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

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.

scholarly journals Smart Bike System

2020 ◽  
pp. 312-317
Author(s):  
Suvarna Gaikwad ◽  
Parth Dode ◽  
Shubham Chhipa ◽  
Shubhangi Vaikole
Keyword(s):  
Operating System ◽  
Open Source ◽  
Operating Systems ◽  
Computer Technology ◽  
Current System ◽  
Raspberry Pi ◽  
The World ◽  
And Control ◽  
Made In

<p>Vehicles being the most widely used machines need to get smarter compared to their current technology. The necessity described by the younger generation of users, the millennials, for their devices to be smart and their vision to have more computerized and smarter applications of various sensors. The invention and development of better-computerized systems for infotainment and control of vehicles have taken speed and research is done mainly in an open-source on Linux kernel-based operating systems. The Smart Bike System is a Raspberry pi based operating system(AGL) for bikes tracks the various components of the bike like Speed, Quantity of fuel, Distance covered in a single trip, Temperature, Date and Time. We make a note that the current system of dashboards for representing the various aspects of a bike is old. A significant improvement would be made in the quality of the bike and the way people use it if the current computer technology of the world embraces the vehicular system. Automotive Grade Linux(AGL) is an (open source tech) operating system for automobiles which when installed on a computer in synchronization with the parts of a motor-bike has an ability to display more information in a more colorful and animated format like a computer desktop but specifically for automobiles.</p>

scholarly journals Gerak Robot Berkaki Dua menggunakan ROS dan RViz sebagai Visualisasi Interaktif

2021 ◽  
Vol 9 (1) ◽  
pp. 43
Author(s):  
ADI SUCIPTO ◽  
RADEN SANGGAR DEWANTO ◽  
DADET PRAMADIHANTO
Keyword(s):  
Operating System ◽  
Success Rate ◽  
Operating Systems ◽  
Three Dimensional ◽  
Biped Robot ◽  
Sensor Data ◽  
Average Error ◽  
Robot Operating System ◽  
Robot Technology ◽  
The Right

ABSTRAKPengembangan sistem operasi pada bidang robotika telah menjadi fokus utama pada era ini. Salah satu perkembangan sistem operasi pada teknologi robot saat ini adalah Robot Operating System (ROS) dengan RViz. ROS merupakan sistem operasi berbasis library dan beberapa tools untuk mengembangkan suatu program pada robot, sedangkan RViz merupakan visualisasi tiga dimensi yang dapat digunakan untuk memvisualisasikan robot dan data sensor dynamixel. Pada Penelitian kali ini, peneliti membuat simulasi beberapa gerakan yang dilakukan pada RViz dan kemudian diimplementasikan pada robot. Tingkat keberhasilan dari perencanaan gerakan ini memiliki rata rata error sebesar 1.8%. Gerakan condong ke kiri memiliki rata-rata error sebesar 0.83%. Gerakan condong ke kanan memiliki rata-rata error sebesar 0.84%. Gerakan mengangkat satu kaki memiliki rata-rata error sebesar 1.71%. Gerakan kaki kanan ke depan memiliki rata-rata error sebesar 3.83%.Kata kunci: Robot Berkaki Dua, Robot Operating System (ROS), RViz (rosvisualization), Dynamixel Controller, Data Sensor Dynamixel. ABSTRACTThe development of operating systems in the field of robotics has become the main focus of this era. One of the operating system developments in robot technology today is the Robot Operating System (ROS) with RViz. ROS is a library-based operating system and several tools for developing a program on robots, while RVIZ is a three-dimensional visualization that can be used to visualize robots and dynamixel sensor data. In this study, researchers made a simulation of some of the movements carried out on RViz and then implemented on robots. The success rate of planning this movement has an average error of 1.8%. Leaning to the left has an average error of 0.83%. Leaning to the right has an average error of 0.84%. One leg lift has an average error of 1.71%. The movement of the right foot forward has an average error of 3.83%.Keywords: Biped Robot, Robot Operating System (ROS), RViz (Ros-Visualization), Dynamixel Controller, Sensor Dynamixel Data.

Supervisory control strategies for the new WWTP of Galindo-Bilbao: the long run from the conceptual design to the full-scale experimental validation

2006 ◽  
Vol 53 (4-5) ◽  
pp. 193-201 ◽  
Author(s):  
E. Ayesa ◽  
A. De la Sota ◽  
P. Grau ◽  
J.M. Sagarna ◽  
A. Salterain ◽  
...  
Keyword(s):  
Control Strategy ◽  
Supervisory Control ◽  
Experimental Validation ◽  
Scale Validation ◽  
Control Strategies ◽  
Treatment Plant ◽  
Average Concentration ◽  
Full Scale ◽  
Control Loop ◽  
Long Run

This paper presents the theoretical basis and the main results obtained during the development and full-scale experimental validation of the new supervisory control strategy designed for the Galindo-Bilbao wastewater treatment plant (WWTP). The different phases of the project have been carried out over the last 8 years, combining model simulations, pilot-plant experimentation and full-scale validation. The final control strategy combines three complementary control loops to optimise the nitrogen removal in pre-denitrifying activated sludge plants. The first controller was designed to maintain the average concentration of the ammonia in the effluent via the automatic selection of the most appropriate DO set point in the aerobic reactors. The second control loop optimises the use of the denitrification potential and finally, the third control loop maintains the selected amount of biomass in the biological reactors by automatic manipulation of the wastage rate. Mobile-averaged windows have been implemented to incorporate commonly used averaged values in the control objectives. The performance of the controllers has been successfully assessed through the full-scale experimental validation in one of the lines of the WWTP.

scholarly journals Sistem Kendali Perangkat Elektronik Jarak Jauh Berbasis Jaringan Nirkabel Menggunakan Secure Shell (SSH) dan robot Operating System (ROS)

2020 ◽  
Vol 7 (6) ◽  
pp. 1205
Author(s):  
Abdul Jalil
Keyword(s):  
Operating System ◽  
Wireless Local Area Network ◽  
Local Area Network ◽  
Electronic Devices ◽  
Local Area ◽  
Remote Access ◽  
Raspberry Pi ◽  
Area Network ◽  
Air Conditioner ◽  
Robot Operating System

<p>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 <em>wireless tethering </em>pada <em>smartphone</em> menggunakan topologi <em>Wireless Local Area Network</em> (WLAN) dan <em>Robot Operating System</em> (ROS) sebagai perangkat lunak kontrol. Pemanfaatan <em>wireless tethering smartphone</em> untuk berbagi koneksi internet dapat dimanfaatkan untuk mengontrol perangkat elektronik yang terkoneksi ke Raspberry Pi. Koneksi jaringan <em>wireless tethering</em> 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 <em>Remote Access Control</em> (RAC) berbasis protokol SSH. Pemanfaatan <em>wireless tethering</em> dan aplikasi <em>mobile</em> SSH dapat digunakan untuk mengirim perintah ROS <em>message</em> dari <em>smartphone</em> ke Raspberry Pi untuk mengontrol pin GPIO Raspberry Pi agar aktif <em>high</em> atau aktif <em>low</em>. Pada saat ROS <em>message</em> mengirim perintah ke GPIO untuk aktif <em>high</em>, maka sistem akan memberikan instruksi kepada relay untuk menyalakan perangkat elektronik. Selanjutnya pada saat GPIO menerima perintah untuk aktif <em>low</em>, maka sistem akan memberikan instruksi kepada relay untuk mematikan perangkat elektronik. Hasil penelitian ini adalah <em>smartphone </em>android dapat digunakan untuk mengontrol perangkat elektronik seperti lampu, kipas angin, pemanas ruangan, dan <em>air conditioner</em> secara jarak jauh menggunakan jaringan WLAN berdasarkan perintah dari ROS <em>message</em>. Perangkat elektronik pada penelitian ini dapat di kontrol secara efektif pada jarak 20 meter di dalam ruangan dan 40 meter di area bebas hambatan.</p><p> </p><p class="Judul2"><strong><em>Abstract</em></strong></p><p class="Abstract"><em>One 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. </em></p><p class="Judul2"><strong><em><br /></em></strong></p>

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

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.

scholarly journals Pengenalan Traffic Light Pada Robot Mobil Duckietown

Teknika ◽  
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.

scholarly journals On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots

2021 ◽  
Vol 11 (16) ◽  
pp. 7190
Author(s):  
Sana Baklouti ◽  
Guillaume Gallot ◽  
Julien Viaud ◽  
Kevin Subrin
Keyword(s):  
Operating System ◽  
Response Time ◽  
Open Source ◽  
Trajectory Tracking ◽  
Control Mode ◽  
Velocity Control ◽  
Control Loop ◽  
Tracking Errors ◽  
Robot Operating System ◽  
Robotic Teleoperation

This paper deals with Yaskawa robots controlling the Robot Operating System (ROS) for teleoperation tasks. The integration of an open-source ROS interface based on standard Motoman packages into control loop leads to large trajectory tracking errors and latency, which are unsuitable for robotic teleoperation. An improved version of the standard ROS-based control is proposed by adding a new velocity control mode into the standard Motoman ROS driver. These two approaches are compared in terms of response time and tracking delay. Investigations applied on the Yaskawa GP8 robot while using the proposed improved ROS-based control confirmed trajectory tracking and latency improvements, which can achieve 43% with respect to standard control.

scholarly journals Real Time Operating System Options in Connected Embedded Equipment for Distributed Data Acquisition

2018 ◽  
Vol 11 (2) ◽  
pp. 35-58
Author(s):  
Teodor Sumalan ◽  
Eugen Lupu ◽  
Radu Arsinte
Keyword(s):  
Operating System ◽  
Real Time ◽  
Operating Systems ◽  
Source Code ◽  
Weather Conditions ◽  
Raspberry Pi ◽  
Distributed Data ◽  
Embedded Devices ◽  
The Status ◽  
High Flexibility

Abstract The purpose of the work described in this paper is to compare more configurations belonging to portables real-time operating systems for embedded devices based on Raspberry Pi board. The developed application in this work can monitor the status in a greenhouse: irrigation, heating, ventilation, humidification, closing/opening panels etc. following weather conditions. Our target is to choose an efficient, minimal operating system optimized for the desired application. Other targets are high flexibility, optimal modularity, high readability and maintainability of the source code.

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