Verfügbarkeit: Embedded robotics | Technische Universität München

Embedded robotics: mobile robot design and applications with embedded systems ; with 24 tables

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Bibliographische Detailangaben
Beteilige Person:	Bräunl, Thomas (VerfasserIn)
Format:	Elektronisch E-Book
Sprache:	Englisch
Veröffentlicht:	Berlin [u.a.] Springer 2006
Ausgabe:	2. ed.
Schlagwörter:	Hardwareentwurf Reglerentwurf Autonomer Roboter Softwareentwicklung Lernendes System Fußball Mobiler Roboter Eingebettetes System Anwendung Sensortechnik
Links:	https://doi.org/10.1007/3-540-34319-9 https://doi.org/10.1007/3-540-34319-9 https://doi.org/10.1007/3-540-34319-9 https://doi.org/10.1007/3-540-34319-9 https://doi.org/10.1007/3-540-34319-9 https://doi.org/10.1007/3-540-34319-9 https://doi.org/10.1007/3-540-34319-9 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015568309&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
Beschreibung:	Literaturangaben
Umfang:	1 Online-Ressource (XIII, 458 S.) Ill., graph. Darst.
ISBN:	3540343180 9783540343189
DOI:	10.1007/3-540-34319-9

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Datensatz im Suchindex

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adam_text	Contents Part I: Embedded Systems 1 Robots and Controllers 3 1.1 Mobile Robots 4 1.2 Embedded Controllers 7 1.3 Interfaces 10 1.4 Operating System 13 1.5 References 15 2 Sensors 17 2.1 Sensor Categories 18 2.2 Binary Sensor 19 2.3 Analog versus Digital Sensors 19 2.4 Shaft Encoder 20 2.5 A/D Converter 22 2.6 Position Sensitive Device 23 2.7 Compass 25 2.8 Gyroscope, Accelerometer, Inclinometer 27 2.9 Digital Camera 30 2.10 References 38 3 Actuators 41 3.1 DC Motors 41 3.2 H Bridge 44 3.3 Pulse Width Modulation 46 3.4 Stepper Motors 48 3.5 Servos 49 3.6 References 50 4 Control 51 4.1 On Off Control .51 4.2 PID Control 56 4.3 Velocity Control and Position Control 62 4.4 Multiple Motors Driving Straight 63 4.5 V Omega Interface 66 4.6 References 68 5 Multitasking 69 5.1 Cooperative Multitasking 69 5.2 Preemptive Multitasking 71 5.3 Synchronization 73 5.4 Scheduling 77 5.5 Interrupts and Timer Activated Tasks 80 5.6 References 82 6 Wireless Communication 83 6.1 Communication Model 84 6.2 Messages 86 6.3 Fault Tolerant Self Configuration 87 6.4 User Interface and Remote Control 89 6.5 Sample Application Program 92 6.6 References 93 Part II: Mobile Robot Design 7 Driving Robots 97 7.1 Single Wheel Drive 97 7.2 Differential Drive 98 7.3 TrackedRobots 102 7.4 Synchro Drive 103 7.5 Ackermann Steering 105 7.6 Drive Kinematics 107 7.7 References Ill 8 Omni Directional Robots 113 8.1 Mecanum Wheels 113 8.2 Omni Directional Drive 115 8.3 Kinematics 117 8.4 Omni Directional Robot Design 118 8.5 Driving Program 119 8.6 References 120 9 Balancing Robots 123 9.1 Simulation 123 9.2 Inverted Pendulum Robot 124 9.3 Double Inverted Pendulum 128 9.4 References 129 10 Walking Robots 131 10.1 Six Legged Robot Design , 131 10.2 Biped Robot Design , 134 10.3 Sensors for Walking Robots . , .139 10.4 Static Balance , 140 10.5 Dynamic Balance 143 10.6 References 148 11 Autonomous Planes 151 11.1 Application 151 11.2 Control System and Sensors 154 11.3 FlightProgram 155 11.4 References 159 12 Autonomous Vessels and Underwater Vehicles 161 12.1 Application 161 12.2 Dynamic Model 163 12.3 AUVDesignMako 163 12.4 AUVDesignUSAL 167 12.5 References 170 13 Simulation Systems 171 13.1 Mobile Robot Simulation 171 13.2 EyeSim Simulation System 172 13.3 Multiple Robot Simulation 177 13.4 EyeSim Application 178 13.5 EyeSim Environment and Parameter Files 179 13.6 SubSim Simulation System 184 13.7 Actuator and Sensor Models 186 13.8 SubSim Application 188 13.9 SubSim Environment and Parameter Files 190 13.10 References 193 Part III: Mobile Robot Applications 14 Localization and Navigation 197 14.1 Localization 197 14.2 Probabilistic Localization 201 14.3 Coordinate Systems 205 14.4 Dijkstra s Algorithm 206 14.5 A* Algorithm 210 14.6 Potential Field Method 211 14.7 Wandering Standpoint Algorithm , 212 14.8 DistBug Algorithm 213 14.9 References 215 15 Maze Exploration 217 15.1 Micro Mouse Contest 217 15.2 Maze Exploration Algorithms 219 15.3 Simulated versus Real Maze Program 226 15.4 References 228 16 Map Generation 229 16.1 Mapping Algorithm 229 16.2 Data Representation 231 16.3 Boundary Following Algorithm 232 16.4 Algorithm Execution 233 16.5 Simulation Experiments 235 16.6 Robot Experiments 236 16.7 Results 239 16.8 References 240 17 Real Time Image Processing 243 17.1 Camera Interface 243 17.2 Auto Brightness 245 17.3 Edge Detection 246 17.4 Motion Detection 248 17.5 Color Space 249 17.6 Color Object Detection 251 17.7 Image Segmentation 256 17.8 Image Coordinates versus World Coordinates 258 17.9 References 260 18 Robot Soccer 263 18.1 RoboCup and FIRA Competitions 263 18.2 Team Structure 266 18.3 Mechanics and Actuators 267 18.4 Sensing 267 18.5 Image Processing 269 18.6 Trajectory Planning 271 18.7 References 276 19 Neural Networks 277 19.1 Neural Network Principles 277 19.2 Feed Forward Networks 278 19.3 Backpropagation 283 19.4 Neural Network Example 288 19.5 Neural Controller 289 19.6 References 290 20 Genetic Algorithms 291 20.1 Genetic Algorithm Principles 292 20.2 Genetic Operators 294 20.3 Applications to Robot Control 296 20.4 Example Evolution 297 20.5 Implementation of Genetic Algorithms 301 20.6 References 304 21 Genetic Programming 307 21.1 Concepts and Applications 307 21.2 Lisp 309 21.3 Genetic Operators 313 21.4 Evolution 315 21.5 Tracking Problem 316 21.6 Evolution of Tracking Behavior 319 21.7 References 323 22 Behavior Based Systems 325 22.1 Software Architecture 325 22.2 Behavior Based Robotics 326 22.3 Behavior Based Applications 329 22.4 Behavior Framework. 330 22.5 Adaptive Controller 333 22.6 Tracking Problem 337 22.7 Neural Network Controller 338 22.8 Experiments 340 22.9 References 342 23 Evolution of Walking Gaits 345 23.1 Splines 345 23.2 Control Algorithm 346 23.3 Incorporating Feedback 348 23.4 Controller Evolution 349 23.5 Controller Assessment 351 23.6 Evolved Gaits 352 23.7 References 355 24 Outlook 357 Appendices A Programming Tools 361 B RoBIOS Operating System 371 C Hardware Description Table 413 D Hardware Specification 429 E Laboratories 437 F Solutions 447 Index 451
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publisher	Springer
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spellingShingle	Bräunl, Thomas Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables Hardwareentwurf (DE-588)4159103-3 gnd Reglerentwurf (DE-588)4177447-4 gnd Autonomer Roboter (DE-588)4304075-5 gnd Softwareentwicklung (DE-588)4116522-6 gnd Lernendes System (DE-588)4120666-6 gnd Fußball (DE-588)4018968-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd Eingebettetes System (DE-588)4396978-1 gnd Anwendung (DE-588)4196864-5 gnd Sensortechnik (DE-588)4121663-5 gnd
subject_GND	(DE-588)4159103-3 (DE-588)4177447-4 (DE-588)4304075-5 (DE-588)4116522-6 (DE-588)4120666-6 (DE-588)4018968-5 (DE-588)4191911-7 (DE-588)4396978-1 (DE-588)4196864-5 (DE-588)4121663-5
title	Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables
title_auth	Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables
title_exact_search	Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables
title_full	Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables Thomas Bräunl
title_fullStr	Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables Thomas Bräunl
title_full_unstemmed	Embedded robotics mobile robot design and applications with embedded systems ; with 24 tables Thomas Bräunl
title_short	Embedded robotics
title_sort	embedded robotics mobile robot design and applications with embedded systems with 24 tables
title_sub	mobile robot design and applications with embedded systems ; with 24 tables
topic	Hardwareentwurf (DE-588)4159103-3 gnd Reglerentwurf (DE-588)4177447-4 gnd Autonomer Roboter (DE-588)4304075-5 gnd Softwareentwicklung (DE-588)4116522-6 gnd Lernendes System (DE-588)4120666-6 gnd Fußball (DE-588)4018968-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd Eingebettetes System (DE-588)4396978-1 gnd Anwendung (DE-588)4196864-5 gnd Sensortechnik (DE-588)4121663-5 gnd
topic_facet	Hardwareentwurf Reglerentwurf Autonomer Roboter Softwareentwicklung Lernendes System Fußball Mobiler Roboter Eingebettetes System Anwendung Sensortechnik
url	https://doi.org/10.1007/3-540-34319-9 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015568309&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT braunlthomas embeddedroboticsmobilerobotdesignandapplicationswithembeddedsystemswith24tables

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