Efficient FPGA Realization of CORDIC With Application to Robotic Exploration

Vachhani, Leena; Sridharan, K.; Meher, Pramod Kumar

doi:10.1109/tie.2009.2026225

Cited by 36 publications

(21 citation statements)

References 17 publications

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“…Sensor-based construction of efficient geometric structures via the generalized Voronoi diagram (GVD) have been implemented with success in FPGAs for mobile robots [19][20]. In [21], a coarse-grain parallel deoxyribonucleic acid (PDNA) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm is presented.…”

Section: A Fpga-based Controllers For Embedded Industrial and Robotimentioning

confidence: 99%

FPGAs in Industrial Control Applications

Monmasson

Idkhajine

Cirstea

et al. 2011

IEEE Trans. Ind. Inf.

459

201

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-The aim of this paper is to review the state of the art of Field Programmable Gate Array (FPGA) technologies and their contribution in industrial control applications. Authors start by addressing various research fields where FPGAs are useful. The features of these devices are then presented followed by their corresponding design tools. To illustrate the benefit of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology which is also discussed. Another example of illustration is the Neural Network Systems. To show the interest of FPGAs in this field, some case studies have been presented.

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Section: A Fpga-based Controllers For Embedded Industrial and Robotimentioning

confidence: 99%

FPGAs in Industrial Control Applications

Monmasson

Idkhajine

Cirstea

et al. 2011

IEEE Trans. Ind. Inf.

459

201

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“…The trigonometric function calculation, such as atan is computed by using CORDIC (Coordinate Rotation Digital Computer) [21]. The implementation is based only on simple operations adders/subtractors and shifters.…”

Section: Computational Analysismentioning

confidence: 99%

A Study on the FPGA Implementation of the Bilateral Control Algorithm Towards Haptic Teleoperation

Franc¹,

Hace

2013

Automatika

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Original scientific paperThis paper presents the FPGA implementation of sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that was achieved by the FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the required control period as well as the required hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW using the fixed-point data type. Hence, short design times for producing the FPGA logic circuit can be achieved. The proposed FPGA-based bilateral teleoperation was validated by master-slave experimental device.Key words: Bilateral teleoperation, Haptics, FPGA, Sliding Mode Control Analiza FPGA implementacije bilateralnih algoritama upravljanja za dodirnu teleoperaciju. Ovaj rad opisuje FPGA implementaciju algoritama upravljanja kliznim režimima za bilateralnu teleoperaciju, pričemu je opisan problem haptičke teleoperacije. Prikazano istraživanje poboljšava dodirnu pouzdanost proširenjem upravljačkog propusnog pojasa. Za široki propusni pojas, potrebni su kratki upravljački periodi i brzo vrijeme uzorkovanja, što je postignuto primjenom FPGA sklopovlja. Prikazana metodologija za projektiranje FPGA sklopovlja koristi osnovne optimizacijske metode s ciljem postizanja potrebnih upravljačkih perioda i zahtijevane fizičke iskorištenosti sklopovlja. Specifikacije sklopovlja su provedene programskim jezikom visoke razine LabVIEW uz korištenje podataka s nepomičnim decimalnim zarezom. Stoga je moguće implementirati traženu logiku na FPGA sklopovlje u kratkom vremenu. Opisana bilateralna teleoperacija temeljena na FPGA slopovlju je testirana na eksperimentalnom postavu s nadre enim i podre enimčvorom.

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“…A CORDIC describes a method to perform a number of functions, including trigonometric, hyperbolic and, multiplication with the help of addition and shifting only. The algorithm is very much hardware efficient because it omits the dependence on multipliers and is rather a combination of shiftadd operations [9]. The CORDIC is a shift-and-add technique for computing a large class of mathematical functions in hardware.…”

Section: Cqrd_rls Algorithmmentioning

confidence: 99%

Matlab Simulation of Cordic based Adaptive Filtering for Noise Reduction using Sensors Array

Gupta¹,

Mehra²

2013

IJCA

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The process of suppressing noise and interference in any type of signal for transmission has created challenges in the area of digital signal processing. Apart from mobile communication devices, there are a huge number of applications, in which it is difficult to have a good acoustic interface for accurate voice control or smooth audio communication. So for this it is very essential to enhance the signal by removing its noise.For this a cordic based adaptive algorithm has been designed and simulated for digital signal processing. When the input signals statistics to the filter are time varying or unknown and the design requirements for fixed filters cannot easily be specified then adaptive filter is useful. Examples of such applications are system identification, channel, equalization /identification, noise reduction in digital signal processing. These algorithms are also used in case of beamforming. Array of sensors (microphones) play an important role in noise reduction and speech enhancement. In this paper a cordic based qrd_rls adaptive (CQR_RLS) algorithm is developed and simulated using MATLAB. Instead of taking signal from one sensor here array of sensor is used for signal as well as interference.Matlab simulation results are calculated and compared for different iteration. General TermsAdaptive algorithm, Matlab

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Efficient FPGA Realization of CORDIC With Application to Robotic Exploration

Cited by 36 publications

References 17 publications

FPGAs in Industrial Control Applications

FPGAs in Industrial Control Applications

A Study on the FPGA Implementation of the Bilateral Control Algorithm Towards Haptic Teleoperation

Matlab Simulation of Cordic based Adaptive Filtering for Noise Reduction using Sensors Array

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