Sunday, July 31, 2011
AC Generator
In electricity generation, an electric generator is a device that converts mechanical energy to electrical energy. The reverse conversion of electrical energy into mechanical energy is done by a motor; motors and generators have many similarities.
Interactive Animation
PDA Robotics : Using your PDA to control Robot
1. Anatomy of a Personal Digital Assistant (PDA)
§ Beneath the Cover
§ The SA-1110: An Example of ARM Architecture
2. Robotic System Overview
§ Major Electronic Parts
§ Microchip MCP2150 IrDA Standard Protocol Stack Controller
§ Vishay TFDS4500 Serial Infrared Transceiver
§ PIC16F876 Microcontroller
§ L7805ACV Voltage Regulator (5 Volts)
§ L298 Dual Full-Bridge Driver
§ Sharp GP2D12 Infrared Range Finder
§ DYN2009635 20 MH and RXDMP49 11.0952 MHz “AT” Cut Quartz Crystal Oscillator
3. Tools and Equipment
§ Essential Tools and Equipment
§ Safety First
§ Where to Get Equipment
4. Infrared Communications Overview
§ Technical Summary of IrDA Data and IrDA Control
§ IrDA’s New Full Range of Digital Information Exchange via Cordless IR Connections
§ Optional IrDA Data Protocols
§ IrDA Control
§ Windows CE (Pocket PC) and IrDA
§ Communication Link Speeds
§ Communication Link Turnaround Times
§ SIR Coding
§ MIR Coding
§ FIR Coding
§ VFIR Coding
5. The Electronics
§ System Overview
§ Setting the Baud Rate
§ The MCP2150 Connection to the IR Transceiver
§ The MCP2150 Connection to the PIC16F876 Microcontroller
§ The Motor Controller Circuit
§ The Sharp GPD12 IR Range Finder
§ Component Descriptions
§ The Vishay TFDS4500
§ The Microchip MCP2150 Plug and Play IrDA
§ MCP2150 Applications: PDA Robot
§ Crystal Oscillator/Ceramic Resonators
§ Bit Clock
§ UART Interface
§ Baud Rate
§ Transmitting
§ Receiving
§ Modulation
§ Demodulation
§ Minimizing Power
§ Returning to Device Operation
§ Network Layering Reference Model
§ IrDA Data Protocols Supported by MCP2150
§ IRDA Standard Protocol Layers
§ PDA and PDA Robot Handshake: How Devices Connect
§ Normal Disconnect Mode (NDM)
§ Discovery Mode
§ Normal Connect Mode (NCM)
§ MCP2150 Operation
§ Optical Transceiver
§ Typical Optical Transceiver Circuit
§ MCP2150 Absolute Maximum Ratings
§ PIC16F876: PDA Robot’s Microcontroller
§ PORTA and the TRISA Register
§ PORTB and the TRISB Register
§ PORTC and the TRISC Register
§ The L298 Dual Full-Bridge Driver
§ (PDA Robot Motor Controller)
§ Description
§ The GP2D12 IR Range Finder
§ Connecting to the Sensor
§ Operation
§ Calibration
§ Ambient Light
§ IR Light
§ Laser Light
§ Operation
6. Building PDA Robot
§ Creating the Circuit Board
§ Positive Photofabrication Process Instructions
§ Parts Lists
§ Placing and Soldering the Main Board Components
§ Placing and Soldering the Motor Controller Components
§ The Infrared Transceiver
§ The Power Connectors
§ The Battery Packs
§ The IR Range Finder
§ Cutting the Aluminum Pieces and Drilling the Holes
§ Assembling the Geared Motors
§ The Ribbon Connectors
§ The Camera (Accessory) Mount
7. Programming the PIC16F876 Microcontroller
§ Software Installation
§ Hardware Installation
§ General Operation
§ EPIC for DOS
§ EPIC for Windows 95/98/ME/NT/2000/XP
§ EPICWin Controls
§ The PICmicro MCU Compiler
§ The Command Line Compiler
§ The Source Code
§ Program the PIC16F876
8. PDA Robot Palm OS Software Using Code Warrior 8.0
§ Creating the PDA Robot Project
9. PDA Robot Software for Pocket PC 2002 (Windows CE) 169
§ Microsoft eMbedded Visual C++ 3.0 Overview
§ Increased Developer Productivity
§ Simplified Debugging and Deployment
§ Comprehensive Access to the Windows CE Platform
§ Build for the Latest Windows CE Devices
§ Fast, Flexible Data Access
§ Building the PDA Robot Pocket PC Application
§ Creating the IrDA Link
§ The Wireless RF Link
§ CCeSocket::CCeSocket
§ Parameters
§ Remarks
§ OnWireless: Implementing the CPDASocket Class
10. The PDA Robotics Command Center 195
§ The Video Link
§ Motion Detection
§ Sending Data Using FTP
§ The Wireless Data Link
11. Infinitely Expandable
§ Global Positioning System
§ Pocket CoPilot 3.0 GPS Jacket Edition: PCP-V3-PAQJ2
§ The TeleType GPS
§ Symbol SPS 3000 Bar Code Scanner Expansion Pack
§ Sierra Wireless AirCard 555
§ Telesurgery
§ Operations of the Future
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Gradient of Scalar Fields
Plots gradients of sample scalar 2-coordinate fields. Three such fields are provided. The plot shows both the direction of the gradient field, and equi-potential (equal value) lines perpendicular to the field lines.
Divergence of Vector Fields
Plots divergence of sample vector fields. Three 2D vector fields are provided. The upper figure plots the vector field itself, and the bottom figure plots the divergence. Colors are used to emphasize heights: red is high, blue is low.
Embedded Robotics
PART I: EMBEDDED SYSTEMS
1 Robots and Controllers
1.1 Mobile Robots
1.2 Embedded Controllers
1.3 Interfaces
1.4 Operating System
1.5 References
2 Sensors
2.1 Sensor Categories
2.2 Binary Sensor
2.3 Analog versus Digital Sensors
2.4 Shaft Encoder
2.5 A/D Converter
2.6 Position Sensitive Device
2.7 Compass
2.8 Gyroscope, Accelerometer, Inclinometer
2.9 Digital Camera
2.10 References
3 Actuators
3.1 DC Motors
3.2 H-Bridge
3.3 Pulse Width Modulation
3.4 Stepper Motors
3.5 Servos
3.6 References
4 Control
4.1 On-Off Control
4.2 PID Control
4.3 Velocity Control and Position Control
4.4 Multiple Motors – Driving Straight
4.5 V-Omega
4.6 References
5 Multitasking
5.1 Cooperative Multitasking
5.2 Preemptive Multitasking
5.3 Synchronization
5.4 Scheduling
5.5 Interrupts and Timer-Activated Tasks
5.6 References
6 Wireless Communication
6.1 Communication Model
6.2 Messages
6.3 Fault-Tolerant Self-Configuration
6.4 User Interface and Remote Control
6.5 Sample Application Program
6.6 References
PART II: MOBILE ROBOT DESIGN
7 Driving Robots
7.1 Single Wheel Drive
7.2 Differential Drive
7.3 Tracked Robots
7.4 Synchro-Drive
7.5 Ackermann Steering
7.6 Drive Kinematics
7.7 References
8 Omni-Directional Robots
8.1 Mecanum Wheels
8.2 Omni-Directional Drive
8.3 Kinematics
8.4 Omni-Directional Robot Design
8.5 Driving Program
8.6 References
9 Balancing Robots
9.1 Simulation
9.2 Inverted Pendulum Robot
9.3 Double Inverted Pendulum
9.4 References
10 Walking Robots
10.1 Six-Legged Robot Design
10.2 Biped Robot Design
10.3 Sensors for Walking Robots
10.4 Static Balance
10.5 Dynamic Balance
10.6 References
11 Autonomous Planes
11.1 Application
11.2 Control System and Sensors
11.3 Flight Program
11.4 References
12 Autonomous Vessels and Underwater Vehicles
12.1 Application
12.2 Dynamic Model
12.3 AUV Design Mako
12.4 AUV Design USAL
12.5 References
13 Simulation Systems
13.1 Mobile Robot Simulation
13.2 EyeSim Simulation System
13.3 Multiple Robot Simulation
13.4 EyeSim Application
13.5 EyeSim Environment and Parameter Files
13.6 SubSim Simulation System
13.7 Actuator and Sensor Models
13.8 SubSim Application
13.9 SubSim Environment and Parameter Files
13.10 References
PART III: MOBILE ROBOT APPLICATIONS
14 Localization and Navigation
14.1 Localization
14.2 Probabilistic Localization
14.3 Coordinate Systems
14.4 Dijkstra’s Algorithm
14.5 A* Algorithm
14.6 Potential Field Method
14.7 Wandering Standpoint Algorithm
14.8 DistBug Algorithm
14.9 References
15 Maze Exploration
15.1 Micro Mouse Contest
15.2 Maze Exploration Algorithms
15.3 Simulated versus Real Maze Program
15.4 References
16 Map Generation
16.1 Mapping Algorithm
16.2 Data Representation
16.3 Boundary-Following Algorithm
16.4 Algorithm Execution
16.5 Simulation Experiments
16.6 Robot Experiments
16.7 Results
16.8 References
17 Real-Time Image Processing
17.1 Camera Interface
17.2 Auto-Brightness
17.3 Edge Detection
17.4 Motion Detection
17.5 Color Space
17.6 Color Object Detection
17.7 Image Segmentation
17.8 Image Coordinates versus World Coordinates
17.9 References
18 Robot Soccer
18.1 RoboCup and FIRA Competitions
18.2 Team Structure
18.3 Mechanics and Actuators
18.4 Sensing
18.5 Image Processing
18.6 Trajectory Planning
18.7 References
19 Neural Networks
19.1 Neural Network Principles
19.2 Feed-Forward Networks
19.3 Backpropagation
19.4 Neural Network Example
19.5 Neural Controller
19.6 References
20 Genetic Algorithms
20.1 Genetic Algorithm Principles
20.2 Genetic Operators
20.3 Applications to Robot Control
20.4 Example Evolution
20.5 Implementation of Genetic Algorithms
20.6 References
XI
21 Genetic Programming
21.1 Concepts and Applications
21.2 Lisp
21.3 Genetic Operators
21.4 Evolution
21.5 Tracking Problem
21.6 Evolution of Tracking Behavior
21.7 References
22 Behavior-Based Systems
22.1 Software Architecture
22.2 Behavior-Based Robotics
22.3 Behavior-Based Applications
22.4 Behavior Framework
22.5 Adaptive Controller
22.6 Tracking Problem
22.7 Neural Network Controller
22.8 Experiments
22.9 References
23 Evolution of Walking Gaits
23.1 Splines
23.2 Control Algorithm
23.3 Incorporating Feedback
23.4 Controller Evolution
23.5 Controller Assessment
23.6 Evolved Gaits
23.7 References
24 Outlook
APPENDICES
A Programming Tools
B RoBIOS Operating System
C Hardware Description Table
D Hardware Specification
E Laboratories
F Solutions
Full content : Springer - Embedded Robotics, 2nd Edition
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