Wheelchairs Embedded Control System Design for Secure Navigation With RF Signal Triangulation

2019 ◽  
pp. 814-849
Author(s):  
Leonimer Flávio de Melo ◽  
Felipe Andrade Allemand Borges ◽  
João Maurício Rosário
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Autonomous Navigation ◽  
High Performance ◽  
New Technology ◽  
Orientation Angle ◽  
Nonholonomic Constraints ◽  
Digital Signal ◽  
Planning Optimization ◽  
Dsp Processors

In the mobile robotic systems a precise estimate of the robot pose (Cartesian [x y] position plus orientation angle θ) with the intention of the path planning optimization is essential for the correct performance, on the part of the robots, for tasks that are destined to it, especially when intention is for mobile robot autonomous navigation. This work uses a ToF (Time-of-Flight) of the RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bi-dimensional indoor environment, where GPS system is out of range. It's a new technology utilization making good use of old ultrasonic ToF methodology that takes advantage of high performance multicore DSP processors to calculate ToF of the order about ns. A mobile robot platform with differential drive and nonholonomic constraints is used as base for state space, plants and measurements models that are used in the simulations and for validation the experiments. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of material is optimized, firstly validating the entire model virtually and afterwards operating the physical implementation of the navigation system.

Wheelchairs Embedded Control System Design for Secure Navigation with RF Signal Triangulation

2013 ◽  
Vol 6 (2) ◽  
pp. 60-92
Author(s):  
Leonimer Flávio de Melo ◽  
Felipe Andrade Allemand Borges ◽  
João Maurício Rosário
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Autonomous Navigation ◽  
High Performance ◽  
New Technology ◽  
Orientation Angle ◽  
Nonholonomic Constraints ◽  
Digital Signal ◽  
Planning Optimization ◽  
Dsp Processors

In the mobile robotic systems a precise estimate of the robot pose (Cartesian [x y] position plus orientation angle ?) with the intention of the path planning optimization is essential for the correct performance, on the part of the robots, for tasks that are destined to it, especially when intention is for mobile robot autonomous navigation. This work uses a ToF (Time-of-Flight) of the RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bi-dimensional indoor environment, where GPS system is out of range. It's a new technology utilization making good use of old ultrasonic ToF methodology that takes advantage of high performance multicore DSP processors to calculate ToF of the order about ns. A mobile robot platform with differential drive and nonholonomic constraints is used as base for state space, plants and measurements models that are used in the simulations and for validation the experiments. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of material is optimized, firstly validating the entire model virtually and afterwards operating the physical implementation of the navigation system.

scholarly journals Trajectory Planning for Nonholonomic Mobile Robot Using Extended Kalman Filter

2010 ◽  
Vol 2010 ◽  
pp. 1-22 ◽  
Author(s):  
Leonimer Flavio de Melo ◽  
Jose Fernando Mangili Junior
Keyword(s):  
Kalman Filter ◽  
Mobile Robot ◽  
Extended Kalman Filter ◽  
High Performance ◽  
Indoor Environment ◽  
Nonholonomic Constraints ◽  
Digital Signal ◽  
Dsp Processors ◽  
Gps System ◽  
Robot Platform

In the mobile robotic systems, a precise estimate of the robot pose with the intention of the optimization in the path planning is essential for the correct performance, on the part of the robots, for tasks that are destined to it. This paper describes the use of RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bidimensional indoor environment, where GPS system is out of range. This methodology takes advantage of high-performance multicore DSP processors to calculate ToF of the order about ns. Sensors data like odometry, compass, and the result of triangulation Cartesian estimative, are fused for better position estimative. It uses a mathematical and computational tool for nonlinear systems with time-discrete sampling for pose estimative calculation of mobile robots, with the utilization of extended Kalman filter (EKF). A mobile robot platform with differential drive and nonholonomic constraints is used as a base for state space, plants and measurements models that are used in the simulations and validation of the experiments.

An Open Architecture Control System for Parallel Kinematic Machines Based on Multi-DSP Parallel Procession

2008 ◽  
Vol 392-394 ◽  
pp. 667-671
Author(s):  
Hui Wang ◽  
Y.B. Ni ◽  
K. Li
Keyword(s):  
Control System ◽  
High Speed ◽  
High Performance ◽  
Sampling Period ◽  
Open Architecture ◽  
Accuracy Control ◽  
Communication Interface ◽  
Parallel Kinematic Machines ◽  
Parallel Kinematic ◽  
Dsp Processors

Because of the control complexity of the Parallel Kinematic Machines (PKMs), such mechanisms may suffer from lack of accuracy at high speed. Unfortunately, conventional motion controllers have very limited flexibility because they are designed for Cartesian coordinates. Therefore, the motion control system for PKMs with both high performance and open architecture is urgently demanded. In this paper, an open architecture control system for PKMs based on multi-DSP parallel procession is presented. Then, the hierarchical distributed control strategy is discussed in details. In addition, the realization of an interactive communication interface among DSP processors is presented. According to the testing results, the developed system is capable of obtaining an interpolation sampling period at least 3 times faster than that could be offered by most controllers based on single-DSP, thus it is available for high-speed and high-accuracy control of PKMs.

scholarly journals Design of Area Efficent 32 Bit Arithmetic and Logic Unit (ALU) for DSP Processors

2019 ◽  
Vol 8 (6S3) ◽  
pp. 1270-1278
Keyword(s):  
Digital Signal Processor ◽  
High Performance ◽  
Design Procedure ◽  
Large Data ◽  
Digital Signal ◽  
Cmos Technology ◽  
Improved Performance ◽  
Dsp Processors ◽  
Low Complex ◽  
Bitwise Operations

Almost every electronic gadget contains the Digital signal processor (DSP) unit for the purpose of computations, whose role couldn’t be specified with smaller words. Gadget’s performance, efficiency and the importance could be measured with how best the specifications of the processors are. Arithmetic and Logical Unit (ALU) is the key circuit for any DSP processors, where large data computations can be performed. Hence, the ALUs design should be include high performance and large data handling capacity. An ALU is a digital electronic circuit that performs arithmetic and bitwise operations on integer binary numbers. The conventional ALU designs, design complexity rate proportionally increases with the performance demand. In this paper, an attempt has been given to design a low complex ALU with improved performance. Sub circuits designs comprise with new approaches to make the simple designs for higher performance of ALU. A 32 bit ALU design procedure has been demonstrated in this paper. For design, 90 nm CMOS technology and CADENCE virtuoso tools used.

scholarly journals An Optimized CB-UT Multiplier for Efficient Design of the AM Operator

2020 ◽  
Author(s):  
Hari Krishna Modalavalasa
Keyword(s):  
Signal Processing ◽  
Performance Optimization ◽  
High Speed ◽  
High Performance ◽  
New Technology ◽  
Digital Signal ◽  
Propagation Delay ◽  
Efficient Design ◽  
Silicon Area ◽  
Low Area

The multiplication and accumulation are the vital operations involved in almost all the Digital Signal Processing applications. With the advent of new technology in the domain of VLSI, communication and signal processing, there is an ever going demand for the high speed processing and low area design. In today's technology, Add-Multiply (AM) operator or Multiply Accumulator (MAC) units are generally employed in all high performance digital signal processors (DSP) and controllers. The performance of AM operator mainly depends on the speed of multiplier. A lot of research has been contributed in this area and the conventional multipliers were modified to provide good speed performance but needs to be improved further along with area optimization. Urdhwa-Tiryakbhyam Multiplier (UTM) architecture is adopted from ancient Indian mathematics "Vedas’ and can generate the partial products and sums in one step, which reduces the carry propagation from LSB to MSB. UTM can be used to implement high performance AM operators but results in larger silicon areas. This increased area can be minimized by using the modified compressor based design of UTM. In this work, the carrylook-ahead (CLA) adder is adopted instead of parallel adders for high speed of accumulation. So, the Compressor-Based-Urdhwa-Tiryakbhyam (CB-UT) multiplier with CLA results in both area and performance optimization of Add-Multiply operator. The functionality of this architecture is evaluated by comparing with the Modified Booth (MB) multiplier based AM operator in terms of performance parameters like propagation delay, power consumption and silicon-area. The design is implemented and verified using Xilinx Spartan-3E FPGA and ISE Simulator.

Design of BLDCM Control System with Fuzzy Adaptive Controller

2013 ◽  
Vol 765-767 ◽  
pp. 1791-1795 ◽  
Author(s):  
Zheng Zhong Li ◽  
Li Xia Guo ◽  
Guo Fang Gao
Keyword(s):  
Control System ◽  
Pid Control ◽  
Digital Signal Processor ◽  
High Performance ◽  
Digital Signal ◽  
Adaptive Controller ◽  
Dc Motor ◽  
System Structure ◽  
Brushless Dc Motor ◽  
Brushless Dc

To handle the shortages of conventional PID control, recur to the high-performance digital signal processor, combine the fuzzy self-adaption controller with brushless dc motor control system. The results show the control system structure is simplified and the performances of control system are improved comparing to the conventional PID control, the performance index is better than that in conventional PID control system, so the stability of brushless dc motor operation is strengthened.

The Development of DSP-Based FFU Motor Digital Variable Frequency Control System

2013 ◽  
Vol 694-697 ◽  
pp. 2172-2175
Author(s):  
Yi Wang Wang
Keyword(s):  
Control System ◽  
Digital Signal Processor ◽  
High Performance ◽  
Frequency Control ◽  
Digital Signal ◽  
Speed Control ◽  
Variable Frequency ◽  
Control Effect ◽  
Frequency Control System ◽  
Variable Frequency Control

The variable frequency speed control is one of the most important issues for fan filter unit (FFU) system. A novel digital variable frequency control system for FFU motors were proposed and developed to decrease running losses, and improve the speed control effect and accuracy. The system uses high-performance digital signal processor (DSP) TMS320F2812 as the control core, which adopts a dedicated motor pulse width modulation (PWM) control module to achieve the FFU motors real-time online digital variable frequency control. The composition and working principle of control system were illustrated, the hardware and software design were illustrated in detail. Finally, the experimental results on control system prototype were given, which confirm the effectiveness and validity of the control strategy, and demonstrate that the proposed method can achieve accurate variable frequency speed control of FFU motors.

Method of estimation of hidden correlation of narrowband noise signals

2019 ◽  
pp. 34-39 ◽  
Author(s):  
E.I. Chernov ◽  
N.E. Sobolev ◽  
A.A. Bondarchuk ◽  
L.E. Aristarhova
Keyword(s):  
Signal Processing ◽  
Digital Signal Processing ◽  
New Technology ◽  
Digital Signal ◽  
Measuring Instruments ◽  
Central Frequency ◽  
Pearson Criterion ◽  
Useful Signal ◽  
Band Limited ◽  
Narrowband Noise

The concept of hidden correlation of noise signals is introduced. The existence of a hidden correlation between narrowband noise signals isolated simultaneously from broadband band-limited noise is theoretically proved. A method for estimating the latent correlation of narrowband noise signals has been developed and experimentally investigated. As a result of the experiment, where a time frag ent of band-limited noise, the basis of which is shot noise, is used as the studied signal, it is established: when applying the Pearson criterion, there is practically no correlation between the signal at the Central frequency and the sum of signals at mirror frequencies; when applying the proposed method for the analysis of the same signals, a strong hidden correlation is found. The proposed method is useful for researchers, engineers and metrologists engaged in digital signal processing, as well as developers of measuring instruments using a new technology for isolating a useful signal from noise – the method of mirror noise images.

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