Software Subsystem Behavioral Testing for Real-Time Embedded Controller Applications

2004 ◽  
Author(s):  
Doug Constance ◽  
Alexander N. Makris ◽  
Michael B. Wisbiski ◽  
Michael A. Kropinski ◽  
Michael A. Turley ◽  
...  
Keyword(s):  
Real Time ◽  
Behavioral Testing ◽  
Embedded Controller

IT Assembly Process Gripper Real-Time Embedded System Design

2017 ◽  
Vol 865 ◽  
pp. 463-467
Author(s):  
Sun Lim ◽  
Hak Sang Jung ◽  
Seung Yong Lee ◽  
Young Woo Park ◽  
Il Kyun Jung
Keyword(s):  
Embedded System ◽  
System Design ◽  
Real Time ◽  
Functional Ability ◽  
Robot Manipulator ◽  
Assembly Process ◽  
Robot Controller ◽  
Embedded Controller ◽  
Process Operation ◽  
Ethernet Interface

In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.

An Experimental Autonomous Path Tracking Mobile Robot

2009 ◽  
Vol 62-64 ◽  
pp. 181-186 ◽  
Author(s):  
Hasitha M. B. Senanayake ◽  
Olaitan Akinsanmi ◽  
Muhammed Bashir Mu’azu
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Optical Sensors ◽  
Low Cost ◽  
Path Tracking ◽  
Detection And Tracking ◽  
Embedded Controller ◽  
Important Notion ◽  
Path Detection

Autonomous Vehicular Navigation poses interesting challenges and, Automatically Guided Vehicle (AGV) Path Tracking presents an important notion in real-time Mechatronics applications. This paper describes the design of a Path Tracking Automatically Guided Vehicle that is capable of autonomously navigating a predefined path on a level navigating plane and, the designed AGV successfully completed a 3.42 meter test course in precisely 2 minutes 16 seconds. The AGV comprises a PIC16F84A microcontroller utilized as an embedded controller and, an array of Infrared reflective optical sensors to enable path detection and tracking. Among the primary objectives of the design that were achieved was to design the low-cost mobile robot from component parts sourced locally, from within Nigeria.

The Design of the Anti-Rolling Tank Control System Based on CAN-Bus

2013 ◽  
Vol 373-375 ◽  
pp. 1466-1471
Author(s):  
Xin Xin Chen ◽  
Kai Jiang ◽  
Ya Wei Tang
Keyword(s):  
Real Time ◽  
High Performance ◽  
Control Algorithm ◽  
Can Bus ◽  
High Strength ◽  
Real Time Control ◽  
Time Data ◽  
Time Control ◽  
Embedded Controller ◽  
Complex Algorithm

As the anti-rolling tank controller based on PLC is unable to fulfill the high strength of calculation of the automatic real-time control algorithm, which leads to the limitation of anti-rolling effect, this paper proposes a distributed embedded controller based on CAN bus communication. The controller uses a high-performance ARM chip as the main chip to meet the complex algorithm calculation requirements. For CAN bus communication between the distributed modules, the system is simple and reliable. Distributed embedded controller consists of the center controller, the IO controller and the communication adapter whose hardware design and software design are proposed in this paper, and achieves the acquisition of real-time data of ships status information and intelligent control algorithm. Through simulation and bench simulation experiments, the controller can achieves the excellent anti-rolling effect. The distributed controller architecture is simple and easy to expand and spread to various tonnages of real ships.

scholarly journals Micro controller based asymmetrical multilevel inverter

2019 ◽  
Vol 8 (1) ◽  
pp. 18
Author(s):  
Arun V. ◽  
Prabaharan N.
Keyword(s):  
Real Time ◽  
Output Voltage ◽  
Harmonic Distortion ◽  
Multilevel Inverter ◽  
Total Harmonic Distortion ◽  
Switching Scheme ◽  
High Quality ◽  
Multilevel Inverters ◽  
Switching Losses ◽  
Embedded Controller

This paper presents the Asymmetrical multilevel inverter with 1:3 voltage propagation. Switching pulse for Asymmetrical multilevel inverter are generated using embedded controller in m-file using MATLAB. The Asymmetrical multilevel inverter with 1:3 voltage propagation can produce high quality output voltage with less number of switches and voltage sources compare to conventional multilevel inverters. Contrasting other switching schemes, the proposed Switching scheme significantly reduces the Total Harmonic Distortion (THD) and minimize switching losses and reduces the complexity. To evaluate the developed scheme, simulations are carried out through MATLAB and real time implementations are done through microcontroller ARM Cortex™-M0 Core. The simulation and hardware results are presented.

scholarly journals Real-time Eco-Driving Control in Electrified Connected and Autonomous Vehicles Using Approximate Dynamic Programming

2021 ◽  
Author(s):  
Shreshta Rajakumar Deshpande ◽  
Shobhit Gupta ◽  
Abhishek Gupta ◽  
Marcello Canova
Keyword(s):  
Dynamic Programming ◽  
Real Time ◽  
Real World ◽  
Autonomous Vehicles ◽  
Energy Savings ◽  
Approximate Dynamic Programming ◽  
Connected Vehicle ◽  
Hybrid Powertrain ◽  
Embedded Controller ◽  
Hybrid Electric Powertrain

Abstract Connected and Automated Vehicles (CAVs), particularly those with a hybrid electric powertrain, have the potential to significantly improve vehicle energy savings in real-world driving conditions. In particular, the Eco-Driving problem seeks to design optimal speed and power usage profiles based on available information from connectivity and advanced mapping features to minimize the fuel consumption over an itinerary. This paper presents a hierarchical multi-layer Model Predictive Control (MPC) approach for improving the fuel economy of a 48V mild-hybrid powertrain in a connected vehicle environment. Approximate Dynamic Programming (ADP) is used to solve the Receding Horizon Optimal Control Problem (RHOCP), where the terminal cost for the RHOCP is approximated as the base-policy obtained from the long-term optimization. The controller was tested virtually (with deterministic and Monte Carlo simulation) across multiple real-world routes, demonstrating energy savings of more than 20%. The controller was then deployed on a test vehicle equipped with a rapid prototyping embedded controller. In-vehicle testing confirm the energy savings obtained in simulation and demonstrate the real-time ability of the controller.

A study of Kalman's filter in embedded controller for real-time quadrocopter roll and pitch measurement

2012 ◽  
Author(s):  
Noorfadzli Abdul Razak ◽  
Nor Hashim Mohd Arshad ◽  
Ramli Adnan ◽  
Mohamad Farid Misnan ◽  
Norashikin M. Thamrin ◽  
...  
Keyword(s):  
Real Time ◽  
Embedded Controller

Realizing a fault-tolerant embedded controller on distributed real-time systems

2013 ◽  
Vol 10 (4) ◽  
pp. 33-36
Author(s):  
Junsung Kim ◽  
Praful Puranik ◽  
Ragunathan (Raj) Rajkumar
Keyword(s):  
Real Time ◽  
Fault Tolerant ◽  
Real Time Systems ◽  
Embedded Controller ◽  
Time Systems
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