Developing the basic building blocks of mathematics to be employed in practical embedded systems

Tickle, Andrew J.; Wu, Fang; Harvey, Paul K.; Smith, Jeremy S.

doi:10.1088/1742-6596/178/1/012050

Cited by 1 publication

(3 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The stepper motor used was a high torque device with a step size of 1.8 o . Therefore, for this system the ratio used would be 0.088cm or 0.00088m, but to save on calculations (and therefore FPGA resources) so that product blocks in DSP Builder can be used as opposed to division blocks [15], this value will be inverted before it is entered into the system and so the input here will be 1136. The final matter will be the discussion of the odometer sensor; this will be of an optical nature and so can create distinct pluses which would be used to trigger the counters that would perform the DR navigation.…”

Section: Virtual Building Layout and Proposed Architecturementioning

confidence: 99%

“…The bulk of the circuitry for this block comes from [15] and as a result will not be discussed here in any great detail. As can be seen, there are effectively two copies of the same circuit on the upper and lower parts of Figure 4, these output to both the PWM-RS blocks because they provide the two sets of information that allow the motors to run at different speeds.…”

Section: Dsp Builder Design Viewsmentioning

confidence: 99%

“…The lower input is the ratio and is sent into a product block (hence why the ratio was entered in its inverted format) to be multiplied by the required speed in m/s (the value in the constant tag), here when the robot is running slowly it will be simulated to move at 1m/s and when fast it will be simulated at 2m/s. A value of '1' is then added to this result to compensate for rounding errors in the calculation; this result is then sent as the denominator into the decimal division system discussed in [15]. The numerator of this division is the clock frequency of the FPGA entered by the user in its full decimal format.…”

Section: Dsp Builder Design Viewsmentioning

confidence: 99%

See 2 more Smart Citations

Simulation of a dead reckoning embedded system security patrol robot for deployment inside structures and buildings

2010

View full text Add to dashboard Cite

Dead Reckoning (DR) is the process of estimating a robot's current position based upon a previously determined position, and advancing that position based upon known speed and direction over time. It is therefore a simple way for an autonomous mobile robot to navigation within a known environment such as a building where measurements have been taken and a predetermined route planned based upon which doors (or areas) the robot would have enough force to enter. Discussed here is the design of a DR navigation system in Altera's DSP Builder graphical design process. The wheel circumference to the step size of stepper motor used to drive the robot are related and so this ratio can be easily changed to easily accommodate changes to the physical design of a robot with minimal changes to the software. The robot calculates its position in relation to the DR map by means of the number of revolutions of the wheels via odometry, in this situation there is no assumed wheel slippage that would induce an accumulative error in the system overtime. The navigation works by using a series of counters, each corresponding to a measurement taken from the environment, and are controlled by a master counter to trigger the correct counter at the appropriate time given the position of robot in the DR map. Each counter has extra safeguards built into them on their enables and outputs to ensure they only count at the correct time and to avoid clashes within the system. The accuracy of the navigation is discussed after the virtual route is plotted in MATLAB as a visual record in addition to how feedback loops, identification of known objects (such as fire safety doors that it would navigate through), and visual object avoidance could later be added to augment the system. The advantages of such a system are that it has the potential to upload different DR maps so that the end robot for can be used in new environments easily.

show abstract

Section: Virtual Building Layout and Proposed Architecturementioning

confidence: 99%

Section: Dsp Builder Design Viewsmentioning

confidence: 99%

Section: Dsp Builder Design Viewsmentioning

confidence: 99%

See 1 more Smart Citation