scholarly journals An Advanced Robot Control System Using a DSP-Based Vector Computation Engine

1990 ◽  
Vol 2 (6) ◽  
pp. 445-451
Author(s):  
Nobuaki Takanashi ◽  
Keyword(s):  
Digital Signal Processor ◽  
Position Control ◽  
Transfer Functions ◽  
Data Transfer ◽  
Digital Signal ◽  
Single Chip ◽  
Level Control ◽  
Robot Controller ◽  
Time Motion ◽  
High Level

In this paper, explanations for the configuration and usage of a vector computation engine designed to meet the growing demand for higher-speed operation, more precise robotics and real-time motion simulation are given. Presented is an example of its application to a robot controller making full use of high operational performance. This engine is a floating-point vector processor based on a single-chip digital signal processor (μPD77230) with vector matrix and various functions such as a trigonometrical function, data transfer functions-- being built into an internal instruction memory. In this engine, a multiplication of 4 × 4 element transformation matrices can be done in less than 30pseconds. Active stiffness control operation (involving force control in addition to position control) in less than 0.7 milliseconds. In other words, this single-chip engine makes it possible to achieve high-level control comparable to a minicomputer, thus providing a compact, light and inexpensive robot controller.

scholarly journals A flexible user-interface for audiovisual presentation and interactive control in neurobehavioral experiments

F1000Research ◽  
2013 ◽  
Vol 2 ◽  
pp. 20
Author(s):  
Christopher T Noto ◽  
Suleman Mazhar ◽  
James Gnadt ◽  
Jagmeet S Kanwal
Keyword(s):  
User Interface ◽  
Data Acquisition ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Stimulus Presentation ◽  
Cost Effective ◽  
Level Control ◽  
Interactive Control ◽  
High Level ◽  
Behavioral Monitoring

A major problem facing behavioral neuroscientists is a lack of unified, vendor-distributed data acquisition systems that allow stimulus presentation and behavioral monitoring while recording neural activity. Numerous systems perform one of these tasks well independently, but to our knowledge, a useful package with a straightforward user interface does not exist. Here we describe the development of a flexible, script-based user interface that enables customization for real-time stimulus presentation, behavioral monitoring and data acquisition. The experimental design can also incorporate neural microstimulation paradigms. We used this interface to deliver multimodal, auditory and visual (images or video) stimuli to a nonhuman primate and acquire single-unit data. Our design is cost-effective and works well with commercially available hardware and software. Our design incorporates a script, providing high-level control of data acquisition via a sequencer running on a digital signal processor to enable behaviorally triggered control of the presentation of visual and auditory stimuli. Our experiments were conducted in combination with eye-tracking hardware. The script, however, is designed to be broadly useful to neuroscientists who may want to deliver stimuli of different modalities using any animal model.

scholarly journals A flexible user-interface for audiovisual presentation and interactive control in neurobehavioral experiments

F1000Research ◽  
2014 ◽  
Vol 2 ◽  
pp. 20
Author(s):  
Christopher T Noto ◽  
Suleman Mazhar ◽  
James Gnadt ◽  
Jagmeet S Kanwal
Keyword(s):  
User Interface ◽  
Data Acquisition ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Stimulus Presentation ◽  
Cost Effective ◽  
Level Control ◽  
Interactive Control ◽  
High Level ◽  
Behavioral Monitoring

A major problem facing behavioral neuroscientists is a lack of unified, vendor-distributed data acquisition systems that allow stimulus presentation and behavioral monitoring while recording neural activity. Numerous systems perform one of these tasks well independently, but to our knowledge, a useful package with a straightforward user interface does not exist. Here we describe the development of a flexible, script-based user interface that enables customization for real-time stimulus presentation, behavioral monitoring and data acquisition. The experimental design can also incorporate neural microstimulation paradigms. We used this interface to deliver multimodal, auditory and visual (images or video) stimuli to a nonhuman primate and acquire single-unit data. Our design is cost-effective and works well with commercially available hardware and software. Our design incorporates a script, providing high-level control of data acquisition via a sequencer running on a digital signal processor to enable behaviorally triggered control of the presentation of visual and auditory stimuli. Our experiments were conducted in combination with eye-tracking hardware. The script, however, is designed to be broadly useful to neuroscientists who may want to deliver stimuli of different modalities using any animal model.

CMOS single-chip digital signal processor

1984 ◽  
Vol 15 (4) ◽  
pp. 20-28
Author(s):  
Hideo Hara ◽  
Takashi Akazawa ◽  
Yoshimune Hagiwara
Keyword(s):  
Digital Signal Processor ◽  
Digital Signal ◽  
Single Chip ◽  
Signal Processor

Design of a Parallel Processor for Visual Feedback Control Based on the Reconfiguration of Word Length

1996 ◽  
Vol 8 (6) ◽  
pp. 524-530
Author(s):  
Yoshichika Fujioka ◽  
◽  
Nobuhiro Tomabechi
Keyword(s):  
Feedback Control ◽  
Visual Feedback ◽  
Digital Signal Processor ◽  
Delay Time ◽  
Word Length ◽  
Data Transfer ◽  
Digital Signal ◽  
Parallel Processor ◽  
Intelligent Robots ◽  
Visual Feedback Control

In the sensor feedback control of intelligent robots, the delay time must be reduced for a large number of multioperand multiply-additions. To reduce the delay time for the multiply-additions, switch circuit is used to change the direct connection between the multipliers and adders, so that the overhead in data transfer is reduced. To change the word-length of the multi-operand multiply-adders, in addition, the switches are also provided in multipliers and adders. By changing to the short wordlength, the numbers of multiplier and adders can be increased. The performance evaluation shows that the delay time for visual feedback control becomes about 6 times faster than that of a parallel processor approach using conventional digital signal processor (DSPs).

scholarly journals Controller Design and Preliminary Testing of a Powered Below-Knee Prosthetic Device

2012 ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Digital Signal Processor ◽  
Controller Design ◽  
Digital Signal ◽  
Power Input ◽  
Dc Motor ◽  
Bench Test ◽  
Area Network ◽  
Level Control ◽  
Lower Limb Prosthesis ◽  
Dsp Control

A powered lower limb prosthesis, which consists of a four bar mechanism, a torsional spring and a brushed DC motor, was previously designed and fabricated. To regulate the motor power input, a two level controller was proposed and built. The control algorithm includes a higher level finite state controller and lower level PID controllers. A digital signal processor (DSP) control board and MATLAB Simulink are used to realize the higher level control and a DC motor controller is used to realize the lower level PID control. Controller Area Network (CAN) communication was used to communicate between the two level controllers. To preliminarily test if the motor can generate required power, a bench test was performed. The results show that the motor needs to be overpowered to achieve the required moment.

A Design of UART Serial Communication between the TMS320C6748 DSP and PC

2013 ◽  
Vol 380-384 ◽  
pp. 3657-3660 ◽  
Author(s):  
Xun Wu ◽  
Yue Song Mei ◽  
Jian Qiao Yu ◽  
Tian Peng Yu ◽  
Jing Xu Li
Keyword(s):  
Digital Signal Processor ◽  
Hot Spots ◽  
Data Transfer ◽  
Serial Communication ◽  
Digital Signal ◽  
The Other ◽  
Design Work ◽  
Research Communication ◽  
Communication Method ◽  
Research And Design

The digital signal processor (DSP: Digital Signal Proceeding) are widely used in industrial, military, communications and the other fields, so the research and design work about DSP is one of the hot spots of scholars and research. Communication and data transfer between the DSP and peripherals is one of the DSP function in the process of using which is the basic but important. This paper introduces a TMS320C6748 DSP with PC serial communication method based on the UART module. The hardware connection and software programming were highlights description. Finally, this paper gives some key code about TMS320C6748 DSP and PC serial communication programming.

The ST18940/41: an advanced single-chip digital signal processor

1989 ◽  
Author(s):  
A. Picco ◽  
J.C. Michalina ◽  
B. Laurier ◽  
D. Fuin ◽  
P. Menut ◽  
...  
Keyword(s):  
Digital Signal Processor ◽  
Digital Signal ◽  
Single Chip ◽  
Signal Processor
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