Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics:
Gespeichert in:
| Beteilige Person: | |
|---|---|
| Format: | Hochschulschrift/Dissertation Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
Tönning ; Lübeck ; Marburg
<<Der>> Andere Verl.
2009
|
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020719053&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | XII, 232 S. Ill., zahlr. graph. Darst. |
| ISBN: | 9783899598919 |
Internformat
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| 245 | 1 | 0 | |a Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics |c Tim Köhler |
| 264 | 1 | |a Tönning ; Lübeck ; Marburg |b <<Der>> Andere Verl. |c 2009 | |
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Datensatz im Suchindex
| _version_ | 1819371626232283136 |
|---|---|
| adam_text | CONTENTS 1 INTRODUCTION 1 1.1 MOTIVATION 1 1.2 OUTLINE 3 2 APPROACHES
FOR IMPLEMENTING ROBOT VISION ALGORITHMS 5 2.1 OVERVIEW 5 2.2 FIELD
PROGRAMMABLE GATE ARRAYS 10 2.2.1 FPGA ALTERA STRATIX IIEP2S60 11 2.2.2
EDA SOFTWARE 15 3 TEST PLATFORMS 17 3.1 SMALL 3-DOF CRANE SETUP 17 3.2
GANTRY CRANE SETUP 19 3.3 MOBILE ROBOT PLATFORM 20 3.4 BALANCING MOBILE
ROBOT PLATFORM 22 3.4.1 MECHANICS 22 3.4.2 ELECTRONICS 25 3.4.3 SOFTWARE
26 4 HARDWARE-BASED, BIO-INSPIRED MOTION DETECTION 27 4.1 MODELS OF
INSECT MOTION DETECTION 28 4.1.1 INSECT VISUAL SYSTEM 28 4.1.2
ELEMENTARY MOTION DETECTORS 31 4.1.3 SIGNAL INTEGRATION 34 4.2 EMD
IMPLEMENTATIONS IN ROBOTICS 36 4.3 ANALOG EMD IMPLEMENTATION 38 4.3.1
ANALOG CONFIGURABLE HARDWARE 38 4.3.2 EVALUATION BOARD ANADIGMVORTEX
AN221D04 39 4.3.3 AN FPAA-BASED EMD IMPLEMENTATION 40 4.3.4 TESTS 42
4.3.5 DISCUSSION 45 IX BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/995846340 DIGITALISIERT DURCH 4.4 DIGITAL
IMPLEMENTATION OF AN EMD ARRAY 48 4.4.1 HARDWARE SETUP 49 4.4.1.1 FPGA
BOARD GIDEL PROC2S 50 4.4.1.2 PERIPHERAL BOARD 50 4.4.2 THE EMD ARRAY
DESIGN 53 4.4.3 EXPERIMENTS 61 4.4.3.1 I: LINEAR MOTION 62 4.4.3.2 II:
LOOMING DETECTION 99 4.4.3.3 III: COMPARISON OF DIFFERENT DETECTORS . .
. . 101 4.4.3.4 RV: LOOMING DETECTION ON A ROBOTIC PLATFORM 102 4.4.4
DISCUSSION 104 HARDWARE-BASED LOCAL NAVIGATION IN MOBILE ROBOTICS 107
5.1 LOCAL VISUAL HOMING METHODS 107 5.1.1 MODELS OF INSECT LOCAL VISUAL
HOMING 108 5.1.2 ALGORITHMS FOR LOCAL VISUAL HOMING 108 5.1.2.1
BLOCKMATCHING 112 5.1.2.2 IMAGE WARPING 117 5.2 FPGA-BASED
IMPLEMENTATIONS OF LOCAL NAVIGATION ALGORITHMS . 128 5.2.1 HARDWARE
SETUP 128 5.2.2 FPGA-BASED BLOCK MATCHING 131 5.2.2.1 IMPLEMENTATION 132
5.2.2.2 TESTS 143 5.2.2.3 DISCUSSION 154 5.2.3 FPGA-BASED IMAGE WARPING
158 5.2.3.1 IMPLEMENTATION 158 5.2.3.2 TESTRESULTS 171 5.2.3.3
DISCUSSION 178 DISCUSSION OF THE PROPOSED HARDWARE-BASED IMPLEMENTATIONS
181 CONCLUSIONS AND OUTLOOK 185 7.1 HARDWARE-BASED BIO-INSPIRED MOTION
DETECTION 185 7.2 HARDWARE-BASED LOCAL NAVIGATION 187 7.3 GENERAL
CONCLUSIONS 188 ANALOG AND MIXED-SIGNAL CONFIGURABLE HARDWARE 191 A.I
ANALOG CONFIGURABLE ICS 191 A. B MEASUREMENT OF THE GANTRY SETUP AND THE
CAMERA PARAMETERS 199 B.I MEASUREMENT METHOD AND DERIVATIONS 199 B.2
MEASURED VALUES AND RESULTS 202 B.3 CONCLUSION 206 C SCHEMATICS 207 C.I
EMD CAMERA CIRCUIT 207 C.2 LOCAL NAVIGATION CIRCUITS 219 BIBLIOGRAPHY
225 XI
|
| any_adam_object | 1 |
| author | Köhler, Tim |
| author_facet | Köhler, Tim |
| author_role | aut |
| author_sort | Köhler, Tim |
| author_variant | t k tk |
| building | Verbundindex |
| bvnumber | BV036802906 |
| classification_rvk | ZN 4904 |
| ctrlnum | (OCoLC)686764391 (DE-599)DNB995846340 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV036802906 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T14:42:26Z |
| institution | BVB |
| isbn | 9783899598919 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-020719053 |
| oclc_num | 686764391 |
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| owner | DE-83 DE-522 |
| owner_facet | DE-83 DE-522 |
| physical | XII, 232 S. Ill., zahlr. graph. Darst. |
| publishDate | 2009 |
| publishDateSearch | 2009 |
| publishDateSort | 2009 |
| publisher | <<Der>> Andere Verl. |
| record_format | marc |
| spellingShingle | Köhler, Tim Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics Maschinelles Sehen (DE-588)4129594-8 gnd Field programmable gate array (DE-588)4347749-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd Biologisches Modell (DE-588)4726968-6 gnd Bionik (DE-588)4006888-2 gnd |
| subject_GND | (DE-588)4129594-8 (DE-588)4347749-5 (DE-588)4191911-7 (DE-588)4726968-6 (DE-588)4006888-2 (DE-588)4113937-9 |
| title | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics |
| title_auth | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics |
| title_exact_search | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics |
| title_full | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics Tim Köhler |
| title_fullStr | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics Tim Köhler |
| title_full_unstemmed | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics Tim Köhler |
| title_short | Analog and digital hardware implementations of biologically inspired algorithms in mobile robotics |
| title_sort | analog and digital hardware implementations of biologically inspired algorithms in mobile robotics |
| topic | Maschinelles Sehen (DE-588)4129594-8 gnd Field programmable gate array (DE-588)4347749-5 gnd Mobiler Roboter (DE-588)4191911-7 gnd Biologisches Modell (DE-588)4726968-6 gnd Bionik (DE-588)4006888-2 gnd |
| topic_facet | Maschinelles Sehen Field programmable gate array Mobiler Roboter Biologisches Modell Bionik Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020719053&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT kohlertim analoganddigitalhardwareimplementationsofbiologicallyinspiredalgorithmsinmobilerobotics |