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 Video4LinuxThe Accompanying CD-ROM 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 AuthorWhat’s on the CD-ROM?1. IntroductionHistory of this Book and What You’ll Get From Reading ItTarget Readership and Required Skills and ToolsConventions Used in the Text2. Microcontrollers, Single-Board Computers and Development ToolsThe Division of LaborCandidate Microcontrollers for ‘Hard’ TasksThe Atmel AVR and its Development Hardware Up CloseCandidate x86-based SBCs for ‘Soft’ TasksThe Advantech PCM-5820 Single-Board Computer Up CloseSelecting an Inter-Module Communications Protocol3. Some Example Sensor, Actuator and Control Applications and Circuits (Hard Tasks)IntroductionE2BUS PC-Host InterfaceHost-To-Module Communications ProtocolStepper Motor ControllerSpeed-Controlled DC Motor with Tach Feedback and Thermal CutoffTwo-Axis Attitude Sensor using MEMS AccelerometerRS-422 – Compatible Indicator Panel4. The Linux-Based Controller (A Soft Task)A Brief Introduction to Embedding Linux on PC HardwareConfiguring the Development System and Creating Our Custom KernelThe Linux Boot Process – Creating a Bootable CompactFlash CardCreating a Root Filesystem for out Embedded SystemCreating a Bootable Linux System-Restore CD-ROM DiscUsing the Parallel Port as a General-Purpose I/O Interface in LinuxImplementing Graphical Control InterfacesInfra-Red Remote Control in Linux Using LIRCIntroduction to Machine Vision Using Video4LinuxCustomizing You BIOS – The Structure of a Modern BIOS5. Encryption and Data Security PrimerIntroductionClasses of AlgorithmProtecting One-Way Control Data StreamsProtecting One-Way TelemetryProtecting Bidirectional Control/Data StreamsProtecting Logged DataWhere to Obtain Encryption Algorithms6. Expecting the UnexpectedIntroductionDangerous Exception Conditions and Recovering From ThemOn-Chip vs. Off-Chip Watchdog HardwareGood Power-On Reset PracticesA Few Additional Considerations for Battery-Powered Applications7. Contents of the Enclosed CD-ROMIndex

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