An Integrated Control and Simulation Environment for Mobile Robot Software Development

2008 ◽  
Author(s):  
Stephen Balakirsky ◽  
Frederick M. Proctor ◽  
Christopher J. Scrapper ◽  
Thomas R. Kramer
Keyword(s):  
Integrated Control ◽  
Open Architecture ◽  
Simulation Environment ◽  
Development Environment ◽  
Wide Range ◽  
Seamless Transition ◽  
Real Hardware ◽  
Architecture Simulation ◽  
Robot Configuration ◽  
Robotic Software

In order to expedite the research and development of robotic systems and foster development of novel robot configuration, it is essential to develop tools and standards that allow researchers to rapidly develop, communicate, and compare experimental results. This paper describes the Mobility Open Architecture Simulation and Tools Framework (MOAST). The MOAST framework is designed to aid in the development, testing, and analysis of robotic software by providing developers with a wide range of open source robotic algorithms and interfaces. The framework provides a physics-based virtual development environment for initial testing and allows for the seamless transition of algorithms to real hardware. This paper details the design approach, software architecture and specific module-to-module interfaces.

scholarly journals Analysis of Dual-Band Direction of Arrival Estimation in Multipath Scenarios

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1236
Author(s):  
Alessandro Cidronali ◽  
Edoardo Ciervo ◽  
Giovanni Collodi ◽  
Stefano Maddio ◽  
Marco Passafiume ◽  
...  
Keyword(s):  
Multiple Access ◽  
Direction Of Arrival ◽  
Doa Estimation ◽  
Dual Band ◽  
Second Step ◽  
Frequency Division ◽  
Simulation Environment ◽  
Full Wave ◽  
Wide Range ◽  
Localization Systems

The present paper analyzes the performance of localization systems, based on dual-band Direction of Arrival (DoA) approach, in multi-path affected scenarios. The implemented DoA estimation, which belongs to the so-called Space and Frequency Division Multiple Access (SFDMA) technique, takes advantage of the use of two uncorrelated communication carrier frequencies, as already demonstrated by the authors. Starting from these results, this paper provides, first, the methodology followed to describe the localization system in the proposed simulation environment, and, as a second step, describes how multi-path effects may be taken into account through a set of full-wave simulations. The latter follows an approach based on the two-ray model. The validation of the proposed approach is demonstrated by simulations over a wide range of virtual scenarios. The analysis of the results highlights the ability of the proposed approach to describe multi-path effects and confirms enhancements in DoA estimation as experimentally evaluated by the same authors. To further assess the performance of the aforementioned simulation environment, a comparison between simulated and measured results was carried out, confirming the capability to predict DoA performance.

Motion Simulation Experiments for Driver Behavior and Road Vehicle Dynamics

2011 ◽  
Vol 11 (4) ◽  
Author(s):  
Kemper Lewis ◽  
Kevin Hulme ◽  
Edward Kasprzak ◽  
Deborah Moore-Russo ◽  
Gregory Fabiano
Keyword(s):  
Vehicle Dynamics ◽  
Large Scale ◽  
Driving Simulation ◽  
Vehicle Design ◽  
Simulation Environment ◽  
Learning Mechanisms ◽  
Road Vehicle ◽  
Wide Range ◽  
Traffic Systems ◽  
The Impact

This paper discusses the design and development of a motion-based driving simulation and its integration into driving simulation research. The integration of the simulation environment into a road vehicle dynamics curriculum is also presented. The simulation environment provides an immersive experience to conduct a wide range of research on driving behavior, vehicle design and intelligent traffic systems. From an education perspective, the environment is designed to promote hands-on student participation in real-world engineering experiences that enhance conventional learning mechanisms for road vehicle dynamics and engineering systems analysis. The paper assesses the impact of the environment on student learning objectives in an upper level vehicle dynamics course and presents results from research involving teenage drivers. The paper presents an integrated framework for the use of real-time simulation and large-scale visualization to both study driving behaviors and to discover the impact that design decisions have on vehicle design using a realistic simulated driving interface.

scholarly journals Distributed dynamic simulations of networked control and building performance applications

SIMULATION ◽  
2017 ◽  
Vol 94 (2) ◽  
pp. 145-161
Author(s):  
Azzedine Yahiaoui
Keyword(s):  
Control Systems ◽  
Dynamic Simulation ◽  
Minimum Energy ◽  
Building Performance ◽  
Simulation Environment ◽  
Dynamic Simulations ◽  
Wide Range ◽  
Automation And Control ◽  
And Control ◽  
Building Performance Applications

The use of computer-based automation and control systems for smart sustainable buildings, often so-called Automated Buildings (ABs), has become an effective way to automatically control, optimize, and supervise a wide range of building performance applications over a network while achieving the minimum energy consumption possible, and in doing so generally refers to Building Automation and Control Systems (BACS) architecture. Instead of costly and time-consuming experiments, this paper focuses on using distributed dynamic simulations to analyze the real-time performance of network-based building control systems in ABs and improve the functions of the BACS technology. The paper also presents the development and design of a distributed dynamic simulation environment with the capability of representing the BACS architecture in simulation by run-time coupling two or more different software tools over a network. The application and capability of this new dynamic simulation environment are demonstrated by an experimental design in this paper.

JPEG Image Decoding and Display System Design Based on ZedBoard Development Platform

2014 ◽  
Vol 513-517 ◽  
pp. 2476-2479 ◽  
Author(s):  
Qiong Wu ◽  
Yao Tian Zhang ◽  
Jun Wang
Keyword(s):  
High Resolution ◽  
Real Time ◽  
Design Flow ◽  
Stream Data ◽  
Development Environment ◽  
Data Movement ◽  
Jpeg Image ◽  
Development Platform ◽  
Wide Range ◽  
Image Decoding

JPEG decoding algorithm has become an international mainstream image compression standard, because of its wide range of applications, easy implementation, supporting for lossless compression and other characteristics [. This thesis is to explain how to design a high-resolution JPEG image decoding system architecture, which supports for real-time display and has good scalability as well. We choosing newly developed ZedBoard development board of Xilinx corporation as development platform and EDK (Embedded Development Kit) as development environment [. The design flow is to read JPEG stream data stored in DDR and store the decoding data in DDR after finishing the hardware decoding. Finally we use VDMA to translate the stream in order to display on a monitor connected to the HDMI interface. In this system, we adopt AXI bus with a hierarchical technology to achieve IP interconnection, adopt hardware decoding to achieve high-resolution image decoding and adopt VDMA hardware data movement to achieve real-time display based on ARM Cortex A9 dual-core processor software design.

Family-Based Project Approach to Multidisciplinary Senior Design

2008 ◽  
Author(s):  
Wayne Walter ◽  
Edward Hensel
Keyword(s):  
Undergraduate Students ◽  
Lessons Learned ◽  
Open Architecture ◽  
Current Status ◽  
Senior Design ◽  
Starting Point ◽  
Wide Range ◽  
The Family ◽  
Design Projects ◽  
Academic Year

During academic year 2006–07, a family of four closely related multi-disciplinary senior design projects was initiated. Each project team consisted of eight undergraduate students. The family of projects has continued during the academic year 2007–08, with three additional design projects comprised of 19 students. The intent of the family of design projects is two-fold. The first objective is to introduce students to the concept of designing a product within the context of a family of closely related products, similar to the approach that a corporation may use in its strategic approach to the marketplace. The second objective is to provide an open-source, open-architecture, modular, and scalable robotic vehicle platform usable by a wide range of researchers within the Kate Gleason College of Engineering looking for a vehicle to position cameras, sensors in networks, and for other data-gathering tasks. Students were given the challenge to design and manufacture a platform based on a single design, scalable across four payload orders of magnitude from 1kg to 1,000kg. The 10kg and 100kg variants were studied in AY2006–07, and the 1kg variant was introduced in AY2007–08. The largest, 1,000kg, planned for the future, will be about the size of a Honda Civic, so safety and fail-safe engineering is important. Each project in the family is expected to build on the technology used and lessons learned from prior and concurrent projects, much like the “next model year” in the auto industry, and information sharing requirements among concurrent engineering teams. Hardware, software, and design methods are reused whenever possible, and students are expected to develop their subsystem in the context of an evolutionary platform design. In this manner, the end-product from one design group becomes the starting point for another team. Responsibilities overlap so teams must work cooperatively, which mimics the industrial environment. Starting times on various projects may be staggered, and students must deal with documentation sharing issues, and preservation of design intent across multiple-project teams and academic terms. The paper will discuss the current status of the program, the lessons learned to-date, and future plans for the program.

Power Feedback Control in Cylindrical Traverse Grinding

2000 ◽  
Author(s):  
Rogelio L. Hecker ◽  
Steven Y. Liang
Keyword(s):  
Controller Design ◽  
Velocity Model ◽  
Input Power ◽  
Open Architecture ◽  
System Response ◽  
Grinding Wheel ◽  
Wide Range ◽  
Grinding Machine ◽  
Power Response ◽  
Traverse Grinding

Abstract This paper describes the design of a power controller in cylindrical traverse grinding (CTG), where the power consumed by the grinding wheel is controlled by regulation of the traverse velocity. A mathematical model relating the power to the traverse velocity was developed and quantified with machining data. The controller design was based on the power-velocity model developed and it was tuned to fulfill time response specifications including settling time and overshoot. An inner velocity loop was also designed and implemented inside the power close loop to guaranty a stable power response. The controller was implemented and tested on an open architecture cylindrical grinding machine. The results show that the controlled system response can be regulated to meet the requirements of time specifications, over a wide range of cutting depth and input power reference.

Change Management in Shared Software Specifications

2013 ◽  
pp. 1-21
Author(s):  
Fathi Taibi
Keyword(s):  
Change Management ◽  
Object Oriented ◽  
Formal Specifications ◽  
Development Environment ◽  
Collaborative Development ◽  
Wide Range ◽  
Software Specifications

In order to support the collaborative development of software specifications, there is a need to automate the extraction and integration of the parallel changes or revisions that are made to a shared specification. These revisions are aimed at reaching a specification that satisfies the needs of all the stakeholders. Hence, merging conflicts are inevitable and must be detected and resolved in order to commit the changes made properly to the shared specification leading to a consistent result. A framework is proposed in this chapter to extract and integrate the parallel changes made to Object-Oriented formal specifications in a collaborative development environment. A formal foundation is proposed to uniformly define the specifications, the revisions made to them and the possible merging conflicts. The proposed framework allows extracting and integrating the parallel changes made while addressing a wide range of merging conflicts at the same time. Evaluating the developed algorithms has shown good signs in terms of accuracy and scalability.

Cyber-Physical System Development Environment for Energy Applications

2017 ◽  
Author(s):  
Thomas Roth ◽  
Eugene Song ◽  
Martin Burns ◽  
Himanshu Neema ◽  
William Emfinger ◽  
...  
Keyword(s):  
System Development ◽  
Smart Cities ◽  
Geographic Area ◽  
Development Environment ◽  
Single Experiment ◽  
Pump System ◽  
Heat Pump System ◽  
Simulation Languages ◽  
Wide Range ◽  
Smart Energy Systems

Cyber-physical systems (CPS) are smart systems that include engineered interacting networks of physical and computational components. The tight integration of a wide range of heterogeneous components enables new functionality and quality of life improvements in critical infrastructures such as smart cities, intelligent buildings, and smart energy systems. One approach to study CPS uses both simulations and hardware-in-the-loop (HIL) to test the physical dynamics of hardware in a controlled environment. However, because CPS experiment design may involve domain experts from multiple disciplines who use different simulation tool suites, it can be a challenge to integrate the heterogeneous simulation languages and hardware interfaces into a single experiment. The National Institute of Standards and Technology (NIST) is working on the development of a universal CPS environment for federation (UCEF) that can be used to design and run experiments that incorporate heterogeneous physical and computational resources over a wide geographic area. This development environment uses the High Level Architecture (HLA), which the Department of Defense has advocated for co-simulation in the field of distributed simulations, to enable communication between hardware and different simulation languages such as Simulink® and LabVIEW®. This paper provides an overview of UCEF and motivates how the environment could be used to develop energy experiments using an illustrative example of an emulated heat pump system.

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