A system on chip-based real-time tracking system for amphibious spherical robots

Guo, Shuxiang; Pan, Shaowu; Li, Xiaoqiong; Shi, Liwei; Zhang, Pengyi; Guo, Ping; He, Yanlin

doi:10.1177/1729881417716559

Cited by 29 publications

(4 citation statements)

References 27 publications

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“…The function of this module is to convert the fuzzy quantity obtained from the previous legend into the accurate quantity for actual control. After obtaining the value, the accurate analog quantity signal can be obtained through logarithmic mode conversion and transmitted to the actuator to control the controlled object [19].…”

Section: Control System Of Heat Exchange Unit Based On Fuzzy Controlmentioning

confidence: 99%

Optimization of a Heat Exchanger Using an ARM Core Intelligent Algorithm

Jia¹,

Wang²,

Shang³

2020

Fluid Dynamics &Amp; Materials Processing

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In order to optimize heat transfer in a heat exchanger using an ARM (advanced RISC machine) core intelligent computer algorithm, a new type of controller has been designed. The whole control structure of the heat exchange unit has been conceived on the basis of seven functional modules, including data processing and output, human-computer interaction, alarm, and data communication. The main controller and communication controller have been used in a combined fashion and a new MCU (micro control unit) system scheme has been proposed accordingly. A fuzzy controller has been designed by using a fuzzy control algorithm, and a new mode of heat transfer for the heat exchanger has been implemented by combining the fuzzy controller and the PID (proportioning integral derivative) controller. Finally, the model has been applied to an actual heat exchange station to test and verify the performances of the new approach.

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Section: Control System Of Heat Exchange Unit Based On Fuzzy Controlmentioning

confidence: 99%

Optimization of a Heat Exchanger Using an ARM Core Intelligent Algorithm

Jia¹,

Wang²,

Shang³

2020

Fluid Dynamics &Amp; Materials Processing

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“…In [7] a tracking system for amphibious spherical robots was implemented. The robots in this system use a GMM to detect a moving target entering the field of view.…”

Section: Introductionmentioning

confidence: 99%

An FPGA Based Tracking Implementation for Parkinson’s Patients

Conti

Quintana

Malagón

et al. 2020

Sensors

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This paper presents a study on the optimization of the tracking system designed for patients with Parkinson’s disease tested at a day hospital center. The work performed significantly improves the efficiency of the computer vision based system in terms of energy consumption and hardware requirements. More specifically, it optimizes the performances of the background subtraction by segmenting every frame previously characterized by a Gaussian mixture model (GMM). This module is the most demanding part in terms of computation resources, and therefore, this paper proposes a method for its implementation by means of a low-cost development board based on Zynq XC7Z020 SoC (system on chip). The platform used is the ZedBoard, which combines an ARM Processor unit and a FPGA. It achieves real-time performance and low power consumption while performing the target request accurately. The results and achievements of this study, validated in real medical settings, are discussed and analyzed within.

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“…Such robots can both walk on rough terrain and swim, and are reliable, stable, able to work rapidly and carry large loads, and display intelligence. These robots have been widely and successfully used for monitoring, recovery, detection of pollution, submarine sampling, data collection, video-mapping, vision perception [1], exploration of unstructured amphibious environments, object recovery under challenging circumstances, and other tasks [2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

et al. 2018

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Abstract:We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III) featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM) and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat) terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking) and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID) control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

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A system on chip-based real-time tracking system for amphibious spherical robots

Cited by 29 publications

References 27 publications

Optimization of a Heat Exchanger Using an ARM Core Intelligent Algorithm

Optimization of a Heat Exchanger Using an ARM Core Intelligent Algorithm

An FPGA Based Tracking Implementation for Parkinson’s Patients

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

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