Development of HELIOS IX: An Arm-Equipped Tracked Vehicle

2011 ◽  
Vol 23 (6) ◽  
pp. 1031-1040 ◽  
Author(s):  
Koji Ueda ◽  
◽  
Michele Guarnieri ◽  
Takao Inoh ◽  
Paulo Debenest ◽  
...  
Keyword(s):  
Remote Control ◽  
System Architecture ◽  
Mechanical Design ◽  
Urban Environments ◽  
Search And Rescue ◽  
Tracked Vehicle ◽  
Pass Through

We have been developing an arm-equipped, tracked vehicle, “HELIOS IX,” for search and rescue tasks in urban environments. HELIOS IX has to be operated by remote control to carry out several tasks, such as the opening of doors, negotiation of stairs, and handling of objects. In this paper, the mechanical design and the system architecture that satisfy the required specifications are described. Through experiments, it is verified that the robot can climb stairs smoothly by using a part of its arm as a sled, and it can open and pass through a door by utilizing the configuration of the vehicle.

A Novel Embedded System Architecture for Fire Detection Based on Image Processing

2014 ◽  
Vol 608-609 ◽  
pp. 454-458
Author(s):  
Wei Bai ◽  
Chen Yuan Hu
Keyword(s):  
Image Processing ◽  
Embedded System ◽  
System Architecture ◽  
Cooperative Control ◽  
Processing System ◽  
Fire Detection ◽  
System Level ◽  
High Definition ◽  
The Embedded System ◽  
Pass Through

This paper presents novel logic/software co-work architecture for embedded high definition image processing platform, which is built by the considerations of system level, board hardware level, and the tasks partition between CPU processing and programmable logic based on the latest launched System on Chip Field Programmable Gate Array (Soc FPGA) – Xilinx ZC7020. For this case, we comprehensive analyze of the critical data paths: the uniform Advanced Extensible Interface (AXI) processing between processing system (PS) and processing logic (PL), including high definition video pass through PL to PS and PS software processing send to PL for speed up. We have included the transplant of opensource Linux, multiprocessing cooperative control and boot loader in PS side. Since the general platform is proposed, a fire detection approach based on high definition image processing is implemented. Experiment results indicated the feasibility and universality of the embedded system architecture.

Real-time prediction of fall and collision of tracked vehicle for remote-control support

2010 ◽  
Author(s):  
Ken Sakurada ◽  
Shihoko Suzuki ◽  
Kazunori Ohno ◽  
Eijiro Takeuchi ◽  
Satoshi Tadokoro ◽  
...  
Keyword(s):  
Remote Control ◽  
Real Time ◽  
Tracked Vehicle ◽  
Time Prediction

Design of Remote Calibration System Oriented to Multiple Objects and Complex Requirements

2010 ◽  
Vol 139-141 ◽  
pp. 2097-2101
Author(s):  
Zhuo Kui Wu ◽  
Gui Xiong Liu ◽  
Xiao Bin Hong
Keyword(s):  
Remote Control ◽  
System Architecture ◽  
Object Oriented ◽  
Internet Access ◽  
Calibration System ◽  
Multiple Objects ◽  
Relation Model ◽  
Object Models ◽  
Theory And Experiment ◽  
Remote Calibration

According to the demands that calibration organizations need to calibrate various instruments and calibration requirements are complex, a kind of remote calibration system oriented to multiple objects and complex requirements is developed. The system architecture is designed. It’s based on B/S mode, and has the advantage that calibration operation can be done anywhere having Internet access. Then the requirement of remote control is realized. The objects and functions of the system are analyzed in detail, and the object models are built by using object-oriented idea and these models are realized by relation model whose related theories are mature. Then the operation commands can be defined flexibly and the problem that calibration requirements are complex is solved. The theory and experiment shows that the system can be used to calibrate various instruments, its operation command definition is flexible and calibration operation can be done anywhere having Internet access by using the system.

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