Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

Sang, Lingfeng; Yamamura, Masatoshi; Dong, Fangyan; Gan, Zhongxue; Fu, Jianzhong; Wang, Hongbo; Tian, Yu

doi:10.3390/app10010264

Cited by 25 publications

(12 citation statements)

References 14 publications

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“…Dalam blok diagram yang disajikan dalam penelitian tersebut, mikrokontroler STM32 digunakan untuk mengendalikan driver motor untuk mekanisme lipat dan berjalan (diatas roda) menggunakan komunikasi CAN bus. GPIO pada STM32 digunakan juga untuk kontrol ON/OFF relay untuk mekanisme kursi terangkat dan mode toilet pasien [2].…”

Section: Pendahuluanunclassified

Unjuk Kerja GPIO, PWM, ADC dan Timer pada Mikrokontroler STM32F103, ESP32S dan ATMega328

Rohman

Nurhadi²,

Martawati³

2021

eltek

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Perangkat embedded system pada masa sekarang memiliki banyak pilihan terhadap jenis mikrokontroler yang sesuai dengan kebutuhan. Hal ini menjadi tantangan tersendiri bagi pengguna ketika diharuskan untuk memilih salah satu jenis mikrokontroler tersebut. Sebagai contoh permasalahan apakah mikrokontroler yang telah dipilih tersebut memiliki sejumlah pin GPIO yang diinginkan, dengan frekuensi switching yang tinggi, berapakah jumlah kanal, resolusi, linieritas dan durasi konversi ADC, bagaimana kemampuan peripheral internal DAC, Timer dan PWM yang bisa dibangkitkan dari mikrokontroler tersebut. Penelitian ini telah membandingkan setidaknya 4 peripheral internal utama yang dimiliki oleh 3 jenis mikrokontroler. Metode yang dilakukan adalah dengan menguji karakteristik GPIO, PWM, TIMER dan ADC pada 3 jenis mikrokontroler yaitu Arduino ATMega328, STM32F103C8 dan ESP32. Eksperiment dilakukan dengan mengevaluasi frekuensi switching digital ouput, mengevaluasi resolusi sinyal hasil konversi ADC, mengevaluasi ketepatan hasil instruksi delay berkaitan dengan timer program dan waktu konversi sinyal DAC semuanya dilakukan pada masing-masing mikrokontroler. Hasil akhir dari penelitian ini menunjukkan, mikrokontroler ESP32 memiliki unjuk kerja GPIO, PWM, TIMER dan ADC terbaik apabila dibandingkan dengan jenis lainnya. Penelitian ini juga membuktikan integrasi FreeRTOS pada Framework Arduino bisa berfungsi dengan optimal meskipun mikrokontroler berjalan pada 2 task yang berbeda di 2 core CPU yang bekerja secara pararel. Frekuensi switching digital output pada ESP32 mampu mencapai 3MHz, waktu konversi ADC hanya 5,7us dan DAC hanya 3,7us. Today's embedded systems have many choices for the type of microcontroller that suits the needs. This is a challenge in itself for users when required to choose one type of microcontroller. For example, the problem of whether the selected microcontroller has the desired number of GPIO pins, with a high switching frequency, what is the number of channels, resolution, linearity, and duration of the ADC conversion, what is the ability of the internal DAC, Timer and PWM peripherals that can be generated from the microcontroller. This study has compared at least 4 main internal peripherals owned by 3 types of microcontrollers. The method used is to test the characteristics of the GPIO, PWM, TIMER, and ADC on 3 types of microcontrollers, namely Arduino ATMega328, STM32F103C8, and ESP32. The experiment was carried out by evaluating the digital output switching frequency, evaluating the signal resolution of the ADC conversion result, evaluating the accuracy of the delay instruction results related to the program timer and DAC signal conversion time, all of which were carried out on each microcontroller. The final results of this study indicate that the ESP32 microcontroller has the best GPIO, PWM, TIMER, and ADC performance when compared to other types. This research also proves that the FreeRTOS integration on the Arduino Framework can function optimally even though the microcontroller runs on 2 different tasks on 2 CPU cores that work in parallel. The digital output switching frequency on the ESP32 is capable of reaching 3MHz, the ADC conversion time is only 5.7us and the DAC is the only 3.7us.

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Section: Pendahuluanunclassified

Unjuk Kerja GPIO, PWM, ADC dan Timer pada Mikrokontroler STM32F103, ESP32S dan ATMega328

Rohman

Nurhadi²,

Martawati³

2021

eltek

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“…The most important function of optocoupler relay is isolation. Its function is to prevent strong current from entering weak current in series, so as to protect STM32 from damage [24]. When starting the device, the WeChat Applet sends "1" to a STM32, which receives the signal and sends it to the device to be started after processing.…”

Section: Digital Quantity Module Designmentioning

confidence: 99%

“…from damage [24]. When starting the device, the WeChat Applet sends "1" to a STM32, which receives the signal and sends it to the device to be started after processing.…”

Section: Digital Quantity Module Designmentioning

confidence: 99%

Renovation of Automation System Based on Industrial Internet of Things: A Case Study of a Sewage Treatment Plant

Zhu

Wang

Zhang

2020

Sensors

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The Industrial Internet of Things (IIoT) is of great significance to the improvement of industrial efficiency and quality, and to reduce industrial costs and resources. However, there are few openly-reported practical project applications based on the IIoT up to now. For legacy automation devices in traditional industry, it is especially challenging to realize the upgrading of industrial automation adopting the IIoT technology with less investment. Based on the practical engineering experience, this paper introduces the automation renovation of a sewage treatment plant. The legacy automation devices are upgraded by the central controller of a STM32 processor (Produced by STMicroelectronics company, located in Geneva, Switzerland), and the WeChatApplet (Developed by Tencent company, located in Shenzhen, China) is used as the extended host computer. A set of remote monitoring and control systems of sewage treatment based on the IIoT is built to realize the wide-area monitoring and control of sewage treatment. The paper describes the field hardware system, wide-area monitoring and control application program, management cloud platform and security technologies in detail. The actual operation results show that the monitoring system has the requirements of high accuracy, good real-time performance, reliable operation and low cost.

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“…This type of structure changes the angle between the chair seat and the back of the wheelchair through the telescopic change in the length of the connecting rod in order to achieve posture adjustment. The connection mode of the series connecting rod structure is relatively simple, and the technology of the main parts is relatively mature and can meet the needs of some disabled people [ 25 , 26 ]. However, the series connecting rod structure is unstable and may shake in the standing state, which can be a source of fear for the user [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of an Intelligent Toilet Wheelchair Based on Planar 2DOF Parallel Mechanism with Coupling Branch Chains

Shi

Chen

2021

Sensors

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Due to the fixed size of the structure or the possibility of only simple manual adjustment, the traditional toilet wheelchair cannot easily be adapted to the size of the user or the toilet. In this paper, a planar two-degree-of-freedom parallel mechanism with coupling branch chains is proposed to enable both seat height adjustment and body posture adjustment of a toilet chair, solving the problems of posture adaptability between the user and the machine, and height matching in the process of using the wheelchair-assisted toilet. The model of the parallel mechanism was designed after analyzing the general rules of posture transformation in the human body before and after the toilet process, and the dimensions of each linkage were then determined according to the constraint conditions. By analyzing the degree of freedom, kinematics, workspace, singularity and position of the center of gravity, the rationality of the design was ensured. The weighted average function was used to find the optimal fixed point of the horizontal moving slider, and the actual trajectory at the end of the single driving mode was close to the ideal trajectory. The experimental results show that the adjustable seat height range is 290~550 mm and the adjustable angle range is 0~90°, which can enable disabled people to use the toilet independently.

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Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

Cited by 25 publications

References 14 publications

Unjuk Kerja GPIO, PWM, ADC dan Timer pada Mikrokontroler STM32F103, ESP32S dan ATMega328

Unjuk Kerja GPIO, PWM, ADC dan Timer pada Mikrokontroler STM32F103, ESP32S dan ATMega328

Renovation of Automation System Based on Industrial Internet of Things: A Case Study of a Sewage Treatment Plant

Design and Analysis of an Intelligent Toilet Wheelchair Based on Planar 2DOF Parallel Mechanism with Coupling Branch Chains

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