modular reusable embedded control architecture case of a
play

Modular & Reusable Embedded Control Architecture: Case of a - PowerPoint PPT Presentation

Jul 03, 2023 •324 likes •434 views

Centre de D veloppement des Technologies Avanc es Modular & Reusable Embedded Control Architecture: Case of a Car-like Robot N. Ouadah Robotics & Automation Dept. NCRM Team CDTA , Algeria ouadahn@yahoo.fr 2013 IEEE International

  1. Centre de D é veloppement des Technologies Avanc é es Modular & Reusable Embedded Control Architecture: Case of a Car-like Robot N. Ouadah Robotics & Automation Dept. NCRM Team CDTA , Algeria ouadahn@yahoo.fr 2013 IEEE International Conference on Robotics and Automation

  2. Modular & Reusable Embedded Control Architecture: case of a Car-like robot Illustration schématique 2013 IEEE International Conference on Robotics and Automation

  3. Modular & Reusable Embedded Control Architecture: case of a car-like robot Old Architecture Linux RTAI Computer - Limitations  : Robot Controller (Navigation, Shared Memory SynDEX 5.2 Localisation, …) • 01 embedded PC • Old OS Serial • No USB Camera CAN • No WIFI Odometry Odometry FR RR Laser • Small HD (<10 GO!) MPC555 MPC555 SF SR PTU • … FL RL US 2013 IEEE International Conference on Robotics and Automation

  4. Modular & Reusable Embedded Control Architecture: case of a car-like robot Proposed Solution Added Laptop (Genom, Qt) HRI Human/Robot interaction User Ethernet communication Sensors Information Actuators Instructions New On-Board PC (Syndex & C++) Robucar 2013 IEEE International Conference on Robotics and Automation

  5. Modular & Reusable Embedded Control Architecture: case of a car-like robot Proposed Solution - Hardware Sensors Embedded Actuators computers 2013 IEEE International Conference on Robotics and Automation

  6. Modular & Reusable Embedded Control Architecture: case of a car-like robot Modular & Reusable Embedded Control New Architecture Architecture: case of a car-like robot - Characteristics  : • 02 computers • Recent OSs • New low-level layer • Modular high-level layer • Use of a HRI • Accept new sensors • Advanced devices (WIFI, Bluetooth, …) • …

  7. Modular & Reusable Embedded Control Architecture: case of a car-like robot High-Level layer : Genom modules Navigation SLAM P na P sl TargDet VIAM P im P det Planning P pl ObsDet LMS VisuServ P obs P vs P lm P co Communication Control From Robot To Robot 2013 IEEE International Conference on Robotics and Automation

  8. Modular & Reusable Embedded Control Architecture: case of a car-like robot Example of robotic task - SLAM 2013 IEEE International Conference on Robotics and Automation

  9. Modular & Reusable Embedded Control Architecture: case of a car-like robot Conclusion & Perspectives • Proposed Architecture : – As generic as possible – Reusable and extensive • TODO : – Upgrading Genom to verison 3 – Adding ROS packages – … 2013 IEEE International Conference on Robotics and Automation

Recommend

Embedded PC The modular Industrial PC for mid-range control Embedded PC 1 Embedded OS

Embedded PC The modular Industrial PC for mid-range control Embedded PC 1 Embedded OS

Embedded PC The modular Industrial PC for mid-range control Embedded PC 1 Embedded OS Operating Systems Major differences Details XPE / CE Embedded PC 2 The Windows Embedded OS family The modular, real The modular, real- -time

611 views • 22 slides
Embedded PC The modular Industrial PC for mid-range control Stefan Hoppe 14.09.2007 1 Embedded

Embedded PC The modular Industrial PC for mid-range control Stefan Hoppe 14.09.2007 1 Embedded

Embedded PC The modular Industrial PC for mid-range control Stefan Hoppe 14.09.2007 1 Embedded Software - TwinCAT on embedded Systems - HMI solutions on embedded systems Software TwinCAT TwinCAT System TwinCAT in embedded Systemen

290 views • 26 slides
An Embedded Robotic Wheelchair Control Architecture with Reactive Navigations Design by:

An Embedded Robotic Wheelchair Control Architecture with Reactive Navigations Design by:

An Embedded Robotic Wheelchair Control Architecture with Reactive Navigations Design by: Chung-Hsien Kuo, Yao-Sheng Syu, Tsung-Chin Tsai and Ting- Shuo Chen Presentation by: Joshua Henderson 1 Motivation Lower costs of automated

266 views • 14 slides
A Generic Abstract Syntax Model for Embedded Languages Emil Axelsson Chalmers University of

A Generic Abstract Syntax Model for Embedded Languages Emil Axelsson Chalmers University of

A Generic Abstract Syntax Model for Embedded Languages Emil Axelsson Chalmers University of Technology ICFP 2012, Copenhagen Grand plan Grand plan Modular, reusable DSL implementations Premise DSL deeply embedded, compiled DSL let =

432 views • 30 slides
A Successful Example of a Layered Architecture Based Embedded Development with Ada 83 for

A Successful Example of a Layered Architecture Based Embedded Development with Ada 83 for

A Successful Example of a Layered Architecture Based Embedded Development with Ada 83 for Standard-Missile Control Kelly L. Spicer Raytheon Missile Systems Missile Software Engineering Center Tucson, Arizona 520-663-7020

755 views • 38 slides
Erlang and RTEMS Embedded Erlang, two case studies Peer Stritzinger Talk at Erlang Factory Light

Erlang and RTEMS Embedded Erlang, two case studies Peer Stritzinger Talk at Erlang Factory Light

Erlang and RTEMS Embedded Erlang, two case studies Peer Stritzinger Talk at Erlang Factory Light Munich 2013 Outline Case 1: Hydraprog-3, Reflashing system for Automotive &quot;Embedded Control Units&quot; (= ECUs) Big picture

448 views • 30 slides
EMBEDDED WIDGETS WITH EMBER.JS by Anton Katunin @antulik WHAT IS WIDGET In my case: your

EMBEDDED WIDGETS WITH EMBER.JS by Anton Katunin @antulik WHAT IS WIDGET In my case: your

EMBEDDED WIDGETS WITH EMBER.JS by Anton Katunin @antulik WHAT IS WIDGET In my case: your app which will be embedded on some website you dont have control of Your ember application next to other CSS and JS libraries and frameworks

305 views • 16 slides
On the issue of LQG embedded control realization in a Maglev system MED2017 Kyriakos M.

On the issue of LQG embedded control realization in a Maglev system MED2017 Kyriakos M.

Introduction Sensor selection and FIL LQG Architecture Results analysis Conclusions and Future works On the issue of LQG embedded control realization in a Maglev system MED2017 Kyriakos M. Deliparaschos 1 , Konstantinos Michail 2 ,

507 views • 15 slides
Galois Transformers and Modular Abstract Interpreters Reusable Metatheory for Program

Galois Transformers and Modular Abstract Interpreters Reusable Metatheory for Program

Galois Transformers and Modular Abstract Interpreters Reusable Metatheory for Program Analysis David Darais Matthew Might David Van Horn University of Maryland University of Utah University of Maryland Program Analysis 2 Program

890 views • 75 slides
MULTINATIONAL &amp; MULTILINGUAL REUSABLE E-COMMERCE ! PLATFORM CASE STUDY Maxime Topolov,

MULTINATIONAL &amp; MULTILINGUAL REUSABLE E-COMMERCE ! PLATFORM CASE STUDY Maxime Topolov,

MULTINATIONAL &amp; MULTILINGUAL REUSABLE E-COMMERCE ! PLATFORM CASE STUDY Maxime Topolov, @mtopolov ! CTO &amp; Co-Founder of @Adyax ! 6 years of Drupal pain :) ! One of the oldest perfume brands in the world, created in 1828.

1.01k views • 63 slides
Embedded Embedded Architecture Architecture Systems Systems Jakob Engblom, PhD Jakob

Embedded Embedded Architecture Architecture Systems Systems Jakob Engblom, PhD Jakob

Embedded Systems Systems Embedded Computer Computer Embedded Embedded Architecture Architecture Systems Systems Jakob Engblom, PhD Jakob Engblom, PhD Uppsala Unive University rsity &amp; Virtutech Inc. &amp; Virtutech Inc. Uppsala

601 views • 21 slides
Synthesis of Embedded Control Software Ufuk Topcu Caltech, Control and Dynamical Systems

Synthesis of Embedded Control Software Ufuk Topcu Caltech, Control and Dynamical Systems

Synthesis of Embedded Control Software Ufuk Topcu Caltech, Control and Dynamical Systems Papers, slides, notes, software tools at www.cds.caltech.edu/~UTopcu CMACS, CMU, Fall 2010 Synthesis of Embedded Control Software Joint work with N.

628 views • 52 slides
Principle of case control studies Part II Selection of case and control Recall bias

Principle of case control studies Part II Selection of case and control Recall bias

Principle of case control studies Part II Selection of case and control Recall bias Advantage and limitation of case control study Piyanit Tharmaphornpilas MD, MPH The I nternational Field Epidemiology Training Program, Thailand Who

607 views • 12 slides
Adaptive Embedded Systems Karl-Erik rzn Dept of Automatic Control Lund University Brussels

Adaptive Embedded Systems Karl-Erik rzn Dept of Automatic Control Lund University Brussels

Adaptive Embedded Systems Karl-Erik rzn Dept of Automatic Control Lund University Brussels Embedded Systems Seminar, 18-19 June, 2009 Outline Embedded System Trends Definitions Adaptivity and Control Reconfigurable hardware

1.6k views • 92 slides
Urdu and the Modular Architecture of ParGram Tina B ogel, Miriam Butt, Annette Hautli,

Urdu and the Modular Architecture of ParGram Tina B ogel, Miriam Butt, Annette Hautli,

Preview Introduction Overall Architecture Morphology Syntax Prosody Semantics Conclusion Urdu and the Modular Architecture of ParGram Tina B ogel, Miriam Butt, Annette Hautli, Sebastian Sulger Universit at Konstanz CLT 2009, Lahore

671 views • 16 slides
Lab 8 Fragments KUAN-TING LAI 2020/10/8 Fragments: Make It Modular Fragments:

Lab 8 Fragments KUAN-TING LAI 2020/10/8 Fragments: Make It Modular Fragments:

Lab 8 Fragments KUAN-TING LAI 2020/10/8 Fragments: Make It Modular Fragments: Reusable Components Develop a workout APP Griffiths et al. Head First Android Development: A Brain- Friendly Guide , O'Reilly Media, Chapter 9.

599 views • 35 slides
Platform &amp; Modular Design Development Of Subsystems and Interface Architecture Product

Platform &amp; Modular Design Development Of Subsystems and Interface Architecture Product

Platform &amp; Modular Design Development Of Subsystems and Interface Architecture Product Platform - Definition An Architecture of a set of Subsystems (Modules) and their Interfaces the Form a Common Structure from Which a Stream of

1.06k views • 44 slides
1 What is it Really? ARM Chips ARM Chips ARM Chips ARM Chips Typically an Embedded

1 What is it Really? ARM Chips ARM Chips ARM Chips ARM Chips Typically an Embedded

Overview Embedded Processors Why? Design Criteria Introduction to E mbedded Processors Architectural Options Example Architecture: ARM Instruction Set Architecture CSE 291E / EE260C ARM7 Spring 2002 ARM9

315 views • 7 slides
Towards MKM in the Large: Modular Representation and Scalable Software Architecture Michael

Towards MKM in the Large: Modular Representation and Scalable Software Architecture Michael

Towards MKM in the Large: Modular Representation and Scalable Software Architecture Michael Kohlhase, Florian Rabe, Vyacheslav Zholudev Jacobs University Bremen 1 Motivation Focus: computer-supported deduction, computation, representation

182 views • 17 slides
ModGrasp : an Open-Source Rapid-Prototyping Framework for Designing Low-Cost Sensorised Modular

ModGrasp : an Open-Source Rapid-Prototyping Framework for Designing Low-Cost Sensorised Modular

Introduction ModGrasp architecture and communication protocol Case study: a three-fingered modular manipulator Experimental results, conclusion and future work ModGrasp : an Open-Source Rapid-Prototyping Framework for Designing Low-Cost

185 views • 17 slides
Summary Exploring modular protein architecture

Summary Exploring modular protein architecture

Summary Exploring modular protein architecture http://www.embl.de/gibson/SeqAnal/dev/wiki/index.php/Training/EmpaJan2010.html Wiki of the group of Toby Gibson at the EMBL in Heidelberg providing a number of presentations, tutorials and examples

416 views • 5 slides
Formal methods for embedded software systems: Two problems Meenakshi DSouza IIIT-Bangalore.

Formal methods for embedded software systems: Two problems Meenakshi DSouza IIIT-Bangalore.

Embedded control S/W Program Analysis for Control Automation Verifying IoT protocols Formal methods for embedded software systems: Two problems Meenakshi DSouza IIIT-Bangalore. 24th January 2019. Embedded control S/W Program Analysis for

797 views • 50 slides
Verification of Parameterized Concurrent Programs By Modular Reasoning about Data and Control

Verification of Parameterized Concurrent Programs By Modular Reasoning about Data and Control

Verification of Parameterized Concurrent Programs By Modular Reasoning about Data and Control Zachary Kincaid Azadeh Farzan University of Toronto January 18, 2013 Z. Kincaid (U. Toronto) Modular Reasoning about Data and Control January 18,

751 views • 54 slides
Modular sensor architecture for automated agricultural data collection on the field ANDR C.

Modular sensor architecture for automated agricultural data collection on the field ANDR C.

Modular sensor architecture for automated agricultural data collection on the field ANDR C. HERNANDES, RAFAEL V. AROCA, DANIEL V. MAGALHES, MARCELO BECKER THE 3RD INTERNATIONAL ELECTRONIC CONFERENCE ON SENSORS AND APPLICATIONS (ECSA 2016)

355 views • 17 slides

More recommend