Microprocessor-Based Robot Action Control Using Local Closed-Loop Approach

2008 ◽  
Author(s):  
Chao Hung Chen ◽  
Hsiung Cheng Lin ◽  
Ying Chu Liu ◽  
Wei Chung Hsu
Keyword(s):  
Control System ◽  
Real World ◽  
Closed Loop ◽  
Low Cost ◽  
Action Control ◽  
Control Module ◽  
Efficient Performance ◽  
Increasing Demand ◽  
The Individual ◽  
Performance Results

With increasing demand of robot applications in industry or other areas, the development of both reliable and low-cost robot action control system is getting much attention in recent years. This paper has proposed a local closed-loop based robot action control module using independent microprocessors. The robot action commands transmitted from PC via RS232 can be received by the individual authorized microprocessor. There are up to tens of modules to be operated for a variety of robot actions simultaneously and independently. Real world performance results are presented to demonstrate the effectiveness of the proposed approach in term of robust, simple, flexible and efficient performance.

Automatic Shutter Control System for Home Care Using Local-Loop Approach

2008 ◽  
Author(s):  
Chao Hung Chen ◽  
Hsiung Cheng Lin ◽  
Ying Chu Liu ◽  
Wei Chung Hsu ◽  
Shin-Ming Chang
Keyword(s):  
Control System ◽  
Home Care ◽  
Natural Resource ◽  
Action Control ◽  
Efficient Performance ◽  
The World ◽  
Local Loop ◽  
Practical Performance ◽  
Performance Results ◽  
Elder People

With increasing population of elder people around the world, the demand of home care system such as sufficient sunlight supplier from natural resource is getting much attention in recent years. This paper has proposed a microprocessor (8051) based automatic shutter action control system using 4-speed controlled DC motor. The proposed system can keep sunlight moderate as desired in the indoor room. Real practical performance results are presented to demonstrate the effectiveness of the proposed approach in term of robust, simple, flexible and efficient performance.

The Application of PLC in the Stepper Motor Closed-Loop Control System Design

2012 ◽  
Vol 605-607 ◽  
pp. 1537-1540 ◽  
Author(s):  
Xiao Yu Wang
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Low Cost ◽  
Stepper Motor ◽  
Closed Loop Control ◽  
Loop Control ◽  
Closed Loop Control System ◽  
System Flow ◽  
Loop Control System

The application of PLC 、Stepper motor driver and Encoder are introduced in stepper motor closed-loop control system. The Principle diagram is analyzed, the Control System flow chart and Software program are designed. Through in-situ operation, the system has been proved well reliability、 stability and simplicity , achieved high accuracy and low cost requirements。

A Portable Computational Cluster for Modeling and Simulation

2009 ◽  
Author(s):  
J. G. Michopoulos ◽  
G. V. Zaruba
Keyword(s):  
Message Passing ◽  
Message Passing Interface ◽  
Low Cost ◽  
Performance Measurements ◽  
Computational Cluster ◽  
Dynamic Simulator ◽  
Fire Dynamic Simulator ◽  
The Individual ◽  
Small Form Factor ◽  
Performance Results

In the present paper we are describing the development of a portable computational cluster infrastructure based on Apple’s MacMini systems. The objective of this effort is to initiate the exploration of the feasibility for building and evaluating a low cost computational cluster system that could be portable due to the small form factor of the individual units while it could still provide considerable computational scalability. Here we outline our experiences in the form of a how-to methodology for setting up a MAC OS X 10.4 cluster for Xgrid and three popular versions of Message Passing Interface (MPI), i.e., OpenMPI, LAM-MPI, and MPICH2. Subsequently, we describe some performance measurements through the utilization of the Fire Dynamic Simulator (FDS) for two cases of reactive flow topologies. Finally, Xgrid with OpenMPI throughput and latency performance results are presented and discussed.

scholarly journals A Raspberry Pi-Based Attitude Sensor

2014 ◽  
Vol 03 (02) ◽  
pp. 1440006 ◽  
Author(s):  
A. G. Sreejith ◽  
Joice Mathew ◽  
Mayuresh Sarpotdar ◽  
Rekhesh Mohan ◽  
Akshata Nayak ◽  
...  
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Low Cost ◽  
Raspberry Pi ◽  
Closed Loop Control ◽  
Loop Control ◽  
Astronomical Observations ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Attitude Sensor

We have developed a lightweight low-cost attitude sensor, based on a Raspberry Pi, built with readily available commercial components. It can be used in experiments where weight and power are constrained, such as in high-altitude lightweight balloon flights. This attitude sensor will be used as a major building block in a closed-loop control system with driver motors to stabilize and point cameras and telescopes for astronomical observations from a balloon-borne payload.

Design and Implementation of the Control System for Two-Wheeled Self-Balancing Vehicles

2012 ◽  
Vol 588-589 ◽  
pp. 1606-1610 ◽  
Author(s):  
Min Dai ◽  
Jian Wang ◽  
Xiao Gang Sun ◽  
Shuang Hu ◽  
Jun Xiang Jia
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Low Cost ◽  
Control System Design ◽  
Hardware Platform ◽  
Accelerometer Sensor ◽  
Design And Implementation ◽  
Avr Mcu ◽  
Gyroscope Sensor

A control-system design for a two-wheeled self-balancing vehicle is discussed in this paper. We have developed a low-cost hardware platform based on AVR MCU, accelerometer sensor and gyroscope sensor, for which the critical circuits, such as sensors and motor driver, are introduced. The control strategy operates by two steps: a) securing the real-time vehicle posture by integrating the data from accelerometer and gyroscope sensors; b) using a closed-loop PID controller to keep the vehicle balanced. This control system is applied to a prototype two-wheeled self-balancing vehicle, whose performance has turned out to be a satisfaction.

scholarly journals Control of a Hierarchical Team of Robots for Urban Search and Rescue

2021 ◽  
Author(s):  
◽  
Thomas Mirko Roehr
Keyword(s):  
Control System ◽  
Low Cost ◽  
Search And Rescue ◽  
Simulation Environment ◽  
Urban Search And Rescue ◽  
Research Teams ◽  
Mapping Algorithm ◽  
Robot Architecture ◽  
The Individual ◽  
Global And Local

<p>Research teams worldwide are researching the application of robots for Urban Search and Rescue (USAR) operations and some are using teams of robots. The Mechatronics Research Group of Victoria University of Wellington is developing a low cost architecture of a team of USAR robots that is hierarchically structured and can operate autonomously. The objective of this thesis is to design the autonomous control system for the proposed architecture. The overall system design and combination of hardware and software solutions needs to be evaluated in a realistic environment. The project could not perform tests in a real environment and developed a realistic simulation environment instead to allow the evaluation of hardware and software constraints. This project successfully developed an incremental mapping algorithm which served as foundation for distributed path planning, and modified an existing navigation approach to cope with the main challenges of 3D operation environments. In order to deal with multiple robots, this thesis applied a centralised control mechanism and a combination of a global and local exploration strategy. This thesis contributes software solutions to operate the low cost robot architecture and identified weaknesses in the design of the middle tier of robots. The individual algorithms, and their combination in a major control system proved to be effective, but not without limitations. Consequently, this thesis suggests solutions to overcome some of these limitations.</p>

scholarly journals A Silicon Implementation of the Fly's Optomotor Control System

2000 ◽  
Vol 12 (10) ◽  
pp. 2291-2304 ◽  
Author(s):  
Reid R. Harrison ◽  
Christof Koch
Keyword(s):  
Control System ◽  
Real World ◽  
Biological System ◽  
Closed Loop ◽  
Visual Motion ◽  
Motion Information ◽  
Free Flight ◽  
Silicon System ◽  
Cmos Vlsi ◽  
Stable Control

Flies are capable of stabilizing their body during free flight by using visual motion information to estimate self-rotation. We have built a hardware model of this optomotor control system in a standard CMOS VLSI process. The result is a small, low-power chip that receives input directly from the real world through on-board photoreceptors and generates motor commands in real time. The chip was tested under closed-loop conditions typically used for insect studies. The silicon system exhibited stable control sufficiently analogous to the biological system to allow for quantitative comparisons.

scholarly journals Control of a Hierarchical Team of Robots for Urban Search and Rescue

2021 ◽  
Author(s):  
◽  
Thomas Mirko Roehr
Keyword(s):  
Control System ◽  
Low Cost ◽  
Search And Rescue ◽  
Simulation Environment ◽  
Urban Search And Rescue ◽  
Research Teams ◽  
Mapping Algorithm ◽  
Robot Architecture ◽  
The Individual ◽  
Global And Local

<p>Research teams worldwide are researching the application of robots for Urban Search and Rescue (USAR) operations and some are using teams of robots. The Mechatronics Research Group of Victoria University of Wellington is developing a low cost architecture of a team of USAR robots that is hierarchically structured and can operate autonomously. The objective of this thesis is to design the autonomous control system for the proposed architecture. The overall system design and combination of hardware and software solutions needs to be evaluated in a realistic environment. The project could not perform tests in a real environment and developed a realistic simulation environment instead to allow the evaluation of hardware and software constraints. This project successfully developed an incremental mapping algorithm which served as foundation for distributed path planning, and modified an existing navigation approach to cope with the main challenges of 3D operation environments. In order to deal with multiple robots, this thesis applied a centralised control mechanism and a combination of a global and local exploration strategy. This thesis contributes software solutions to operate the low cost robot architecture and identified weaknesses in the design of the middle tier of robots. The individual algorithms, and their combination in a major control system proved to be effective, but not without limitations. Consequently, this thesis suggests solutions to overcome some of these limitations.</p>

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