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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
The Enhancement of a Multi-Terrain Mechatron for Autonomous Outdoor Applications
124
• Versatility: The selected development environment must be versatile with
respect to its interfacing and algorithm capabilities. Different types of
hardware connection and function access will be experienced during
development and the programming system must be capable of accessing these.
Examples include DAQ card accessibility, serial port, and support for USB
connected devices.
• High Level Intelligence: Future development will require the implementation
of high level control systems and artificial intelligence so the selected platform
must be capable of these. Examples of advanced algorithms include neural-
networks and genetic algorithms which allow the mechatron to learn and adapt
to its environment.
The following sub-sections describe some of the software development platforms
available and their suitability for this project with consideration given to the above
criteria.
5.1.1 LabVIEW
The application development environment LabVIEW from National Instruments is
specifically designed for data acquisition and instrument control. The primary
applications include test, measurement and data logging of data for display. Therefore
LabVIEW is a good development platform for systems utilizing data acquisition DAQ
hardware.
LabVIEW uses a graphical programming language developed by National
Instruments called 'G' (Figure 5.1). Programs are generated by using wires to link
together graphical block diagrams as opposed to lines of text in other languages. Each
block diagram contains a combination of data objects and function statements to
execute the desired operation. Programs containing blocks or groups of functions are
called virtual instruments (VI's), and can be used to mimic the functionality and
appearance of complete hardware instruments such as filters or analyzers.
- ABSTRACT 3
- ACKNOWLEDGEMENTS 5
- TABLE OF CONTENTS 7
- Table of Contents 11
- LIST OF FIGURES 13
- List of Figures 15
- LIST OF TABLES 19
- 1. INTRODUCTION 21
- 1.2 COMMERCIAL APPLICATIONS 22
- 1.3 PROJECT SPECIFICATIONS 23
- 1.4 PROJECT PLANNING 24
- 1.5 THESIS STRUCTURE 25
- 2. BACKGROUND 27
- 2.2.1 TALON™ 29
- 2.2.2 ACER 29
- Figure 2.3 ACER robot 30
- 2.2.4 PackBot 31
- 2.2.5 Urbie 31
- 2.2.5 Other robots 32
- 2.3 EXISTING PLATFORM 33
- 2.3.1 Drive Motors 34
- 2.3.2 Drive System Type 35
- Background 37
- 2.4 PROCESSOR ARCHITECTURE 40
- 2.4.1 Embedded Controller 41
- 2.4.2 FPGA 41
- 2.4.3 Handheld PC 41
- 2.4.4 Laptop Computer 41
- 2.4.5 Full Size PC 42
- 2.4.6 ShuttleX PC 42
- 2.4.7 Selected Architecture 42
- 2.5 ELECTRONICS POWER SUPPLY 43
- 2.6 BATTERY SELECTION 44
- 2.6.3 Battery Ratings 46
- 2.6.4 Selected Batteries 47
- 2.6.5 Charging Procedure 48
- 2.7 DATA ACQUISITION CARD 49
- 2.8.2 Onboard Video Camera 52
- 2.8.4 Electronic Compass 53
- 2.8.5 GPS Receiver 54
- 2.8.6 Inertial Sensor 55
- 2.8.7 Motor Drivers 55
- 3. MOTOR CONTROL 57
- 3.1.2 Possible Solutions 58
- Motor Control 59
- 3.2 EXISTING MOTOR DRIVERS 61
- 3.2.2 Co-operating Robots 62
- 3.3 GENERIC MOTOR DRIVERS 63
- 3.3.1 Project Outline 64
- 3.3.2 Hardware Components 65
- 3.3.3 Software Interface 67
- 3.3.4 Testing and Evaluation 68
- 3.3.5 Modifications 70
- PWM Frequency 71
- Shielding 72
- Smoothing Capacitors 72
- Ferrite Beads 72
- RFI Suppression Choke 73
- 3.3.6 Summary 74
- 3.4.1 MAXI Motor Driver Kit 76
- 3.4.2 MD03 and MD22 77
- 3.4.3 Tecel D200 78
- 3.4.4 MDM5253 79
- 3.4.5 RoboteQ AX2550 80
- 3.5 SELECTED MODULES 81
- 3.5.1 Features 82
- 3.5.2 Interfacing 84
- 3.5.3 Handheld Controller 86
- 3.5.4 Programming 86
- 3.5.5 Status Codes 88
- 3.5.6 Robot Mounting 89
- 3.6 Initial Interface Design 90
- 3.8 MICROCONTROLLER 95
- 3.8.1 Selected Controller 96
- 3.8.2 Power Supply 97
- 3.8.3 Memory Configuration 97
- 3.8.4 Programming 98
- 3.8.5 DAQ Card Interface 98
- 3.8.6 Motor Driver Interface 100
- 3.9 RADIO CONTROL 101
- 4. ELECTRONICS AND 103
- SENSORS 103
- 4.1.2 Hard Drive Support 104
- 4.2 POWER SYSTEM 105
- 4.2.1 Fuse Box 106
- 4.2.2 Wiring 106
- 4.2.3 Power Switch Panel 107
- 4.3 SENSOR OPTIONS 109
- 4.3.2 Positioning 110
- 4.3.2 Ranging 111
- 4.3.4 Other sensors 111
- 4.4 ELECTRONIC COMPASS 112
- KVH C100 Compass Engine 113
- Figure 4.10 KVH C100 114
- Handheld Units 115
- Honeywell HMR3000 115
- True North Revolution 116
- TruePoint Compass Module 116
- Electronics and Sensors 117
- 4.4.3 Selected Module 118
- 4.4.4 Interface Design 119
- 4.4.5 Mounting Enclosure 120
- 4.5 GPS 121
- 4.5.2 Receiver 123
- 4.6 ACCELEROMETER 124
- 4.6.1 Advantages 125
- 4.6.2 Device Specifications 125
- 4.6.3 Theory of Operation 126
- 4.6.4 Sensitivity 127
- 4.6.5 Interface Design 128
- 4.6.6 Measuring Tilt 129
- 4.7 SHAFT ENCODERS 130
- 4.8 INFRARED SENSORS 131
- 4.8.2 Sensor Response 132
- 4.8.3 Range Calculation 133
- Equation 4.2 134
- Equation 4.3 134
- 4.8.4 Mounting 135
- Tracked 137
- 4.10 ELECTRONICS ENCLOSURE 140
- 4.11 HARDWARE SUMMARY 141
- 5. SOFTWARE 143
- 5.1.1 LabVIEW 144
- 5.1.2 Visual C++ 145
- 5.1.3 Visual Basic 146
- 5.1.4 Java 147
- 5.1.5 MATLAB 148
- 5.1.6 Linux 148
- Software 149
- 5.2 WIRELESS NETWORK 150
- 5.2.1 Network Configuration 151
- 5.2.3 MATLAB Startup 151
- 5.3 DAQ CARD INTERFACE 152
- 5.3.2 NI-DAQmx Drivers 153
- C:\WINDOWS\system32 154
- 5.3.4 Channels and Tasks 156
- 5.3.5 Available Functions 157
- 5.3.6 MAX Studio 158
- 5.4 COMPASS INTERFACE 159
- 5.4.2 Connection 160
- 5.4.3 Data Collection 161
- 5.5 GPS INTERFACE 164
- 5.6.1 Rangefinders 166
- Weighted Mean 167
- Selected Method 168
- 5.6.2 Encoders 169
- 5.6.3 Accelerometer 170
- 5.6.4 Video Camera 171
- 5.7 SYSTEM CONFIGURATION 172
- 5.7.2 Persistent Variables 173
- 5.7.3 Low Level Control Loop 174
- 5.7.4 DAQ Safety Pulse 176
- 5.7.6 Data log Files 177
- 5.8 MECHATON CONTROL 178
- )()()( kKekuku + 179
- 5.8.2 Heading Control 180
- 5.8.3 Obstacle Avoidance 181
- 5.8.4 Navigation 181
- 5.9 MICROCONTROLER CODE 182
- 5.10 USER INTERFACE 186
- 5.10.1 GUIDE 187
- 5.10.2 TabPanels 188
- 6. RESULTS & CONCLUSION 193
- ) or changes 194
- 6.2 ACCELEROMETER 197
- 6.2.2 Collision Detection 198
- 6.2.3 Tilt Measurements 200
- Pitch Angle Comparison 201
- 6.3 ELECTRONIC COMPASS 202
- Time (s) 203
- Heading (deg) 203
- 6.4 GPS EVALUATION 204
- 6.4.2 Heading 205
- 6.4.3 Long Term GPS Response 206
- X StdDev = 2.8998m 208
- Y StdDev = 3.7542m 208
- DOP vs Tracked Satellites 209
- 6.5 ROBOT MOTION 210
- 6.5.1 Motor Operation 211
- 6.6 INITIAL FIELD TRIAL 213
- 6.7 TESTING OUTDOORS 215
- 6.8 FUTURE WORK 216
- 6.9 SUMMARY 217
- GLOSSARY 219
- REFERENCES 221
- APPENDIX A: CIRCUIT 223
- Motor Driver Interface 224
- DAQ Card Interface 224
- EMI Suppression Devices 224
- Power Indicator LED 225
- 6-15V DC 225
- A.4 GPS INTERFACE 226
- A.5 ACCELEROMETER BOARD 227
- APPENDIX B: CD CONTENTS 229
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