Robotic and Signal Processing Application and Manipulation Using Embedded Systems

hopefulrebelAI and Robotics

Nov 24, 2013 (3 years and 9 months ago)

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146

Robotic and Signal Processing Application and
Manipulation Using Embedded Systems


Stanley Onyewuchi
1

and Dr. James Carroll
2

Electrical Engineering


Embedded systems have eme
rged as a cost
-
effective way of

performing a user
-
defined
task
which involve hardw
are and mechanical parts that an everyday computer does not have the
capability to perform. Embedded systems range from the very simple, with only a single micro
-
processing chip, to the very complex, which can perform a range of functions within a particul
ar
set of fields.

Embedded systems are generally real
-
time hardware, and so their need to communicate directly
with the world is made feasible by using hardware tools known as peripherals, like the Universal
Serial Bus (USB), the Serial Communication Inter
faces (SCI), Timers, Discrete Input
-
Output, and
many others. Also, the software is designed using different types of programming languages
ranging from the compiled, like the VisualDSP++, to the graphical, like the LabVIEW
Embedded
, developed by National I
nstruments
.

The objective of our research
this summer
i
s to
run tests on two pieces of embedded
hardware, the Blackfin HandyBoard, developed by Prof. Fred Martin, UMass., Lowell with
assistance from Analog Devices, and the Analog Devices BlackFin Input
\
Out
put EZ
-
EXTENDER mounted on a Blackfin EZ
-
KIT LITE 537 motherboard for robotics and signal
processing in order to prepare for the junior lab in the fall semester.
The testing

of the
se

two
boards is unique because
the tests done on the HandyBoard

i
s the firs
t
done
using the latest
version of LabVIEW,
LabVIEW 8.2
.1
,
while the second board was first ever tested
, along with
Analog Devices engineers,

during this research.




1

Class of 2010
,
Electrical Engineering,
Freshmen Re
search for Honors Program, Poster

Presentation


2

Associate Professor, Department of Electrical and Co
mputer Engineering


147

The first step for the actualization of our goal was to install the necessary software
requi
red for proper interaction with the boards. These included the
VisualDSP++4.5,
LabVIEW

8.2.1, and the LabVIEW Embedded System for Blackfin Processors Ver.2.0. The installation
process had to follow a meticulous procedure for the communication with the boar
d to be made.
Once a session had been created, within the programming languages, with the board, the actual
running of code could begin. A series of test codes
were run on the boards, which were mounted
on specially created robots,
ranging from Analog
-
Digi
tal Conversion (ADC) and filter functions
to motor and servo control, accelerometer values,
start
\
stop button functions, and many more.

The research was plagued with several troubleshooting errors, mainly due to the
uniqueness and newness of the boards. Du
ring the course of the research, effective
communication between the engineers from Analog Devices, and National Instruments, and Prof.
Martin, and the research team, not only helped ease the testing process on our side, but more
importantly improved the C
larkson reputation within these organizations, as we brought to their
attention several bugs that needed to be fixed.

The research done this summer goes a long way in developing the coursework that will
make for an effective and complete understanding of
t
he various technicalities
lab over the course
of time that these particular boards, and other similar boards,
will be used for junior lab.

This research could not have been made possible without the pain
-
staking effort of Dr.
Carroll, whose schedule includ
ed at least two different workshops and other time
-
pressing
deadlines that needed to be met. The value he added to this research cannot be over
-
emphasized.


Onyewuchi Stanley onyewusi@clarkson.edu

Clarkson ‘10

Electrical Engineering

Honors Program

M
entored by Dr. James Carroll


148


References


LabVIEW for Everyone: Graphical Programming Made Easy and Fun (3
rd

Edition)
(National Instruments Virtual Instrumentation Series) (Hardcover) by Jeffrey Travis
(Author) and Jim Kring (Author)


Embedded Signal Proce
ssing with the Micro Signal Architecture (Hardcover) by Woon
-
Seng Gan (Author) and Sen M.Kuo (Author)