Stepper Motor based Robocar’s design and control through Parallel Port for precise mobility

Karna, Amit. (2017). Stepper Motor based Robocar’s design and control through Parallel Port for precise mobility. 10.13140/RG.2.2.10779.67360. 

Abstract—Motion Control, in electronic terms, means to accurately control the movement of an object. This paper proposes simple mathematical model so as to achieve precise angle turns, accurate forward and backward movements, etc. for do-it-yourself (DIY) robots. In this paper, the process of creating hardware objects from object oriented software descriptions is discussed. Hardware components have been encapsulated as an object and the software interacts with the mobile robot through the standard parallel port (SPP). The various theoretical and practical experiments did lead to achieve higher degree of accuracy in mobile robots by simplifying the problem in software with an aptly selected hardware.

Keywords – mobile robot, stepper motor, parallel port, DIY

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URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7884404&isnumber=7884346

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Ducted Fan Flyer - Design Overview and Roll Moment Control

Karna, Amit & Kaipa, Krishnanand & Ghose, Debasish. (2007). Ducted Fan Flyer - Design Overview and Roll Moment Control. 10.13140/RG.2.2.15523.04646.

This paper presents the preliminary design phases of a ducted-fan micro air vehicle (MAV). This vehicle concept consists of a single multi-blade propeller enclosed within a shroud/duct that acts as the main structure of the vehicle; the spinning propeller sucks air into the shroud producing an upward lift. The shroud guides the air vertically down onto a series of airfoil shaped xed angle stators, which in turn generate lift-forces in a direction perpendicular to, and offset from, the rotor turning-axis. The moments generated by these forces provide the anti-torque that is needed to arrest the roll moment of the body (conventional helicopter uses a tail rotor to achieve the same purpose). As the rotor starts spinning at high speed, hovering is achieved as the lift generated by rotor balances the weight of the vehicle. Vehicle cruising may be achieved, if the outlet air is deviated from exact vertical. In particular, we have built a small prototype of the vehicle and successfully tested the roll moment stabilization in our experiments.

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