Open-Source Robotics and Process Control Cookbook: Designing and Building Robust, Dependable Real-time Systems

內容描述

Description:

With recent powerful developments in processor and sensor technology,
robotics and the closely related field of process control systems are
experiencing rapid growth and attracting many new hardware and software
engineers. There is particular interest in using open source tools for these
applications, with many companies, universities and laboratories desiring to
build sophisticated systems without having to purchase an expensive real-time
operating system (RTOS). Practical, authoritative information on this subject
is scattered and difficult to find. In this comprehensive guide, experienced
embedded engineer and author Lewin Edwards demonstrates efficient and low-cost
open source design techniques, covering end-to-end robotic/process control
systems using Linux as the development platform (and also as the embedded
operating system), with extensive information on free compilers and other
tools. Specifically the book targets development of real-time physical system
controls using Atmel AVR microcontrollers communicating with Linux-based PCs
for overmonitoring. It also covers open-source tools for other controllers,
including MSP430, PIC and 8051. Code examples are given to provide concrete
illustrations of tasks described in the text. The accompanying CD-ROM contains
all the code used in the design examples as well as useful open-source tools
for robotics and process control system design.The book
includes:
schematics, PCB layouts and firmware source code for various sensors and
servo/stepper/propulsion motor controllers, with theory of operation text.
discussion of navigation mathematics (GPS) and example code and
circuits.
discussion of 3D attitude sensing using MEMS accelerometers.
techniques for designing reliable systems, including watchdogs, avoidance
of race conditions, and identifying when it's time to offload functionality
onto slave processors
documented sourcecode (with theory-of-operation) for sample overmonitoring
applications, both for testing the sensor/controller modules and for complete
process monitoring. (To take a trivial example, documenting how to build a
system that monitors four thermal sensors with onscreen thermometers, logs the
temperature over time, andemails a supervisor's pager if any of the
temperatures go out of range.)
a brief introduction to machine vision, including simple ways to capture
images,differentiating the image for edge detection, and simple shape
recognition.
 
Table of
Contents:

Introduction; Microcontrollers, Single-board computers and development
tools;Building Linux-based overmonitoring systems; Creating a custom slim
Linux distribution; Example Sensor and Control Applications; Designing for
System Robustness; Tying it all
together;