Unified framework for rapid prototyping of Linux based real-time controllers with Matlab and Simulink

Oftadeh, Reza; Aref, Mohammad M.; Ghabcheloo, Reza; Mattila, Jouni

doi:10.1109/aim.2012.6266028

Cited by 10 publications

(14 citation statements)

References 5 publications

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“…The modules consist of systems for receiving tele-operation commands, obstacle direction using the laser scanner, differential driving, etc. In order to interface with hardware components, the authors implemented the approach discussed in the previous sections with the technical details given in [5].…”

Section: Resultsmentioning

confidence: 99%

“…Its aim is to introduce a coherent framework for remote development of independent hard, real-time software controllers based on MATLAB and Simulink products for the rapid prototyping of PC-based mechatronic systems. The authors provide the technical details of the method in [5]. This paper shows how the method is successfully applied to the iMoro.…”

Section: Integrationmentioning

confidence: 99%

“…Note that this entire process is done automatically. Further notes on the configurations that should be made in the Simulink model for using remoteBuild are given in [5]. Note that the executable application made on the Target PC is fully independent of MATLAB, the Host PC, or any other part of development environment.…”

Section: Remote Development Environmentmentioning

confidence: 99%

“…In order to facilitate rapid prototyping of different algorithms and software modules, especially in real-time environments, the authors implement a unified framework that was initially proposed by the authors in [5]. This framework is presented in the next section.…”

Section: Embedded Controllermentioning

confidence: 99%

“…One example of such an issue is that of interfacing with hardware devices, including different communication mediums and protocols.Moreover, developing mechatronic systems requires numerous and consecutive practical tests in order to verify and validate the functionality and integrity of This paper is the synergistic conclusion of the authors' research on this topic, presented in [5,6]. It demonstrates how the framework proposed in [5] for rapid prototyping of real-time controllers successfully provides a software development basis for the iMoro mobile manipulator, the design of which is presented in [6]. In the following, the authors present the background study for the hardware and software architecture and introduce the integration approach.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

System Integration for Real-Time Mobile Manipulation

Oftadeh

Aref

Ghabcheloo

et al. 2014

International Journal of Advanced Robotic Systems

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Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator's mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller.

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Section: Resultsmentioning

confidence: 99%

Section: Integrationmentioning

confidence: 99%

Section: Remote Development Environmentmentioning

confidence: 99%

Section: Embedded Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

System Integration for Real-Time Mobile Manipulation

Oftadeh

Aref

Ghabcheloo

et al. 2014

International Journal of Advanced Robotic Systems

Self Cite

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A low‐cost, free‐software platform with hard real‐time performance for control engineering education

González-Vargas

Serna-Ramirez

Fory-Aguirre

et al. 2018

Comp Applic In Engineering

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In this paper, we present a novel portable servomechanism control platform for educational purposes. The platform main features are: low cost, reliable and robust hardware, high‐speed USB interface, free open source software (FOSS), graphical interface modeling (via Scilab/XCos) and hard real‐time performance based on the Real‐Time Application Interface for Linux (RTAI). The platform is easy to interface with any computer and can be carried home by students, opening many new possibilities for practical assignments in control courses. We include application examples and student feedback regarding their experience during various workshops in which the system was demonstrated.

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