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Implementation and application of a simple real-time OS for 8-bit microcontrollers

Implementation and application of a simple real-time OS for ...

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作者： Dolinay, J. Vašek, V. Dostálek, P. Department of Automation and Control Engineering Tomas Bata University in Zlin Faculty of Applied Informatics Nad Stráněmi 4511 760 05 Zlín Czech Republic

ISBN: (纸本)9789604742769

This paper presents small real-time operating system which has been developed at our institute and also an application and practical verification of this system in a portable data acquisition unit. The system, named RTMON is intended mainly as a teaching aid for lessons of microcontroller programming where it allows the students to simply write applications in C language with several concurrently running processes. However, it can also be used in practical applications, as is demonstrated by the data acquisition unit described in this paper. The system works on 8-bit microcontrollers with the HC(S)08 core made by Freescale and also on Atmel AVR Mega8 microcontrollers.

关键词： Data acquisition

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Extracting the frequency of robotic tasks with an adaptive fourier series: Application to Yo-Yo

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7th international conference on informatics in control, automation and robotics, ICINCO 2010

作者： Petrič, Tadej Gams, Andrej Žlajpah, Leon Department of Automation Biocybernetics and Robotics Jožef Stefan Institute Jamova cesta 39 Ljubljana 1000 Slovenia

ISBN: (纸本)9783642195389

On-line determination of the basic frequency of an unknown periodic signal with an arbitrary waveform is crucial in imitating and performing rhythmic tasks with robots. We present a novel method to determine the basic frequency of a periodic signal on-line. The method is based on adaptive frequency oscillators in a feedback loop. While so far several adaptive frequency oscillators in a loop had to be used and the basic frequency determined using logical algorithms that choose from the determined frequency components, our method extracts the basic frequency of the input signal without any additional logical operations. The proposed novel method uses a single oscillator combined with a whole Fourier series representation in a feedback loop. Such formulation allows extracting the frequency and the phase of an unknown periodic signal in real-time and without any additional signal processing or preprocessing. The method also determines the Fourier series coefficients and can be used for dynamic Fourier series implementation. The method can be used for the control of rhythmic robotic tasks, where successful performing of a task crucially depends on the extraction of the fundamental frequency. We demonstrate the properties and usefulness of the method in simulation and on a highly nonlinear and dynamic task of playing the robotic yo-yo. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Nonlinear dynamical systems

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Optimal controller gain tuning for robust stability of spacecraft formation

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7th international conference on informatics in control, automation and robotics, ICINCO 2010

作者： Grøtli, Esten I. Chaillet, Antoine Panteley, Elena Gravdahl, J. Tommy Dept. of Eng. Cybernetics NTNU O.S. Bragstads plass 2D Trondheim 7491 Norway Univ. Paris Sud 11 L2S Supélec 3 rue Joliot-Curie Gif Sur Yvette 91192 France CNRS L2S Supélec 3 rue Joliot-Curie Gif Sur Yvette 91192 France

ISBN: (纸本)9783642195389

The spacecraft formation control problem sets high demands to the performance, especially with respect to positional accuracy. The problem is further complicated due to scarce fuel resources and limited actuation effects, in addition to the many sources of disturbances. This paper addresses the problem of finding the optimal gains of spacecraft formation controllers. By optimal, we mean the gains that minimizes a cost functional which penalizes both the control efforts and the state deviation, while still guaranteeing stability of the closed-loop systems in the presence of disturbances. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： controllers

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Interoperability of reconfiguring system on FPGA using a design entry of hardware description language

Interoperability of reconfiguring system on FPGA using a des...

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2011 Computation and Communication Technologies: 3rd international conference on Advances in Computing, control, and Telecommunication Technologies, ACT 2011

作者： Wibowo, Ferry Wahyu Department of Informatics Engineering STMIK AMIKOM Yogyakarta Yogyakarta Indonesia

ISBN: (纸本)9781629934563

For a long ago, world of digital design has spread out in the many major and a lot of logics, approaches, and theories has been proposed. The digital emerges as a solution of a daily-life need and applicable on such technology from the developing devices until software-based. All of the designs has a significant point on the spesification, integration, and optimization. The designers have been trying to make a good designs on both hardware and software, latest both combinations have been known as the basic idea of hardware/ software co-design. The state-of-the art computer is very interesting to research because of its implementation can make changes of the cycle of reconfigurable objects. This paper presents a comparison of the two role plays in reconfigurable devices especially FPGA-based, i.e. Altera and Xilinx. The idea is that of a simple compiler has a good performance designs for synthesizing Very high speed integrated circuit Hardware Description Language (VHDL) code as well as the other complexity software that more powerful. So, this paper proposes such method as interoperability for reconfiguring devices to get the point why few of the standard VHDL code can't be synthesised in the different compiler of VHDL code between Xilinx and Altera. The project of compiler softwares that is observed from Xilinx is ISE and from Altera is Max+Plus II. Max+Plus II is a low-cost software than ISE Xilinx, although both Xilinx and Altera devices have a different structure each other.

关键词： Field programmable gate arrays (FPGA)

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BEHAVE: A set of measures to assess users' attitudinal and non-verbal behavioral responses to a robot's social behaviors

BEHAVE: A set of measures to assess users' attitudinal and n...

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3rd international conference on Social robotics, ICSR 2011

作者： Joosse, Michiel Sardar, Aziez Evers, Vanessa Informatics Institute Faculty of Science University of Amsterdam PO Box 94323 1090 GH Amsterdam Netherlands Department of Electrical Engineering Mathematics and Computer Science University of Twente PO Box 217 NL-7500 AE Enschede Netherlands

ISBN: (纸本)9783642255038

Increasingly, people will be exposed to social robots. In order to inform the design of behaviors for robots that share domestic and public spaces with humans, it is important to know what robot behavior is considered as 'normal' by human users. The work reported in this paper stems from the premise that what would be perceived as socially normative behavior for robots may differ from what is considered socially normative for humans. This paper details the development of a set of measures, BEHAVE, for assessing user responses to a robot's behavior using both attitudinal and physical responses. To test the validity and reliability of the BEHAVE set of measures, a human robot interaction experiment was conducted in which a robot invaded the personal space of a participant. Based on the results from this evaluation, a final set of BEHAVE measures was developed. © 2011 Springer-Verlag.

关键词： Human robot interaction

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Identification of anomalies on encrypted communications based on multi-scale behavior modeling

Identification of anomalies on encrypted communications base...

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2011 3rd international Congress on Ultra Modern Telecommunications and control Systems and Workshops, ICUMT 2011

作者： Rocha, Eduardo Salvador, Paulo Nogueira, António Rodrigues, Joel Instituto de Telecomunicações Dep. of Electronics Telecom. and Informatics U. of Aveiro 3810-193 Aveiro Portugal Instituto de Telecomunicações Department of Informatics U. of Beira Interior 6201-001 Covilhã Portugal

ISBN: (纸本)9781457706820

Internet usage has increased drastically in the past years due to the emergence of new services and applications such as voice, video streaming, video-conference, e-banking, etc. As the number of Internet users increased, the number of illegal activities, like spam, data and identity theft, among others, also increased in an exponential way. Identifying Internet applications became a very important task for several purposes, such as traffic engineering, quality of service, network optimization and, obviously, security. Several identification methodologies have been proposed, ranging from simple approaches like port-based methodologies to more generic approaches, like protocol statistical analysis. However, the frequent use of traffic encryption does not allow to perform inspection based on the packet payload, triggering the need for new methodologies that can provide an accurate mapping of traffic to their generating protocols based only on traffic flow statistics. This paper presents an identification methodology that relies on a multi-scale analysis of sampled traffic flows, enabling the identification of illicit activities on encrypted communications scenarios. Several multi-scale quantifiers are obtained from the multi-scale analysis of captured flows and the classification of these flows is then based on identifying the time-scales where the different multi-scale quantifiers are better discriminated. Two different approaches are used in the classification procedure: one that is based on the distances between the quantiles of the empirical distributions, assuming that the multi-scale quantifiers follow a generic probability distribution, and another methodology that assumes that the multi-scale quantifiers follow Gaussian Distributions. The methodology was applied to some of the mostly used licit Internet applications and two popular illicit applications, and the results obtained show that the proposed approach is able to accurately classify Internet traffic and

关键词： Probability distributions

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Tool wear prediction based on wavelet transform and support vector machines

Tool wear prediction based on wavelet transform and support ...

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作者： Shi, Dongfeng Gindy, Nabil N. Optimized Systems and Solutions Rolls-Royce Group Derby United Kingdom School of Mechanical Materials and Manufacturing Engineering University of Nottingham NG7 2RD Nottingham United Kingdom

ISBN: (纸本)9789898425751

The machining quality and efficiency may be improved significantly by using appropriate tool wear prediction techniques. A new approach based on wavelet transform and support vector machine is proposed to improve the accuracy of tool wear prediction in this paper. Firstly, the wavelet transform is introduced to decompose sensory signals into different scales to reduce the dimensionality of original signals and extract features associated with different tool wear condition. Secondly, the least square support vector machine is further presented to construct predictive model due to its high convergence rate and powerful generalization ability. Thirdly, the possibility to employ power sensor rather than delicate dynamometer for the tool wear monitoring is explored. Finally, the effectiveness of proposed tool wear prediction approach is demonstrated by extensive experimental turning trials.

关键词： Support vector machines

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Design and experimental validation of a combined PI and Bi-positional laws controller for delaying the transition from laminar flow to turbulent flow over a morphing wing

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7th international conference on informatics in control, automation and robotics, ICINCO 2010

作者： Grigorie, Teodor Lucian Popov, Andrei Vladimir Botez, Ruxandra Mihaela Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada National Research Council Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9783642195389

This chapter presents the design and the validation of the actuators control system for a morphing wing application. Some smart materials, like Shape Memory Alloy (SMA), are used as actuators to modify the upper surface of the wing made of a flexible skin. The finally adopted control law is a combination of a bi-positional law and a PI law. The controller is validated in two experimental ways: bench test and wind tunnel test. All optimized airfoil cases, used in the design phase, are converted into actuators vertical displacements which are used as inputs reference for the controller. In the wind tunnel tests a comparative study is realized around of the transition point position for the reference airfoil and for each optimized airfoil. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： controllers

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Obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot

Obstacle avoidance with simultaneous translational and rotat...

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作者： Takahashi, Masaki Suzuki, Takafumi Matsumura, Tetsuya Yorozu, Ayanori Dept. of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan

ISBN: (纸本)9789898425751

This paper presents a real-time collision avoidance method with simultaneous control of both translational and rotational motion with consideration of a robot width for an autonomous omni-directional mobile robot. In the method, to take into consideration the robot's size, a wide robot is regarded as a capsule-shaped case not a circle. With the proposed method, the wide robot can decide the direction of translational motion to avoid obstacles safely. In addition, the robot can decide the direction of the rotational motion in real time according to the situation to perform smooth motion. As an example of design method of the proposed method, novel control method based on the fuzzy potential method is proposed. To verify its effectiveness, several simulations and experiments using a real robot are carried out.

关键词： Mobile robots

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Design of humanoid body trunk with "multiple spine structure" and "planar-muscle-driven" system for achievement of humanlike powerful and lithe motion

Design of humanoid body trunk with "multiple spine structure...

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2011 IEEE international conference on robotics and Biomimetics, ROBIO 2011

作者： Osada, Masahiko Mizoguchi, Hironori Asano, Yuki Kozuki, Toyotaka Urata, Junichi Nakanishi, Yuto Okada, Kei Inaba, Masayuki Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku 113-8656 Tokyo Japan

ISBN: (纸本)9781457721373

In recent years, humanlike robots have recieved a lot of attension. For making humanlike robots, a muscu-loskeletal humanoid is an effective approach. However, many musculoskeletal humanoids have not yet been equipped with really humanlike bones and muscles, especially for the body trunk, which is the core of the robot. For making a powerful and lithe humanoid body trunk with really humanlike bones and muscles, we think an enhanced "planar-muscle- driven" system and "multiple spine" structure were keys. Planar-muscle-driven systems move several wires simultaneously by using two moving-pulley bars per motor, while the prior linear-muscle-driven system moved only one wire per motor. Using the planar-muscle-driven system, we were able to simplify prior complex composition and control systems. On the other hand, we proposed a multiple spine structure, which has an S-curve alignment like the human spine. In human, the S-curve is important for upper body stability while walking and shock relaxation of heavy human head. This paper describes the "planar muscle" unit and the "multiple spine" structures, and then the body trunk containing both elements. Using the model, we performed experiments to show the efficacy of those elements. © 2011 IEEE.

关键词： Muscle

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