DEPARTMENT OFROBOTICS AND AUTOMATION

U20RA603 – AUTOMATION SYSTEM DESIGN

LABORATORY

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 DEPARTMENT OF ROBOTICS AND AUTOMATION
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subject during the period _____________ in the academic year 2023-2024.

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Submitted to the University practical examination held on____________

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 LISTY OF EXPERIMENTS
Ex. Page
Date Exercise Marks. Sign
No. No.

Co-ordinated motion of multiple pneumatic

1 actuators in a desired sequence using Cascade
method

Integration of fringe condition modules in

2
multiple actuator pneumatic systems

Co-ordinated motion of multiple actuator, electro –

3 pneumatic systems in a desired sequence using
hard – wire programmed control systems

Co-ordinated motion of multiple actuator, electro –

4 pneumatic systems in a desired sequence using
PLC.

Interfacing of an LVDT with a PC for monitoring

5 the displacement of machine slide and raising an
alarm if the displacement exceeds specified limit.

6 Inspection using Machine vision System

Control of speed, direction and number of

7
revolutions of a stepper motor using PC.

Development of an obstacle avoidance robot using

8
servo motors, ultrasonic and touch sensors.
Ex. No. 1
Co-ordinated motion of multiple pneumatic actuators in a desired sequence using Cascade method

AIM:
Co-ordinated motion of multiple pneumatic actuators in a desired sequence (A+B+A-B-) using
Cascade method

APPARATUSREQUIRED:
1. Compressor
2. FRL
3. Air tube
4. Double acting cylinder
5. 3/2 single solenoid valve

SOFTWARE:
Automation studio software (fluid_sim pneumatics)

PROCEDURE:
1. Draw the circuit diagram.
2. Connect the circuit diagram in all components.
3. Connect air supply to FRL unit.
4. FRL unit is connected to one end of push button valve.
5. Connect proximity sensors output to 5/2 double solenoid valve input. 6. Check all circuit in panel.
7. Test the circuit
8. Observe the working in double acting cylinder activated.

Figure shows that the control of a single-acting, spring return cylinder using a three-way
Two-position manually actuated, spring offset direction-control valve (DCV). In the spring offset
Mode, full pump flow goes to the tank through the pressure-relief valve (PRV).

The spring in the rod end of the cylinder retracts the piston as the oil from the blank end drains
back into the tank.
When the valve is manually actuated into its next position, pump flow extends the cylinder.
After full extension, pump flow goes through the relief valve.
Deactivation of the DCV Allows the cylinder to retract as the DCV shifts into its spring offset mode.
Circuit Diagram:

RESULT:
Using the desired sequence (A+B+A-B-) motion of multiple pneumatic actuators in Cascade
method connections were completed and circuit was operated successively.
Ex. No. 2
INTEGRATION OF FRINGE CONDITION MODULES IN MULTIPLE ACTUATOR
PNEUMATIC SYSTEMS

AIM:
To design Integration of fringe condition modules in multiple actuator pneumatic systems

APPARATUS REQUIRED:
1. Compressor
2. FRL
3. Connections
4. Air tube
5. Double acting cylinder
6. 3/2 single solenoid valve

SOFTWARE:

Festo fluid sim

PROCEDURE

1. First input supply line is given to FRL unit.

2. FRL unit is connected to one end of push button value.
3. From the other end of push button valve another pine line is taken and connects to DCV
4. The circuit is completed by taking pipe lines and connecting from limit switches to the pilot ends
the direction control valves as per the circuit diagram.
5. Now checking the connections the supply is given and push button is pressed to initiate the
sequence, which actuates the cylinder in a desired sequence.
6. By using Festo fluid sim construct the electro pneumatic by using make, break, relay and solenoid
switches.
7. Simulate the circuits and verify the sequence.
Circuit Diagram:

RESULT:
Thus the connections were completed and circuit was operated successively
Ex. No. 3
CO-ORDINATED MOTION OF MULTIPLE ACTUATOR, ELECTRO — PNEUMATIC
SYSTEMS IN A DESIREDSEQUENCE USING HAND — WIRE PROGRAMMED CONTROL
SYSTEMS

AIM:
Simulate the Co-ordinated motion of multiple actuator, electro — pneumatic systems in a
desired sequence using hard — wire programmed control systems

APPARATUS REQUIRED:
1. Compressor
2. FRL
3. Connections
4. Air tube
5, Double acting cylinder
6. 3/2 single solenoid valve

SOFTWARE:
Festo fluid sim

THEORY:
The electro-pneumatic action is a control system by the mean of air pressure for pipe organs,
whereby air pressure, controlled by an electric current and operated by the keys of an organ
console. opens and closes valves within wind chests, allowing the pipes to speak. This system
also allows the console to be physically detached from the organ itself. The only connection was
via an electrical cable from the console to the relay, with some early organ consoles utilizing a
separate wind supply to operate combination pistons.

PROCEDURE:

1. Input supply line is given to FRL unit.

2. Then a T-joint is taken and pipe lines are connected such that one pipe line goes to push button
valve, which another goes to other limit switches L1 and L2.
3. New two pipes’ lines are taken and one is connected from DCV to blank end of the cylinder and
other from DCV to rod end of cylinder.
4.the two alternate ends of DCV are connected two ends of L1,L2 respectively and connecting
other pipe line b/w push button and DCV.
5. Now checking the connections the supply is given and push button is pressed to initiate the
sequence, which actuates the cylinder in a desired sequence.
6. By using festo fluid sim construct the electro pneumatic by using make, break, relay and solenoid
switches.
7. Simulate the circuits and verify the sequence.
Circuit Diagram:

RESULT:
Thus the electro — pneumatic systems in a desired sequence using hard — wire programmed
control systems simulated.
Ex. No. 4
CO-ORDINATED MOTION OF MULTIPLE ACTUATORS, ELECTRO —
PNEUMATIC SYSTEMS IN A DESIRED
SEQUENCE USING PLC

AIM:
To simulate the single acting cylinder using PLC ladder diagram

APPARATUS REQUIRED:
Compressor, FRL, air tube, single acting cylinder, PLC, versa pro software, 3/2 single
solenoid valve.

PROCEDURE:

1. Draw the circuit diagram.

2. Provide +24V and -24V from PLC trainer to electro pneumatic with PLC panel.
3. Output of the PLC (Q1) is direct connect to input of 3/2 single solenoid coil.
4. Open the versa pro software in desktop.
5. Interface PLC with the system using RS232 cable.
6. Following the opening procedure of versa pro software.
7. Connect the air supply to FRL unit.
8. Any one output of FRL unit direct connect to choosing valves.
9. Check the all circuit in panel and Ladder diagram.
10. Run the PLC. When two input (1i, 2i) is high. This output is high.

TRUTH TABLE:

Input Output 1Q
1i 2i
OFF OFF OFF
ON OFF OFF
ON ON ON
OFF ON OFF
Circuit Diagram:

RESULT:
Thus the actuation of single acting cylinder with AND Gate was done using PLC.
Ex. No. 6
AUCTION OF SINGLE ACTING CYLINDER WITH OR GATE USING PLC

AIM:
To simulate the single acting cylinder using OR Cate logic

APPARATUS REQUIRED:
Compressor, FRL, air tube, single acting cylinder, PLC, versa pro software, 1/2 single
solenoid valve.

PROCEDURE:

1. Draw the circuit diagram.

2. Provide +24V and -24V from PLC trainer to electro pneumatic with PLC panel.
3. Open the versa pro software in desktop.
4. Interface PLC with the system using RS232 cable.
5. Write a ladder diagram.
6. Output of the PLC (Q1) is direct connect to input of 1/2 single solenoid coil.
7. Following the opening procedure of versa pro software.
8. Check the Ladder diagram.
9. Connect the air supply to FRL unit.
10. Run the PLC. When two input (1i, 2i) is high. This output is high.

TRUTH TABLE:

Input Output 1Q
1i 2i
OFF OFF OFF
ON OFF OFF
ON ON ON
OFF ON OFF
Circuit Diagram:

RESULT:
Thus the actuation of single acting cylinder with OR Gate was done using PLC
Ex. No. 6
INSPECTION USING MACHINE VISION SYSTEM

AIM:
Inspection using Machine vision System

APPARATUS REQUIRED:
Machine vision software

INTRODUCTION:
In modem industrial assembly and quality control processes, that provide one of the crucial
Factors for the competitiveness of industry

In general, there is a strong need for advanced Robot-based object detection and recognition.
object grasping and for the capability

To perform assembling operations in non-structured environments with randomly positioned

Objects.

Vision-based robotic assembly and quality control systems that have been a topic of Continued research
interest for almost four decades, have now matured to a point where they can
be effectively applied to advanced robot-based assembly and quality control tasks.
PROCEDURE:
Red color:
fR= rgb_image(:.:,1);fG=rgb_image(:.:.2);
fb=rgb_image(:,:,3);
I= ((fR>=120) & (fG<=70) & (fB<=70)); (Set the threshold
values for red color)
Blue color:
I= ((fR<=80) & (fG<=70) & (fB>=110)); (Set the threshold
values for blue color)
Green color:
I= ((AR<-80) & (fG>=110) & ({B<=70)); (Set the threshold
values for green color)

As per the application the threshold values of the color can

be changed & expected results can be obtained.

The complex problem of balancing circuit design criteria such as features, cost, size, weight,
power consumption, reliability, availability, manufacturability.
Following interfacing is done in the system:
A. Computer to Web camera
B. Computer to PLC
C. PLC to actuators (DC MOTORS)
D. PLC to sensor
As webcam used is a plug and play device, it can be easily connected to computer, via USB port,
in which the image processing needs to be done.

RESULT:
Done the Inspection using Machine vision System successfully.
Ex. No. 7
CONTROL OF SPEED, DIRECTION AND NUMBER OF REVOLUTIONS OF A STEPPER
MOTOR USING PC.

AIM:
Control of speed, direction and number of revolutions of a stepper motor using PC.

APPARATUS REQUIRED:
Stepper motor using PC

INTRODUCTION:

The PC based stepper motor controller is a combination of driver and switching circuits. The
driver is the actual circuit that drives the stepper motor and the switching circuit decides how the
motor should be driven. So, it is basically the switching circuit that controls the motor. The
transistors (TI through TS) act as switches The switching of these transistors is controlled by the
software via data pins DO through D7.

You can control three parameters of the stepper motor: speed, direction and number of steps. To
vary the speed of the motor. you have to vary the pulse repetition frequency (PRF). To change the
direction of the motor, you have to change the sequence of pulses applied to its coils. By limiting
the number of applied pulses, you can restrict the motor to complete the desired number of steps.

Circuit:
Ps & Stepper Motor and DC Motor interface card has Stepper motor and DC Motor. We cannot connect
the motors directly to the controllers, because the driving voltage of the motorand the Controller is
different. So to drive the motors we have a Driver IC L293DNE to drivethe Stepper Motor and DC motor.

Connect the DC motor and Stepper Motor interface card with the 8051/8086/8085 using 20
pin FRC cable connector dump the program to 8051/8086/8085
Programs on Ps-Add on Stepper/DC Motor Interface Card
Stepper Motor and DC Motor Interface with 8086 Trainer Kit

i)To interface DC motor with 8051 and to run the DC motor in forward direction

ADDRESS OPCODE MNEMONICS

1100 B0 80 MOV AL,80
1102 BA 26 FF MOV DX,FF26
1105 EE OUT DX,AL
1106 BE 00 12 START : MOV SI,1200
1109 B3 04 MOV BL,04
110B 8A 04 REPEAT : MOV AL,
[SI]
110D BA 20 FF MOV DX,FF20
1110 EE OUT DX,AL
1111 E8 07 00 CALL DELAY
1114 46 INC SI
1115 FE CB DEC BL
1117 75 F2 JNE REPEAT
1119 EB EB JMP START
111B B9 03 09 MOV CX,0903
111E 49 LOOP : DEC CX
111F 75FD JNE LOOP
1121 C3 RET

Look up table:

DATA
1200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)
1204 END

RESULT:
Execute the program. Now you can see that the Stepper Motor runs in forward direction with a
required angle.
ii) To interface the stepper motor with 8086 and to run the stepper motor in clockwise direction to a
required angle

ADDRESS OPCODE MNEMONICS

1100 B0 80 MOV AL,80
1102 BA 26 FF MOV DX,FF26
1105 EE OUT DX,AL
1106 B1 19 START :MOV CL,0C
1108 BE 00 12 CLKWI : MOV
SI,1200
110B E8 09 00 CALL ROTAT
110E FE C9 DEC CL
1110 75 F6 JNE CLKWI
1112 E8 16 00 CALL IILT
1115 EB EF JMP START
1117 B3 04 ROTAT : MOV BL,04
1119 8A 04 REPEAT : MOV AL,
[SI]
111B BA 20 FF MOV DX,FF20
111E EE OUT DX,AL
111F BA 03 09 MCV DX,0903
1122 4A LOOP : DEC,DX
1123 75 FD JNE LOOP
1125 46 INC,SI
1126 FE CB DEC BL
1128 75 EF JNE REPEAT
112A C3 RET
112B F4 HET
Look up table:

DATA
1200 DB 03H, 06H, 0CH, 09H (CLOCK WISE)
1204 END

RESULT:
Execute the program. Now you can see that the Stepper Motor runs in forward direction with a
required angle.
Ex. No.8
DEVELOPMENT OF AN OBSTACLE AVOIDANCE ROBOT USING SERVO MOTORS,
ULTRASONIC AND TOUCH SENSORS.

AIM:
Development of an obstacle avoidance robot using servo motors, ultrasonic and touch sensors.

APPARATUS REQUIRED:
1. Wheels
2. Arduino Uno
3. Ultrasonic sensor
4. DC motor
5. Jumper wires
6.battery

Introduction to Obstacle Avoidance Robot

An Obstacle Avoidance Robot is an intelligent robot, which can automatically sense and
overcome obstacles on its path. It contains of a Microcontroller to process the data,
and Ultrasonic sensors to detect the obstacles on its path.
Obstacle avoidance is one of the most important aspects of mobile robotics. Without it robot
movement would be very restrictive and fragile. This tutorial explains obstacle avoidance using
ultrasonic sensors. This project also presents a dynamic steering algorithm which ensures that the
robot does not have to stop in front of an obstacle which allows robot to navigate smoothly in an
unknown environment, avoiding collisions.

Block diagram of Obstacle Avoidance Robot

Circuit diagram to interface Ultrasonic sensors with arduino uno

PROGRAM:

int trigPin = 9; //tng pin of HC-SR04

int echoPin = 10; //Echo pin of HC-SRO4

int revleft4 = 4; //REVerse motion of Left motor

int fwdleft5 = 5; //ForWarD motion of Left motor
int revright6 = 6; //REVerse motion of Right motor
int fwdright7 = 7; //ForWarD motion of Right motor

long duration, distance;

void setup() {
delay(random(500,2000)); // delay for random time
Serial.begin(9600);
pinMode(revleft4, OUTPUT); //set Motor pins as output
pinMode(fwdleftS, OUTPUT);
pinMode(revright6, OUTPUT);
pinMode(fwdright7, OUTPUT);

pinMode(trigPin, OUTPUT); // set trig pin as output

pinMode(echoPin, INPUT); // set echo pin as input to capture reflected waves
}

void loop() {

digitalWrite(trigPin, LOW);
delayMicroseconds(2);

digitalWrite(trigPin, HIGH); // send waves for 10 us

delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // receive reflected waves
distance = duration / 58.2; // convert to distance
delay(10);
//If you dont get proper movements of your robot then alter the pin numbers
if (distance > 19)
{
digitalWrite(fwdright7, HIGH); // move forward
digitalWrite(revright6, LOW);
digitalWrite(fwdleft5, HIGH);
digitalWrite(revleft4, LOW);
}
if (distance < 18) L
{
digitalWrite(fwdright7, LOW); //Stop
digitalWrite(revright6, LOW);
digitalWrite(fwdleftS, LOW):
digitalWrite(revleft4, LOW);
delay(500);
digitalWrite(fivdright7, LOW); — //movebackword
digitalWrite(revright6, HIGH);

digitalWrite(fwdleftS, LOW);
digitalWrite(revleft4, HIGH);
delay(500);
digitalWrite(fivdright7, LOW); //Stop
digitalWrite(revright6, LOW):
digitalWrite(fwdleft5, LOW);
digitalWrite(revleft4, LOW);
delay(100);
digitalWrite(fwdright7, HIGH);
digitalWrite(revright6, LOW);
digitalWrite(revleft4, LOW);
digitaWrite(fwdleft5, LOW):
delay(500);
}
}

RESULT:
Obstacle avoidance robot using servo motors, ultrasonic and touch sensors done completely.
 Ex. No.9 STUDY OF IMAGE PROCESSING TECHNIQUE

Introduction:
We use photography as a way of recording and presenting information visually in everyday life to
create a permanent record of our visual experiences. There are two major areas of application of digital image
processing techniques: 1) improvement of pictorial information for human interpretation and 2) processing of
scene data for autonomous machine perception. In machine perception, interest focuses on procedures for
extracting image information in a form suitable for computer processing.
Segmented images are formed from the generalized image by gathering its elements into sets that are
likely to be associated with meaningful objects in the scene.
In producing the segmented image, knowledge about the particular domain is important to save
computation and also to overcome problems of noise and inadequate data.
Geometric representations are used to capture the all-important data of two-dimensional and three-
dimensional shape. These geometric representations must be powerful enough to support complex and general
processing, such as 'simulation' of the effects of lighting and motion.
Relational models are complex assemblages of representations that are used to support sophisticated
high-level processing.
Image Formation:
Image formation occurs when a sensor registers radiation that has interacted with physical objects.
Both human vision and photography require a light source to illuminate a scene. The light inter acts with the
objects in the scene and some of it reaches the observer, where upon it is detected by the eyes or by a camera.
Information about the objects in the scene is recorded as variations in the intensity and colour of the detected
light.
There are other forms of energy, besides light, that can be used to create images. Light is merely the
visible portion of the electromagnetic (EM) spectrum. EM radiation is produced by the oscillation of
electrically charged material, and has wave-like properties. EM radiation can interact with matter in different
ways, depending on its wavelength. Images acquired at different wavelengths may have very different
properties.
Electromagnetic (EM) Spectrum:
 Electromagnetic Radiation:
Energy emitted in the form of waves (light)or particles (photons). All the devices make use of
electromagnetic waves. Radio waves, microwaves, visible light, and x rays are all examples of
electromagnetic waves that differ from each other in wave length.

The full range of wave lengths (and photon energies)is called the" electromagnetic spectrum."
The ALS generates light in the far ultraviolet and soft x-ray regions, which span the wavelengths
suited to studying molecules and atoms.
The visible part of the spectrum may be further sub divided according to color, with red at the long
wave length end and violet at the short wavelength end, as illustrated (schematically) in the following
figure.

Image/Video Processing–Examples
Image processing is a general term for the wide range of techniques that exist for manipulating and
modifying images in various ways.
Image Enhancement
Image Restoration
Image Reconstruction
Feature Extraction and Recognition
Compression
Result:
Thus the various techniques of Image processing were studied.
HYDRAULIC SYMBOLS
PNEUMATICSYMBOLS