Feedback Equivalence and Control of Mobile Robots Through a Scalable FPGA Architecture

Moustris, George P.; Deliparaschos, Kyriakos M.; Tzafestas, Spyros G.

doi:10.5772/26793

Cited by 9 publications

(4 citation statements)

References 40 publications

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“…[19]. The experimental results were obtained using the zero-order Takagi-Sugeno inference scheme combined with triangular membership functions with first degree adjacent overlap (see also Section 13.10).…”

Section: Tracking Methodologymentioning

confidence: 99%

Mobile Robot Control IV

Tzafestas

2014

Introduction to Mobile Robot Control

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Section: Tracking Methodologymentioning

confidence: 99%

Mobile Robot Control IV

Tzafestas

2014

Introduction to Mobile Robot Control

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“…It acts by inducing a strip decomposition on the x-y plane and then applying an affine map between them. It has been successfully applied to mobile robot tracking control since it reduces path tracking to straight line tracking [27,28] The map takes a polygonal line from the physical space, and maps it to the x c -axis in the canonical space. This fits well into the control as the reference manifold is extracted from the physical image and projected to the physical space as a collection of points, rather than a smooth curve.…”

Section: B Strip-wise Affine Mapmentioning

confidence: 99%

Enhancing surgical accuracy using virtual fixtures and motion compensation in robotic beating heart surgery

Moustris

Mantelos

Tzafestas

2013

21st Mediterranean Conference on Control and Automation

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This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using a trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.

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“…The process initiates with the model specifications and requirements, advances to a high level functional system model (Simulink model) and continues on converting it to fixed-point prior to FPGA implementation. Co-simulation of the RTL model side-by-side with the fixed-point Simulink model was performed using MATLAB's HDL verifier and Mentor's Modelsim simulator [17]. Moreover the implemented system on the FPGA chip was compared in real time using a cycle accurate Simulink model forming an FIL setup.…”

Section: B Fpga Design and Implementationmentioning

confidence: 99%

Optimised sensor selection for control: A Hardware-in-the-loop realization on FPGA for an EMS system

Deliparaschos

Michail

Tzafestas

et al. 2013

2013 Conference on Control and Fault-Tolerant Systems (SysTol)

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This paper presents a Hardware-in-the-loop (HIL) approach on a Field Programmable Gate Array (denoted as FPGA-in-the-loop and abbreviated as FIL) for the optimised sensor selection task of controlling a MAGnetic LEVitation (MAGLEV) system. A recently proposed systematic framework for optimised sensor selection for control and fault tolerance is developed in [1]. The framework was validated using realistic simulations on an electromagnetic suspension system. In this work, the sensor selection framework for control, and practical validation of the controller on FPGA (via HIL concept) applied on an electromagnetic suspension are considered.

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Feedback Equivalence and Control of Mobile Robots Through a Scalable FPGA Architecture

Cited by 9 publications

References 40 publications

Mobile Robot Control IV

Mobile Robot Control IV

Enhancing surgical accuracy using virtual fixtures and motion compensation in robotic beating heart surgery

Optimised sensor selection for control: A Hardware-in-the-loop realization on FPGA for an EMS system

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