A Modular Real-Time Fieldbus Architecture for Mobile Robotic Platforms

Saranlı, Uluç; Avci, A; Öztürk, Mehmet C.

doi:10.1109/tim.2010.2078351

Cited by 20 publications

(6 citation statements)

References 33 publications

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“…A hybrid acquisition-control system that constituted of a master board and some slave nodes based on microcontrollers is given in [11]. Here, the HS-USB link is used for interconnecting of PC104 standard COTS board and USB nodes.…”

Section: Related Workmentioning

confidence: 99%

Hi-Speed USB Based Middleware for Integration of Real-Time Systems with the Cloud

Augustyn

Maślanka

Hamuda

2016

International Journal of Distributed Sensor Networks

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An important aspect of realizations of the Internet of Things containing sophisticated sensors and actuators is their integration with the Cloud, by the use of a middleware. This integration results in handling streams of data produced by sensors as well as streams sent back to actuators. In cases for which both large streams and a short reaction time are required, a special real-time oriented approach is necessary to design and build an interconnecting middleware. This paper proposes a hybrid low-cost, low-power middleware architecture for handling and processing of sensor related data streams. It is based on two microprocessor boards interconnected by high speed USB link. Variants including three embedded hardware implementations of the proposed architecture, two software realizations (single and multithread ones), and two process scheduling algorithms have been examined to evaluate their real-time performances. Series of experiments have been performed in order to measure closed loop control times and sensor data streams achievable in practice. An outcome is presented and discussed in detail. Obtained results confirm that the proposed architecture can be applied as middleware to integrate such elements of Internet of Things as robots and similarly time-constrained systems with the Cloud. The results can serve as reference point in research and development of real-time middleware solutions.

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Section: Related Workmentioning

confidence: 99%

Hi-Speed USB Based Middleware for Integration of Real-Time Systems with the Cloud

Augustyn

Maślanka

Hamuda

2016

International Journal of Distributed Sensor Networks

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“…All computation is performed at the center of the planarizer with a Cool LiteRunner-LX800 PC104 single-board computer used for central control and the Universal Robot Bus architecture used for communication with peripheral units such as the motor amplifiers and encoder interfaces [28].…”

Section: A Robot Platformmentioning

confidence: 99%

Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template

2015

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Cataloged from PDF version of article.Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability of a number of such analytical predictors in the literature, their validation has mostly been done in simulation, and it is yet unclear how well they perform when applied to physical platforms. In this paper, we extend on one of the most recent approximations in the literature to ensure its accuracy and applicability to a physical monopedal platform. To this end, we present systematic experiments on a well-instrumented planar monopod robot, first to perform careful identification of system parameters and subsequently to assess predictor performance. Our results show that the approximate solutions to the spring-loaded inverted pendulum dynamics are capable of predicting physical robot position and velocity trajectories with average prediction errors of 2% and 7%, respectively. This predictive performance together with the simple analytic nature of the approximations shows their suitability as a basis for both state estimators and locomotion controllers. © 2004-2012 IEEE

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“…The development of the RHex robot was initially supported by a DARPA CBS/CBBS program and National Science Foundation grants. From this original project, different versions of the robot were designed in order to include new features, for example, to be water resistant (Rugged RHex [ 18 ], Shelly [ 18 ], AQUA [ 19 , 20 ]), to be used as a research platform (X-RHex [ 21 ], XRL [ 22 ], EduBOT [ 23 ], Sensor-RHex [ 24 ], MiniRHex [ 25 ]), and for work in desert environments (Desert RHex [ 26 ], SandBot [ 27 ]).…”

Section: Introductionmentioning

confidence: 99%

A Sensor Fusion Method for Pose Estimation of C-Legged Robots

León

Cebolla

Barrientos

2020

Sensors

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In this work the authors present a novel algorithm for estimating the odometry of “C” legged robots with compliant legs and an analysis to estimate the pose of the robot. Robots with “C” legs are an alternative to wheeled and tracked robots for overcoming obstacles that can be found in different scenarios like stairs, debris, etc. Therefore, this kind of robot has become very popular for its locomotion capabilities, but at this point these robots do not have developed algorithms to implement autonomous navigation. With that objective in mind, the authors present a novel algorithm using the encoders of the legs to improve the estimation of the robot localization together with other sensors. Odometry is necessary for using some algorithms like the Extended Kalman Filter, which is used for some autonomous navigation algorithms. Due to the flexible properties of the “C” legs and the localization of the rotational axis, obtaining the displacement at every step is not as trivial as in a wheeled robot; to solve those complexities, the algorithm presented in this work makes a linear approximation of the leg compressed instead of calculating in each iteration the mechanics of the leg using finite element analysis, so the calculus level is reduced. Furthermore, the algorithm was tested in simulations and with a real robot. The results obtained in the tests are promising and together with the algorithm and fusion sensor can be used to endow the robots with autonomous navigation.

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A Modular Real-Time Fieldbus Architecture for Mobile Robotic Platforms

Cited by 20 publications

References 33 publications

Hi-Speed USB Based Middleware for Integration of Real-Time Systems with the Cloud

Hi-Speed USB Based Middleware for Integration of Real-Time Systems with the Cloud

Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template

A Sensor Fusion Method for Pose Estimation of C-Legged Robots

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