Sensor Fusion for Vibration Suppression Implemented on Arduino and Raspberry Pi

2015 ◽  
Author(s):  
Ryan W. Krauss
Keyword(s):  
Sensor Fusion ◽  
Vibration Suppression ◽  
Floating Point ◽  
Raspberry Pi ◽  
Computational Power ◽  
Embedded Control ◽  
Control Applications ◽  
Performance Improvements ◽  
Arduino Microcontroller ◽  
Additional Approach

Arduino microcontrollers are popular and easy-to-program and can be a great option for student-owned control hardware or other embedded control applications. This paper investigates whether or not an Arduino microcontroller has the computational power to implement a sensor fusion observer/controller for vibration suppression of a slewing beam. An additional approach based on combining the Arduino with a Raspberry Pi is also investigated. Somewhat surprisingly, an Arduino microcontroller is experimentally shown to be capable of implementing a sensor fusion observer and state-space controller for a system with seven states. The floating-point matrix calculations are completed in roughly 2 milli-seconds, implying that real-time feedback control could have update frequencies in the range of 100–400 Hz. Additionally, sensor fusion leads to slight performance improvements over using just one sensor.

scholarly journals IMAGE-BASED ORIENTATION DETERMINATION OF MOBILE SENSOR PLATFORMS

2021 ◽  
Vol XLIII-B1-2021 ◽  
pp. 215-220
Author(s):  
O. Hasler ◽  
S. Nebiker
Keyword(s):  
Sensor Fusion ◽  
Pose Estimation ◽  
Reference System ◽  
Laser Scanner ◽  
Relative Orientation ◽  
Robotic Platform ◽  
Sensor Platforms ◽  
Local Reference ◽  
The Absolute ◽  
Additional Approach

Abstract. Estimating the pose of a mobile robotic platform is a challenging task, especially when the pose needs to be estimated in a global or local reference frame and when the estimation has to be performed while the platform is moving. While the position of a platform can be measured directly via modern tachymetry or with the help of a global positioning service GNSS, the absolute platform orientation is harder to derive. Most often, only the relative orientation is estimated with the help of a sensor mounted on the robotic platform such as an IMU, with one or multiple cameras, with a laser scanner or with a combination of any of those. Then, a sensor fusion of the relative orientation and the absolute position is performed. In this work, an additional approach is presented: first, an image-based relative pose estimation with frames from a panoramic camera using a state-of-the-art visual odometry implementation is performed. Secondly, the position of the platform in a reference system is estimated using motorized tachymetry. Lastly, the absolute orientation is calculated using a visual marker, which is placed in the space, where the robotic platform is moving. The marker can be detected in the camera frame and since the position of this marker is known in the reference system, the absolute pose can be estimated. To improve the absolute pose estimation, a sensor fusion is conducted. Results with a Lego model train as a mobile platform show, that the trajectory of the absolute pose calculated independently with four different markers have a deviation < 0.66 degrees 50% of the time and that the average difference is < 1.17 degrees. The implementation is based on the popular Robotic Operating System ROS.

scholarly journals A Robust Cooperative Modulation Classification Scheme with Intra sensor Fusion for the Time correlated Flat Fading Channels

2020 ◽  
Vol 70 (1) ◽  
pp. 60-65 ◽  
Author(s):  
Goran Marković ◽  
Vlada Sokolović
Keyword(s):  
Fading Channels ◽  
Sensor Fusion ◽  
Large Scale ◽  
Negative Influence ◽  
Modulation Classification ◽  
Distributed Sensors ◽  
Performance Improvements ◽  
Flat Fading ◽  
Significant Performance ◽  
Single Sensor

Networks with distributed sensors, e.g. cognitive radio networks or wireless sensor networks enable large-scale deployments of cooperative automatic modulation classification (AMC). Existing cooperative AMC schemes with centralised fusion offer considerable performance increase in comparison to single sensor reception. Previous studies were generally focused on AMC scenarios in which multipath channel is assumed to be static during a signal reception. However, in practical mobile environments, time-correlated multipath channels occur, which induce large negative influence on the existing cooperative AMC solutions. In this paper, we propose two novel cooperative AMC schemes with the additional intra-sensor fusion, and show that these offer significant performance improvements over the existing ones under given conditions.

scholarly journals Open-Source Electronics Platforms as Enabling Technologies for Smart Cities: Recent Developments and Perspectives

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 404 ◽  
Author(s):  
Daniel Costa ◽  
Cristian Duran-Faundez
Keyword(s):  
Open Source ◽  
Smart City ◽  
Smart Cities ◽  
Low Cost ◽  
Raspberry Pi ◽  
Computational Power ◽  
Different Types ◽  
Recent Developments ◽  
Programmable Devices ◽  
Hardware Platforms

With the increasing availability of affordable open-source embedded hardware platforms, the development of low-cost programmable devices for uncountable tasks has accelerated in recent years. In this sense, the large development community that is being created around popular platforms is also contributing to the construction of Internet of Things applications, which can ultimately support the maturation of the smart-cities era. Popular platforms such as Raspberry Pi, BeagleBoard and Arduino come as single-board open-source platforms that have enough computational power for different types of smart-city applications, while keeping affordable prices and encompassing many programming libraries and useful hardware extensions. As a result, smart-city solutions based on such platforms are becoming common and the surveying of recent research in this area can support a better understanding of this scenario, as presented in this article. Moreover, discussions about the continuous developments in these platforms can also indicate promising perspectives when using these boards as key elements to build smart cities.

Software Engineering Practices to Improve Code Quality and Prepare for Validation

2010 ◽  
Author(s):  
Elijah Kerry
Keyword(s):  
High Performance ◽  
Performance Test ◽  
Product Recalls ◽  
Embedded Control ◽  
Control Applications ◽  
Monitoring Applications ◽  
Industrial Monitoring ◽  
Costly Product ◽  
Engineering Practices ◽  
Code Quality

Programmers creating mission-critical applications — embedded control applications, industrial monitoring applications, and high-performance test systems — cannot afford to introduce errors or uncertainty into the system. The stakes are especially high in medical applications, where failure can often lead to patient injury and costly product recalls.

scholarly journals A runtime stability analysis of clock synchronization precision on a time-triggered bus prototype

2009 ◽  
Vol 20 (1) ◽  
pp. 45-52
Author(s):  
Fabiano C. Carvalho ◽  
Carlos E. Pereira
Keyword(s):  
Stability Analysis ◽  
Distributed Systems ◽  
High Precision ◽  
Can Bus ◽  
Clock Synchronization ◽  
Time Base ◽  
Embedded Control ◽  
Control Applications ◽  
Synchronization Algorithm ◽  
Transmission Schedule

This paper provides a runtime stability analysis of the Daisy-Chain clock synchronization algorithm running over CASCA - a time-triggered extension of CAN bus. The main objective is to show with practical results how to achieve global time base of high precision and how this precision is affected by the modification of the TDMA transmission schedule. That contributes by providing some basic guidelines for the task of designing time-triggered, TDMA-based distributed systems for embedded control applications.

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