Miniature robot BeBot: Mechatronic test platform for self-x properties

Gausemeier, Jürgen; Schierbaum, Thomas; Dumitrescu, Roman; Herbrechtsmeier, Stefan; Jungmann, Alexander

doi:10.1109/indin.2011.6034921

Cited by 6 publications

(3 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Embedded System: Miniature Robot BeBot. The BeBot is a miniature chain driven robot, which has been developed at the Heinz Nixdorf Institute of the University of Paderborn [5]. Despite its small size (approximately 9cm×9cm×8cm), it is equipped with modern technology such as an ARM Cortex-A8 CPU with a maximum frequency of 600 MHz accessing up to 256MB RAM of main memory for running an embedded Linux environment.…”

Section: Case Studymentioning

confidence: 99%

Combining Service-Oriented Computing with Embedded Systems - A Robotics Case Study

Jungmann

Jatzkowski

Kleinjohann

2017

System Level Design From HW/SW to Memory for Embedded Systems

Self Cite

View full text Add to dashboard Cite

In this paper, we introduce an approach for combining embedded systems with Service-oriented Computing techniques based on a concrete application scenario from the robotics domain. Our proposed Service-oriented Architecture allows for incorporating computational expensive functionality as services into a distributed computing environment. Furthermore, our framework facilitates a seamless integration of embedded systems such as robots as service providers into the computing environment. The entire communication is based on so-called recipes, which can be interpreted as autonomous messages that contain all necessary information for executing compositions of services.

show abstract

Section: Case Studymentioning

confidence: 99%

Combining Service-Oriented Computing with Embedded Systems - A Robotics Case Study

Jungmann

Jatzkowski

Kleinjohann

2017

System Level Design From HW/SW to Memory for Embedded Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…BeBot [11] is a sophisticated intelligent miniature robot, developed by the Heinz-Nixdorf Institute. Figure 1 shows a picture of a BeBot.…”

Section: Running Examplementioning

confidence: 99%

Generating Functional Mockup Units from Software Specifications

Pohlmann¹,

Schäfer²,

Reddehase³

et al. 2012

Linköping Electronic Conference Proceedings

View full text Add to dashboard Cite

This paper presents an approach to use the Functional Mockup Interface (FMI) for integration of classical controller specifications and statechartbased specifications of real-time critical message exchange protocols. The Functional Mockup Unit (FMU) is automatically generated from the specification. Using the generated FMU we are able to exploit simulation facilities as provided by Modelica/Dymola.

show abstract

“…Path planning or digital image processing algorithms are based on capable data processing. Those tasks are done through a decentralized micro-controller, a high-performance digital signal processor, and an optional re-configurable logical unit (Field Programmable Gate Array), among other characteristics [6].…”

Section: Introductionmentioning

confidence: 99%

Auto-Regression Model-Based Off-Line PID Controller Tuning: An Adaptive Strategy for DC Motor Control

et al. 2022

View full text Add to dashboard Cite

Brushed (B) and Brushless (BL) DC motors constitute the cornerstone of mechatronic systems regardless their sizes (including miniaturized), in which both position and speed control tasks require the application of sophisticated algorithms. This manuscript addresses the initial step using time series analysis to forecast Back EMF values, thereby enabling the elaboration of real-time adaptive fine-tuning strategies for PID controllers in such a control system design problem. An Auto-Regressive Moving Average (ARMA) model is developed to estimate the DC motor parameter, which evolves in time due to the system’s imperfection (i.e., unpredictable duty cycle) and influences the closed-loop performance. The methodology is executed offline; thus, it highlights the applicability of collected BDC motor measurements in time series analysis. The proposed method updates the PID controller gains based on the Simulink ™ controller tuning toolbox. The contribution of this approach is shown in a comparative study that indicates an opportunity to use time series analysis to forecast DC motor parameters, to re-tune PID controller gains, and to obtain similar performance under the same perturbation conditions. The research demonstrates the practical applicability of the proposed method for fine-tuning/re-tuning controllers in real-time. The results show the inclusion of the time series analysis to recalculate controller gains as an alternative for adaptive control.

show abstract

Miniature robot BeBot: Mechatronic test platform for self-x properties

Cited by 6 publications

References 4 publications

Combining Service-Oriented Computing with Embedded Systems - A Robotics Case Study

Combining Service-Oriented Computing with Embedded Systems - A Robotics Case Study

Generating Functional Mockup Units from Software Specifications

Auto-Regression Model-Based Off-Line PID Controller Tuning: An Adaptive Strategy for DC Motor Control

Contact Info

Product

Resources

About