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Open-Source Robotics and Process Control Cookbook

Designing and Building Robust, Dependable Real-time Systems

1st Edition - December 10, 2004

Author: Lewin Edwards

Paperback ISBN:

9 7 8 - 0 - 7 5 0 6 - 7 7 7 8 - 3

eBook ISBN:

9 7 8 - 0 - 0 8 - 0 4 7 9 8 1 - 1

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… Read more

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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

Dedication
About the Author
What’s on the CD-ROM?
Chapter 1: Introduction

1.1 History of this Book and What You’ll Get From Reading It
1.2 Target Readership and Required Skills and Tools
1.3 Conventions Used in the Text

Chapter 2: Microcontrollers, Single-Board Computers and Development Tools

2.1 The Division of Labor
2.2 Candidate Microcontrollers for ‘Hard’ Tasks
2.3 The Atmel AVR and its Development Hardware Up Close
2.4 Candidate x86-based SBCs for ‘Soft’ Tasks
2.5 The Advantech PCM-5820 Single-Board Computer Up Close
2.6 Selecting an Inter-Module Communications Protocol

Chapter 3: Some Example Sensor, Actuator and Control Applications and Circuits (Hard Tasks)

3.1 Introduction
3.2 E2BUS PC-Host Interface
3.3 Host-to-Module Communications Protocol
3.4 Stepper Motor Controller
3.5 Speed-Controlled DC Motor with Tach Feedback and Thermal Cutoff
3.6 Two-Axis Attitude Sensor using MEMS Accelerometer
3.7 RS-422–Compatible Indicator Panel

Chapter 4: The Linux-Based Controller (A Soft Task)

4.1 A Brief Introduction to Embedding Linux on PC Hardware
4.2 Configuring the Development System and Creating Our Custom Kernel
4.3 The Linux Boot Process–Creating a Bootable CompactFlash Card
4.4 Creating a Root Filesystem for our Embedded System
4.5 Creating a Bootable Linux System-Restore CD-ROM Disc
4.6 Using the Parallel Port as a General-Purpose I/O Interface in Linux
4.7 Implementing Graphical Control Interfaces
4.8 Infra-Red Remote Control in Linux Using LIRC
4.9 Introduction to Machine Vision Using Video4Linux
4.10 Customizing Your BIOS—The Structure of a Modern BIOS

Chapter 5: Encryption and Data Security Primer

5.1 Introduction
5.2 Classes of Algorithm
5.3 Protecting One-Way Control Data Streams
5.4 Protecting One-Way Telemetry
5.5 Protecting Bidirectional Control/Data Streams
5.6 Protecting Logged Data
5.7 Where to Obtain Encryption Algorithms

Chapter 6: Expecting the Unexpected

6.1 Introduction
6.2 Dangerous Exception Conditions and Recovering From Them
6.3 On-Chip vs. Off-Chip Watchdog Hardware
6.4 Good Power-On Reset Practices
6.5 A Few Additional Considerations for Battery-Powered Applications

Chapter 7: Contents of the Enclosed CD-ROM
Index