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The currently used hardware validation architectures for Application Specific Integrated Circuits intended for automotive Engine Control Unit development are reviewed and a new architecture is proposed. An alternative to hardware validation by different simulation architectures is proposed and analyzed.
This paper presents a SCORBOT-ER III type robotic arm which can be controlled only with an FPGA board. The robotic arm is an industrial/educational robotic arm which can execute a high number of tasks, but instead of a computer, only an FPGA development board is the control system. The robotic arm can be used also as a Sun tracker robotic arm. If the position of the sun in tracked the solar panel's...
In this experiment a system was made for measuring distances with stereo cameras using stereo triangulation. Optical distance measurement with video cameras is often used in robotic systems. Any type of robot can elegantly measure distances with optical methods using a stereo camera pair. The optical distance measurement algorithms can be used also for sun tracker robotic arms. The sun is tracked...
This paper presents an evaluation of web cameras used for distance measuring. The web cameras can measure distances optically. Two identical cameras are placed near each other forming a stereo camera system. This system can measure distances using stereo triangulation. The precision of the measurement can vary on many factors, but the key element is the quality of the camera. This paper deals with...
This work shows the control and detection in space of the SCORBOT-ER III industrial/educational robotic arm. The robotic arm has glued markers on the joints, which are distinguished using image processing techniques. These key points on the robotic arm are joined with lines, which are overlaid on the initial image. These lines fill in as direction for further mathematical calculations, which makes...
This experiment presents a robotic arm control in the 3D space using marker detection. The markers have different colors, and are placed at the joints of the robotic arm. The colored markers are distinguished with image recognition algorithm using stereo cameras. The control platform is an FPGA development board running Ubuntu Linux 12.04 LTS graphical operating system. There were two implementations...
This paper presents an overview of the Fault Simulation methods starting from the late 80's until present. In the following chapters a comparison is presented related to Fault Simulation in terms of Behavioral Models.
The goal of this paper is to introduce a method of improving the efficiency of a thermoelectric harvesting system by using advanced software algorithms. The harvesting system is based on thermoelectric generator modules and uses the Seebeck effect for producing electrical energy [1]. The system provides all the necessary mechanisms for obtaining the measurement data that will be passed as input to...
This paper presents the creation of a fight game. The whole game was created using Borland Pascal programming language and after it was finished it was ready to be ported on an FPGA. It was used the graph unit to draw all the parts of the fighters. The body parts of the fighters are quite complex, starting from circles to trapezoids. The fighters have also eyes and mouth. It was also made the functionality...
This paper presents the creation of mouse and display drivers on a single microchip. First it was created the mouse driver on PS/2 interface and after it was created the display driver on VGA port. The drivers were implemented in hardware using VHDL on an FPGA. After this they were converted from VHDL code to Verilog code using tools from Mentor Graphics, it was created the layout of the ASIC. After...
Brain-Computer Interface (BCI) is a device that allows direct communication path between central nervous system and external devices without peripheral nerves dependency. Brain-Computer Interface and its applications reached beyond medical applications, it is used to enhance, improve, restore or replace functions or it can be used as a research tool. Stakeholders of the field have developed future...
This paper present an overview of the Functional Simulation methods starting from the late 90's until present. In the following chapters the evolution of Functional Simulation methodology due to increasing design complexity is presented.
This paper presents a robotic arm control application on RS-232 serial interface. The control system of the robotic arm is an FPGA board with a command line Linux operating system installed. The operating system has the RS-232 driver, this way the system has to possibility to send SCPI commands to the robotic arm, this way controlling it. The whole system is an embedded system, where there is no need...
In this paper it will be presented a robotic arm joint recognition and control in space with cameras. The robotic arm is recognized in space and this way it can be controlled using the information from the cameras. The robotic arm's joints are recognized using a neural network which is trained with pattern matching in LabWindows/CVI with Vision Development Module. The pattern matching uses a previously...
The aim of this paper is to present a system powered by a Raspberry PI and an industrial robotic arm, which can execute numerous task in a factory. The used robotic arm and imaging devices are industrial type, but the control system it's a simple development microprocessor board. The robotic arm it's the SCORBOT-ER III and the imagining devices are IP cameras. The goal it's to demonstrate that even...
In this paper a robotic arm control, with color recognition, implemented on a Raspberry PI, will be presented. The Raspberry PI is a small super computer which is suitable for almost any embedded project. To the Raspberry PI is connected a Logitech C270 web camera or a TP-LINK TL-SC3230 IP camera and a USB to serial dongle which does the communication task. The camera pair films the robotic arm and...
This paper presents a method to recognize a robotic arm in space using the Hough circles method. The robotic arm has colored bottle stoppers glued at the joints, which are recognized with color filtering. After this step, the biggest colored spot is detected and marked using the Hough circle method. The joints are numbered, this way each joint's position is known. The joints can be united with lines...
The aim of this device is to create an UART (Universal Asynchronous Receiver/Transmitter) chip on FPGA (Field-Programmable Gate Array) to be able to control (embedded) devices which has a serial interface. In this situation the FPGA acts as mater and controls other slave devices. The challenge for this device is present in the fact for sending whole strings that can be interpreted by the slave device...
In this paper we shall present how we created the serial driver chip which can control the Lynxmotion AL5 type robotic arm. The hardest part was that we had to implement in FPGA the serial driver, but not the usual driver, which can communicate only an 8 bit word with the PC, but to send a whole ASCII string to another device. Most serial drivers on FPGA can respond with a certain character after...
EEG measurements are commonly used in medical applications, but thanks to increased processing power Brain Computer Interface (BCI), applications are becoming attractive research activities. Thanks to different medical imaging techniques most of brain functions have been reverse engineered. BCI provides new communication and control possibilities without peripheral nerves and muscles dependency. In...
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