Implementasi Master-slave pada Embedded system menggunakan komunikasi RS485

The use of multiprocessor methods in robotics systems has a significant impact on overall robot performance. The Master-slave method is a model of a multiprocessor system where there are several processors that communicate with each other to carry out the robot's overall function. RS-485 can be used as a communication model in the master-slave method. RS-485 is a development of RS-232 which has the ability to communicate with several nodes. In this research, an experiment will be conducted to implement RS-485 to support the master-slave processor communication. Stages of research began with making system design, which includes the design of embedded hardware systems, the design of data communication protocols on RS-485 networks, software design, followed by implementation and testing. The test is carried out to measure the time response of the device to three data transmission models, namely broadcast, addressing slaves without responding and addressing slaves with responses. The test results carried out on three slaves with a communication speed of 9600 bps. Measured response time on broadcast data transmission is 8ms, and address slave without response is 7ms. Whereas delivery by addressing slaves with responses, shows that the measurement method cannot be applied.

Signal acquisition and processing system based on zynq dual core

In order to speed up the acquisition and processing of signal, this paper has developed a signal acquisition and processing system based on zynq platform. Based on the ARM Cortex-A9 dual-core and editable logic unit architecture of Zynq AP SoC platform, this paper implements a fully functional signal acquisition and processing system by software and hardware collaborative design. ARM0 is the main processor that controls system and shared resources. ARM1 is the slave processor. ARM1 is responsible for receiving the data converted by the AD7606 analog-to-digital chip. The data is sent to the Hamming window function IP core created under vivado HLS through the AXI bus. After the data is processed by Hamming window function, it is sent to ARM1 again through AXI bus. OCM acts as the shared memory for ARM0 and ARM1 communication. The Linux system runs on ARM0. The processed data is sent to the upper computer through ethernet through UDP protocol. Utilizing the architecture of the Zynq platform, the system efficiency is improved, and the stability of the system is ensured, so that the FPGA can enter the field of embedded systems.

Scalable Hierarchical Parallel Algorithm for the Solution of Super Large-Scale Sparse Linear Equations

The parallel linear equations solver capable of effectively using 1000+ processors becomes the bottleneck of large-scale implicit engineering simulations. In this paper, we present a new hierarchical parallel master-slave-structural iterative algorithm for the solution of super large-scale sparse linear equations in a distributed memory computer cluster. Through alternatively performing global equilibrium computation and local relaxation, the specific accuracy requirement can be met in a few iterations. Moreover, each set/slave-processor majorly communicates with its nearest neighbors, and the transferring data between sets/slave-processors and the master-processor is always far below the communication between neighboring sets/slave-processors. The corresponding algorithm for implicit finite element analysis has been implemented based on the MPI library, and a super large 2-dimension square system of triangle-lattice truss structure under randomly distributed loadings is simulated with over 1 × 109 degrees of freedom (DOF) on up to 2001 processors of the “Exploration 100” cluster in Tsinghua University. The numerical experiments demonstrate that this algorithm has excellent parallel efficiency and high scalability, and it may have broad applications in other implicit simulations.

Development of a Master-Slave Architecture Handheld Rotating Machine Fault Diagnosis Instrument

To insure that sampling signal integrity, accuracy and real-time performance can adapt to the development of rotating machine fault diagnosis technology, a master-slave architecture handheld rotating machine fault diagnosis instrument was developed based on S3C2410 ARM IC and TMS320VC5509A DSP IC. It provided an effective method for the field monitoring and diagnosis of the large rotating machine. The whole design idea and the structure of the hardware and the software were systematically introduced. The paper focused on the master-slave architecture design of the hardware, the communication methods between the master and the slave processor, and the signal pretreatment module design. Put into practice, the practicability, reliability and stability of the instrument were confirmed.

LonWorks Node Communicating on Twisted Pairs Based on Virtual Toke

LonWorks technology is a complete development platform used in monitoring network system. In order to improve the real-time of LonWorks node, its master processor AT89C2051 and slave processor MC143150 will realize data exchange each other in Slave A parallel mode. Data transfer mechanism using virtual token passing can solve the issue of master and slave processor seizing the data bus. FTT-10A transceiver featuring ESD protection can complete data communication on LonWorks twisted pair network. Experiments show that LonWorks node based on Slave A parallel mode communicating on twisted pairs has good communication and high real-time performance.

LonWorks Node Achieving Power Line Communication Based on Slave a Parallel Mode

LonWorks technology is a complete development platform used in monitoring network system. In order to improve the real-time of LonWorks node, its master processor AT89C2051 and slave processor MC143150 will realize data exchange each other in Slave A parallel mode. Data transfer mechanism using virtual token passing can solve the issue of master and slave processor seizing the data bus. PLT-22 transceiver featuring a dual carrier and narrow band frequency can complete data communication on LonWorks power line network, the transceiver can overcome the drawbacks of noise sources, attenuation, distortion. Experiments show that LonWorks node achieving power communication based on Slave A parallel mode has good communication and high real-time performance.

ResQuake: A Tele-Operative Rescue Robot

The design procedure of ResQuake as a tele-operative rescue robot and its dynamics analysis, manufacturing procedure, control system, and slip estimation for performance improvement are discussed. First, the general task to be performed by the robot is defined, and various mechanisms to form the basic structure of the robot are discussed. Choosing the appropriate mechanisms, geometric dimensions, and mass properties are detailed to develop kinematic and dynamic models for the system. Next, the strength of each component is analyzed to finalize its shape, and the mechanism models are presented. Then, the control system is briefly described, which includes the operator’s PC as the master processor, and the laptop installed on the robot as the slave processor. Finally, slip coefficients of tracks are identified and validated by experimental tests to improve the system tracking performance. ResQuake has participated with distinction in several rescue robot leagues.