Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems ; with 24 Tables

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Springer Science & Business Media, Jan 1, 2003 - Computers - 434 pages
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This book presents a unique combination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.

  

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Contents

Introduction
1
12 Embedded Controllers
5
13 Interfaces
8
14 References
11
PROGRAMMING TOOLS
13
23 Assembler
16
24 Debugging
18
25 Download and Upload
20
134 Static Balance
190
135 Dynamic Balance
193
136 References
198
Autonomous Planes
201
142 Control System and Sensors
204
143 Flight Program
205
144 References
209
EyeSim Simulator
211

26 References
21
RoBIOS OPERATING SYSTEM
23
32 Monitor Program
26
33 System Function and Device Driver Library
32
34 Hardware Description Table
34
35 Boot Procedure
38
36 References
39
Multitasking
41
42 Preemptive Multitasking
43
43 Synchronization
45
44 Scheduling
49
45 Interrupts and TimerActivated Tasks
52
46 References
54
Sensors
55
51 Sensor Categories
56
52 Binary Sensor
57
54 Shaft Encoder
58
55 AD Converter
60
57 Compass
63
58 Gyroscope Accelerometer Inclinometer
65
59 Digital Camera
68
510 References
79
Actuators
81
62 HBridge
84
63 Pulse Width Modulation
86
64 Stepper Motors
88
65 Servos
89
66 References
90
Control
91
72 PID Control
96
73 Velocity Control and Position Control
102
74 Multiple Motors Driving Straight
103
75 VOmega Interface
106
76 References
108
RealTime Image Processing
109
82 AutoBrightness
111
83 Edge Detection
112
84 Motion Detection
114
85 Color Space
115
86 Color Object Detection
117
87 Image Segmentation
122
88 Image Coordinates versus World Coordinates
124
89 References
126
Wireless Communication
129
92 Messages
132
93 FaultTolerant SelfConfiguration
133
94 User Interface and Remote Control
135
95 Sample Application Program
138
96 References
139
MOBILE ROBOT DESIGN
141
Driving Robots
143
103 Tracked Robots
146
104 SynchroDrive
147
105 Ackermann Steering
149
106 Model Cars as Robots
150
107 Localization
151
108 Navigation
156
109 Software Architecture
163
1010 References
164
OmniDirectional Robots
167
112 OmniDirectional Kinematics
168
113 OmniDirectional Robot Design
171
115 References
173
Balancing Robots
175
122 Inverted Pendulum Robot
176
123 Double Inverted Pendulum
179
124 References
180
Walking Robots
183
133 Sensors for Walking Robots
189
152 EyeSim User Interface
212
153 SensorActuator Modeling
214
154 Multiple Robot Simulation
216
155 Sample Application
217
156 Environment Representations
218
157 Parameter Files
221
158 References
225
MOBILE ROBOT APPLICATIONS
227
Maze Exploration
229
162 Maze Exploration Algorithms
231
163 Simulated vs Real Maze Program
237
164 References
238
Map Generation
239
172 Data Representation
241
173 BoundaryFollowing Algorithm
242
174 Algorithm Execution
243
175 Simulation Experiments
245
176 Physical Experiments
246
177 Results
249
178 References
250
Robot Soccer
253
182 Team Structure
256
183 Mechanics and Actuators
257
185 Image Processing
259
186 Trajectory Planning
261
187 References
266
Neural Networks
267
192 FeedForward Networks
268
193 Learning
273
194 Neural Controller
278
195 References
279
GENETIC ALGORITHMS
281
201 Genetic Algorithm Principles
282
202 Genetic Operators
284
204 Example Evolution
287
205 Implementation of Genetic Algorithms
291
206 References
294
Genetic Programming
297
212 Lisp
299
213 Genetic Operators
303
214 Evolution
305
215 Tracking Problem
306
216 Evolution of Tracking Behavior
308
217 References
314
BehaviorBased Systems
317
222 Behavior Framework
320
223 Adaptive Controller
323
224 Tracking Problem
327
225 Neural Network Controller
328
226 Experiments
330
227 References
332
Evolution of Walking Gaits
333
232 Control Algorithm
334
233 Incorporating Feedback
336
234 Controller Evolution
337
235 Controller Assessment
339
236 Evolved Gaits
340
237 References
343
Outlook
345
Appendices
347
Laboratories
349
Solutions
359
Hardware Design
363
RoBIOS Library
371
Hardware Description Table
399
Tips and Tricks
415
Index
421
Copyright

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About the author (2003)

BrAunl is Associate Professor at the University of Western Australia, Perth, where he founded and directs the Mobile Robot Lab and is also Director of the Centre for Intelligent Information Processing Systems (CIIPS). Professor BrAunl received a Diploma in Informatics in 1986 from Univ. Kaiserslautern, an MS in Computer Science in 1987 from the University of Southern California, Los Angeles, and a PhD and Habilitation in Informatics in 1989 and 1994, respectively, from Univ. Stuttgart. He has worked in the past for BASF and DaimlerChrysler and has founded a company for innovative mobile robot design. Professor BrAunla (TM)s research interests are robotics, vision, graphics, and concurrency. He is author of several research books and textbooks and has developed the EyeBot mobile robot family.

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