scholarly journals Real Time Distributed Controller For Delta Robots

2020 ◽  
Vol 16 ◽  
Keyword(s):  
Real Time ◽  
Can Bus ◽  
Low Cost ◽  
Computation Time ◽  
Control Law ◽  
Computing Technique ◽  
Intelligent Sensor ◽  
Distributed Controller ◽  
Additional Equipment ◽  
And Control

This paper investigates a real time distributed controller for a 3 DOF delta robot using low-cost educational simple microcontrollers. The parallel computing technique is used were the computational load is divided among several microcontrollers networked to each other to implement control methods. More specifically, the computation is distributed among four microcontrollers (MCU’s) which are connected to each other using CAN bus protocol. The main MCU is used to compute the control law. Each of the remaining MCU’s is connected to one actuator and its attached encoder to form an Intelligent sensor-actuator system (ISAS). At each sample time, the ISAS broadcast a message using the CAN bus to the main MCU containing the information about the motor position. Then according to the control law, ISAS receives the corresponding controller value that has to be applied to the motor. All required periodic, aperiodic and sporadic tasks, were implemented and will be handled by these MCU’s. Using this design, the computation time of control law can be minimized and implemented using ARDUINO microcontrollers. More, this method increases the flexibility of the system for additional equipment and control by adding more nodes to the network. The results show the applicability of the proposed distributed controller, it can track different types of control signals with acceleration up to 9.8 m/s^2 (1g).

scholarly journals Utilization of programmable cameras for web-based sensing and control of daylight in buildings

2021 ◽  
Vol 2042 (1) ◽  
pp. 012114
Author(s):  
Dongjun Mah ◽  
Michael Kim ◽  
Athanasios Tzempelikos
Keyword(s):  
Real Time ◽  
Computational Efficiency ◽  
Low Cost ◽  
Visual Environment ◽  
Rear Side ◽  
Web Based ◽  
Computer Screen ◽  
And Control ◽  
Sky Conditions ◽  
Camera Sensors

Abstract The concept of integrating programmable low-cost cameras into the office infrastructure and BMS for real-time, web-based sensing and control of the luminous environment in buildings is presented in this study. Experiments were conducted to evaluate the potential of predicting the luminance field perceived by an office occupant using a programmable calibrated HDR camera installed at the rear side of a computer monitor or on the wall behind the occupant, for a variety of sky conditions and shading options. The generated luminance maps using Python scripts with OpenCV packages were further processed to extract daylighting and glare metrics using Evalgare. The results showed that: (i) among the different camera resolutions that were compared, the 330x330 resolution was selected as the best option to balance between accurate capturing of visual environment and comfort and computational efficiency; (ii) a camera sensor embedded on the rear side of a computer screen could capture interior visual conditions consistently similarly to those viewed by the occupant, except for sunny conditions without proper shading protection. This prototype study paves the way for luminance monitoring and daylight control using programmable low-cost camera sensors embedded into the office infrastructure.

The Design of CAN/USB Embedded Adapter

2011 ◽  
Vol 130-134 ◽  
pp. 3938-3941
Author(s):  
Yong Gang Luo
Keyword(s):  
Real Time ◽  
High Speed ◽  
High Efficiency ◽  
Can Bus ◽  
Low Cost ◽  
Data Communication ◽  
Usb Interface ◽  
Usb Bus ◽  
Interface Device

In order to realize high-speed and real-time communications between canbus and usb bus, a can/usb embedded adapter is designed in this paper. The hardware of the system consists mainly of AT89S51 as the local processor and PDIUSBD12 as the USB interface device, the sja1000 as the canbus interface device. Data communication is operated by the firmware and drivers. Adapter completely satisfies the needs of the CAN bus with its highest speed of 1Mps and it will be widely used in future for its high efficiency and low cost.

The Application of CAN Bus Microcontroller MC9S08DZ60 in Automotive Electronic Control Unit

2013 ◽  
Vol 694-697 ◽  
pp. 2608-2611 ◽  
Author(s):  
Yi Wang ◽  
Li Ren He
Keyword(s):  
Real Time ◽  
Software Design ◽  
Can Bus ◽  
High Reliability ◽  
Electronic Control Unit ◽  
Low Cost ◽  
Control Unit ◽  
Scientific Basis ◽  
Electronic Control ◽  
Automotive Electronic

Take the microcontroller MC9S08DZ60 which integrated CAN controller for example, the design of automotive electronic control unit was introduced, meanwhile shown the hardware structure and software design processes. This circuit has characteristics of simple hardware, low cost, high reliability, real-time. It has provided a scientific basis for the development of the CAN communication electronic control unit based on MC9S08DZ60 microprocessor.

Study on Monitoring and Control System of Vehicle-Mounted Rig Based on CAN Bus

2013 ◽  
Vol 397-400 ◽  
pp. 1655-1660 ◽  
Author(s):  
Dong Fan ◽  
Yin Sheng Weng ◽  
Hong Liang Tian
Keyword(s):  
Control System ◽  
Real Time ◽  
Data Transmission ◽  
Can Bus ◽  
The Other ◽  
Monitoring And Control ◽  
Monitoring And Control System ◽  
Reliable Transmission ◽  
Program Flow ◽  
And Control

The monitoring and control system based on CAN bus was designed in order to implement the data reliable transmission between all nodes in the control system of the vehicle-mounted rig. Firstly, the hardware structure of the monitoring system was designed in the paper, and two CAN network was built, which one CAN network used CANopen protocol and the other used J1939 protocol and CAN2.0B protocol, that it saved the resource of hardware and software. Secondly, all CAN protocols , program flow chart and software with Labview were designed in detail. The application results of the actual engineering showed that it realized the function of data transmission with each console and real-time monitoring.

Dynamic System Simulation Using Distributed Computation Hardware

2016 ◽  
Author(s):  
Keith A. Williams
Keyword(s):  
Dynamic Systems ◽  
Low Cost ◽  
Computation Time ◽  
Practical Implementation ◽  
Modeling And Control ◽  
Digitally Programmable ◽  
Field Programmable ◽  
The Masses ◽  
And Control ◽  
Programmable Hardware

The availability of low-cost, readily programmable digital hardware offers numerous opportunities for novel modeling and control approaches. One such opportunity is the realization of hardware modeling of distributed dynamic systems. Such models could be useful for control algorithms that require high-fidelity models operating in real-time. The ultimate goal is to utilize digital systems with programmable hardware. As a proof-of-concept, multiple discrete microcontrollers have been used to emulate how programmable hardware devices may be used to simulate a distributed vibrating system. Specifically, each microcontroller is treated as a single vibrating mass with stiffness and damping coupling between the masses. Each microcontroller has associated position and velocity variables. The only additional knowledge required to compute the acceleration of each “mass” is thus the position and velocity of each immediate neighboring mass/microcontroller. The computation time is independent of the number of nodes; adding nodes results in no reduction in processing speed. Consequently, the computational approach will be applicable to very high order models. Practical implementation of such models will require digitally programmable hardware such as field-programmable gate arrays (FPGA), however an added benefit will be a still greater reduction in cost, as multiple microcontrollers are replaced by a single FPGA. It is expected that the hardware modeling approach described in this work will have application not only in the field of vibration modeling and control, but also in other fields where control of distributed dynamic systems is desired.

Design and Implementation of Remote Intelligent Control System Based on Cortex-M3

2014 ◽  
Vol 513-517 ◽  
pp. 3336-3339
Author(s):  
Jun Yang ◽  
Wen Long Li ◽  
Ruo Xin Zhu ◽  
Guang Hui Cai
Keyword(s):  
Control System ◽  
Real Time ◽  
Intelligent Control ◽  
Low Cost ◽  
Rapid Development ◽  
The Internet ◽  
Web Browser ◽  
Intelligent Control System ◽  
Control Terminal ◽  
And Control

With the rapid development of the Internet, the remote control technology was demanded more. In this paper, we designed a simple and practical remote intelligent control system, using CGI technology to complete the construction of Web servers and embedding uCOSII as the real-time operating system in Cortex-M3 core processor. By porting TCP/IP protocol stack, users could login in the server to access and control the system via the Internet. Using NRF2401 wireless technology to build a terminal network, the terminal carried out intelligent control with field data collected by sensors. Meanwhile, users could make monitor and control on a control terminal via a Web browser on a PC or mobile. The remote intelligent control system was stable, real-time, low cost, fit for the smart home, industrial remote monitor and so on, so it would have a better application prospects.

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