARICS |
| Started | 2000 |
| 1.8 | Instruction manual for the Starter Kit Siemens C167 Microcontroller |
| Description | As part of my senior thesis I wrote the instruction manual for the Starter Kit Siemens C167 Microcontroller. The document contains example of implementation of PI algorithm. The document is in Croatian language, Adobe pdf document, 2.16 MB, last updated on April 15, 2002. Klick  button to download the document.My senior thesis title: Imlementation of Controller with Adaptive Kalman Filter. |
| Research | K.Petrinec |
| Started | 1999 |
