Open-Source Robotics and Process Control Cookbook book cover

Open-Source Robotics and Process Control Cookbook

Designing and Building Robust, Dependable Real-time Systems

In this practical reference, popular author Lewin Edwards shows how to develop robust, dependable real-time systems for robotics and other control applications, using open-source tools. It demonstrates efficient and low-cost embedded hardware and software design techniques, based on Linux as the development platform and operating system and the Atmel AVR as the primary microcontroller. The book provides comprehensive examples of sensor, actuator and control applications and circuits, along with source code for a number of projects. It walks the reader through the process of setting up the Linux-based controller, from creating a custom kernel to customizing the BIOS, to implementing graphical control interfaces.

Including detailed design information on:
· ESBUS PC-host interface
· Host-module communications protocol
· A speed-controlled DC motor with tach feedback and thermal cut-off
· A stepper motor controller
· A two-axis attitude sensor using a MEMS accelerometer
· Infrared remote control in Linux using LIRC
· Machine vision using Video4Linux

The Accompanying companion site contains a wealth of design materials, including:
· Full schematics and source code for the projects described
· Ready-made disk images for the miniature Linux distribution uses as the basis for the PC-side software
· Distribution archives of source code for all GNU software used, along with application-specific patches where appropriate
· A free version of the schematic capture and PCB CAD software used
· Atmel AVR Studio

Audience
Engineers, programmers, students and advanced hobbyists involved in robotics applications and/or process control system design. Embedded systems engineers interested in portions of thetechnology applicable to their designs (process control, sensor interfacing, etc.)

Paperback, 256 Pages

Published: December 2004

Imprint: Newnes

ISBN: 978-0-7506-7778-3

Contents

  • About the Author
    What’s on the companion site?
    1. Introduction
    History of this Book and What You’ll Get From Reading It
    Target Readership and Required Skills and Tools
    Conventions Used in the Text
    2. Microcontrollers, Single-Board Computers and Development Tools
    The Division of Labor
    Candidate Microcontrollers for ‘Hard’ Tasks
    The Atmel AVR and its Development Hardware Up Close
    Candidate x86-based SBCs for ‘Soft’ Tasks
    The Advantech PCM-5820 Single-Board Computer Up Close
    Selecting an Inter-Module Communications Protocol
    3. Some Example Sensor, Actuator and Control Applications and Circuits (Hard Tasks)
    Introduction
    E2BUS PC-Host Interface
    Host-To-Module Communications Protocol
    Stepper Motor Controller
    Speed-Controlled DC Motor with Tach Feedback and Thermal Cutoff
    Two-Axis Attitude Sensor using MEMS Accelerometer
    RS-422 - Compatible Indicator Panel
    4. The Linux-Based Controller (A Soft Task)
    A Brief Introduction to Embedding Linux on PC Hardware
    Configuring the Development System and Creating Our Custom Kernel
    The Linux Boot Process - Creating a Bootable CompactFlash Card
    Creating a Root Filesystem for out Embedded System
    Creating a Bootable Linux System-Restore CD-ROM Disc
    Using the Parallel Port as a General-Purpose I/O Interface in Linux
    Implementing Graphical Control Interfaces
    Infra-Red Remote Control in Linux Using LIRC
    Introduction to Machine Vision Using Video4Linux
    Customizing You BIOS - The Structure of a Modern BIOS
    5. Encryption and Data Security Primer
    Introduction
    Classes of Algorithm
    Protecting One-Way Control Data Streams
    Protecting One-Way Telemetry
    Protecting Bidirectional Control/Data Streams
    Protecting Logged Data
    Where to Obtain Encryption Algorithms
    6. Expecting the Unexpected
    Introduction
    Dangerous Exception Conditions and Recovering From Them
    On-Chip vs. Off-Chip Watchdog Hardware
    Good Power-On Reset Practices
    A Few Additional Considerations for Battery-Powered Applications
    7. Contents of the companion site

    Index

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