The Implementation of Visual Odometer Based on Raspberry Pi and Robot Operating System

Salah satu tantangan di era revolusi industri 4.0 adalah pengembangan sistem kontrol secara jarak jauh menggunakan koneksi jaringan nirkabel. Tujuan penelitian ini adalah membangun sistem kontrol perangkat elektronik jarak jauh dengan memanfaatkan jaringan wireless tethering pada smartphone menggunakan topologi Wireless Local Area Network (WLAN) dan Robot Operating System (ROS) sebagai perangkat lunak kontrol. Pemanfaatan wireless tethering smartphone untuk berbagi koneksi internet dapat dimanfaatkan untuk mengontrol perangkat elektronik yang terkoneksi ke Raspberry Pi. Koneksi jaringan wireless tethering memiliki arsitektur jaringan yang cukup sederhana jika dibandingkan dengan arsitektur pengontrolan jarak jauh lainnya, serta memiliki jarak jangkau koneksi yang cukup jauh dibandingkan dengan koneksi Bluetooth. Metodologi yang digunakan untuk mengontrol perangkat elektronik pada penelitian ini adalah menggunakan Remote Access Control (RAC) berbasis protokol SSH. Pemanfaatan wireless tethering dan aplikasi mobile SSH dapat digunakan untuk mengirim perintah ROS message dari smartphone ke Raspberry Pi untuk mengontrol pin GPIO Raspberry Pi agar aktif high atau aktif low. Pada saat ROS message mengirim perintah ke GPIO untuk aktif high, maka sistem akan memberikan instruksi kepada relay untuk menyalakan perangkat elektronik. Selanjutnya pada saat GPIO menerima perintah untuk aktif low, maka sistem akan memberikan instruksi kepada relay untuk mematikan perangkat elektronik. Hasil penelitian ini adalah smartphone android dapat digunakan untuk mengontrol perangkat elektronik seperti lampu, kipas angin, pemanas ruangan, dan air conditioner secara jarak jauh menggunakan jaringan WLAN berdasarkan perintah dari ROS message. Perangkat elektronik pada penelitian ini dapat di kontrol secara efektif pada jarak 20 meter di dalam ruangan dan 40 meter di area bebas hambatan. AbstractOne of the challenges in the Industrial Revolution 4.0 is the development of control systems by remotely using a wireless network connection. This study aims to build a control system for controlling the electronic devices by remotely with the utilization of wireless tethering network in the smartphone used Wireless Local Area Network (WLAN) topology and Robot Operating System (ROS) as software for the controller. Utilization of wireless tethering in the smartphone for share the internet connection can be used for control the electronic devices that connected to the Raspberry Pi. The connection of wireless tethering has a simple architecture when compared with the other architecture of the control system by remotely, it then has a long-range connection when compared to the Bluetooth connection. The methodology has used to manage the electronic devices in this study is used Remote Access Control (RAC) based on SSH protocol. The utilization of wireless tethering and mobile SSH can be used to sends ROS message command from smartphone to the Raspberry Pi to control the Raspberry Pi GPIO pin to active high or active low. When android smartphone send ROS message command to the Raspberry Pi to make the GPIO to active high, the system will instruct the relay to turn on the electronic devices. Then when GPIO accepts the instruction to active low, the system will instruct the relay to turn off the electronic devices. The result of this study is that android smartphone can be used to control the electronic devices such as a lamp, fan, heater, and air conditioner by remotely used WLAN network and command from ROS message. The electronic devices on this study can be controlled by effectively with the distance of 20 meters in the rooms and 40 meters at the outside area.

Download Full-text

Development Quadcopter Flight Controller Architecture Based on a Single-Board Computer Raspberry Pi

Vestnik NSU Series Information Technologies ◽

10.25205/1818-7900-2020-18-3-19-33 ◽

2020 ◽

Vol 18 (3) ◽

pp. 19-33

Author(s):

Dmitriy A. Lipoviy ◽

Aleksandr S. Maltsev

Keyword(s):

Operating System ◽

Control Algorithms ◽

Raspberry Pi ◽

Robot Operating System ◽

Single Board Computer

This work is devoted to development of a modular flight controller architecture for a quadcopter. The hardware part of the controller is a single-Board raspberry Pi computer, for developing the software part Robot Operating System (ROS) framework was used. The paper describes the developed architecture, control algorithms, results of flight experiments in the Gazebo physical simulator.

Download Full-text

Pengenalan Traffic Light Pada Robot Mobil Duckietown

Teknika ◽

10.34148/teknika.v7i2.121 ◽

2018 ◽

Vol 7 (2) ◽

pp. 89-93

Author(s):

Erwin Sanjaya Loeminto ◽

Handry Khoswanto ◽

Resmana Lim

Keyword(s):

Operating System ◽

Raspberry Pi ◽

Traffic Light ◽

Fisheye Lens ◽

Robot Operating System ◽

High Level

Duckietown adalah sebuah proyek penelitian yang berfokus pada self-driving vehicle dan high-level autonomy. Penelitian ini bertujuan untuk mengendalikan Duckiebot saat menemukan adanya traffic light. Duckiebot terdiri dari Raspberry Pi 3 sebagai controller, fisheye lens camera sebagai sensor, dan motor DC sebagai aktuator. Raspberry Pi 3 menerima dan memproses gambar yang didapat oleh kamera menggunakan library OpenCV. Dalam pemrosesan gambar, pertama adalah penentuan lokasi traffic light. Kemudian pengambilan range warna traffic light yang akan diproses untuk menghasilkan aksi kontrol aktuator agar berjalan atau berhenti. Aksi kontrol aktuator dilakukan dengan menggunakan Robot Operating System (ROS). Pengujian dilakukan dengan cara melihat hasil deteksi, menjalankan mode lane following, mengubah-ubah pencahayaan, dan memberi gangguan berupa spanduk yang sewarna. Berdasarkan hasil pengujian, kamera dapat digunakan sebagai sensor Duckiebot untuk mengenali traffic light, tapi kamera sangat sensitif terhadap perbedaan pencahayaan sehingga untuk kondisi terang, gelap, dan backlight akan memiliki hasil yang berbeda.

Download Full-text

Tool to Perform Software-in-the-Loop through Robot Operating System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.713-715.2391 ◽

2015 ◽

Vol 713-715 ◽

pp. 2391-2394

Author(s):

Mauricio Mauledoux ◽

Crhistian C.G. Segura ◽

Oscar F. Aviles

Keyword(s):

Operating System ◽

Operating Systems ◽

Control Strategy ◽

Experimental Validation ◽

Magnetic Levitation ◽

Raspberry Pi ◽

Control Loop ◽

Robot Operating System ◽

State Variable ◽

Loop Feedback

This article describes the use of Software-in-the-loop (SIL) and Robot Operating System (ROS) as tools for controller implementation and simulation of discrete-time plants is exposed. For experimental validation a magnetic levitation plant is used, this is modeled using Lagrange obtaining a nonlinear model which is linearized. Thus this model is discretized using a Tustin transformation for subsequent implementation of the control loop. Feedback state variable is implemented as control strategy for experimental validation on a system (Raspberry-Pi / fit-PC, Matlab / PC). We chose to use ROS as it is available for computers running operating systems based on Linux, as used in various embedded systems commercially available com the Fit-PC, Beagle-Board and Raspberry-Pi, ROS occupies low disk space (basic installation), programming is done in C ++ allowing more thorough use of the hardware. For testing three modules (node) implemented; "Reference_node" which is responsible for requesting the user to the desired position and transmit it to the next node, "control_node" is responsible for carrying out checks, which receives as inputs the reference (desired position) and the output of the plant (position current), and which outputs the control signal (u), finally "plant_node" is the node that simulates the behavior of the plant.

Download Full-text

F1_Tenth_Course_Report_Group_C

10.31224/osf.io/68bvh ◽

2018 ◽

Author(s):

Yi Chen ◽

Sagar Manglani ◽

Roberto Merco ◽

Drew Bolduc

Keyword(s):

Operating System ◽

Autonomous Driving ◽

Software Tools ◽

Simulation Environment ◽

Robot Operating System ◽

Available Information

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

Download Full-text

A Robot Operating System Framework for Secure UAV Communications

Sensors ◽

10.3390/s21041369 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1369

Author(s):

Hyojun Lee ◽

Jiyoung Yoon ◽

Min-Seong Jang ◽

Kyung-Joon Park

Keyword(s):

Operating System ◽

Unmanned Aerial Vehicles ◽

Ground Control ◽

Unmanned Aerial System ◽

Security Framework ◽

Security Vulnerabilities ◽

Robot Operating System ◽

Security Issues ◽

Aerial Vehicles ◽

Ground Control Station

To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.

Download Full-text