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Today's machine automation systems are demanding for better throughput, faster response, built in safety features and high speed communication support, besides satisfying IEC61131-3 control specification. MEMS sensors & actuators along with increased control logic complexities are stretching limits of conventional Programmable Logic controllers (PLCs) generally used for industrial and high end...
Reconfigurable hardware, and particularly field programmable gates arrays (FPGAs) allow the acceleration of digital control algorithm for mechatronic systems by exploiting their intrinsic parallelism. FPGAs also allow an efficient use of resources and flexible designs by using partial and dynamic reconfiguration. However, fully utilization of those benefits is often prevented by the necessary expertise...
A servo control IC for vertical articulated robot arm using SOPC (system-on-a-programmable-chip) technology is presented in this paper. The SOPC technology, developed by Altera Corporation, consists of a FPGA (field programmable gate array) and a Nios embedded processor. In this proposed servo control IC, there are two modules. One module performs the functions of the sequential control, the motion...
In this paper, we developed a performance-enhanced, stand-alone dexterous robot hand with effective mechanical structure and lightweight control hardware. In the context, the paper shows the design methodology of HIT/DLR dexterous robot hand II controller using FPGA (field programmable gate array). Lower level controller is implemented in an FPGA and higher level controller is implemented in a DSP...
Although digital controllers offer an obvious benefit to power electronic designers they are far from perfect. In some cases moving from an analog to digital controller just trades one set of design problems for another. Fixed-point controllers require work on the front end to determine scaling factors, and if the right debug tools are not available, then information about the system can be hidden...
A practical approach for on-line identification of power converter dynamic responses using low-cost digital hardware is presented. The development provides a first step towards adaptive power delivery in electronic systems and can be used for simple off-line controller design. A hardware efficient algorithm is derived and verified with experimental results using a 90 W forward converter with an FPGA-based...
This paper introduces a novel digital controller for low-power dc-dc switching converters that allows operation at very high constant switching frequencies and can be implemented with a simple hardware. The key components of the controller are new digital pulse-width modulator (DPWM), which is based on multi-bit sigma-delta (Sigma-Delta) concept, and a dual-sampling mode PID compensator. Depending...
System development in advanced FPGAs allows considerable flexibility, both during development and in production use. A mixed firmware/software solution allows the developer to choose what shall be done in firmware or software, and to make that decision late in the process. However, this flexibility comes at the cost of increased complexity. We have designed a modular development framework to help...
Microwave reflectometry is an important diagnostic to characterize the plasma electron density in fusion experiments. The broadband frequency swept microwave reflectometry system of the ASDEX upgrade tokamak covers the frequency range of 16 to 100 GHz. In order to fully exploit the diagnostic capabilities it is mandatory to upgrade the data acquisition and control system. It should comply with faster...
The need to control in real-time the plasma parameters in fusion devices leads to the development of algorithms requiring intensive computation and providing results on a few hundred microseconds. The present paper's objective was the implementation of the current filaments method (CF) to model in real-time the ISTTOK plasma shape and position. The hardware used was the on site developed PCI-TR-256...
A mobile robot navigation system must adapt to the highly dynamic environments and emergencies under the real-time constraints. Sometimes some sensors may not work well with new environments while others may need to swap in at runtime to continue the navigation. This paper presents an agent-based embedded system platform which can dynamically reconfigure the robot system on the fly by integrating...
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