Date of Award

1-1-2010

Document Type

Thesis

Degree Name

M.S.

Department

Computer Engineering

First Advisor

Richard Voyles

Keywords

FPGAs, Hardware, RecoNode, Robot

Abstract

Urban search and rescue (USAR) robots can benefit from small size as it facilitates

movement in cramped quarters. Yet, small size limits actuator power, sensor payloads,

computational capacity and battery life. We are alleviating these issues by developing

the hardware and software infrastructure for high performance, heterogeneous,

dynamically-reconfigurable miniature USAR robots, as well as a host of other

relevant applications. In this thesis, a generic modular embedded system architecture

called RecoNode is proposed, which consists of a set of hardware and software

modules that can be configured to construct various types of robot systems for

dynamic and unforeseen changes in the USAR environment. While at run-time the

system can react to unexpected changes in configuration, such as nodes exhausting

their batteries or failure of sensors. These modules include a high performance

microprocessor supporting complete on board processing for autonomous control, a

reconfigurable hardware component, and diverse sensor and actuator interfaces. The

design of all the modules in electrical subsystem, we move motion control and serial

communication software to dedicated FPGA logic module, this way help system gain

performance by releasing CPU. The selection for module components, and the

real-time scheduler and operating system (OS) are described. The portable power

supply solution is also designed and tested out. Some preliminary experimental

verification and results are also presented.

Provenance

Recieved from ProQuest

Rights holder

Kang Li

File size

84 p.

File format

application/pdf

Language

en

Discipline

Computer engineering

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