This document provides an overview of a wheelchair system created by multiple student teams. It describes the motivation to create a research platform wheelchair that can map an indoor space. It outlines the hardware and software architecture developed so far, including odometry, motor control, power management, and Ethernet and CAN bus communication. Issues addressed this semester included odometry errors, improving motor control, and designing a new central computer. Future work includes implementing SLAM for navigation and adding feedback control and security to the system.
Maximizing GIS Performance In Your Sleep
Describes how the SSP Nightly Batch Suite provides automated health and performance improvements to an Esri geodatabase, complete with automated reporting and other functionality.
Maximizing GIS Performance In Your Sleep
Describes how the SSP Nightly Batch Suite provides automated health and performance improvements to an Esri geodatabase, complete with automated reporting and other functionality.
Design and development of programmable controller for air sampling machineeSAT Journals
Abstract A programmable Controller is designed and developed for time pedestal controlling of Air Sampling Machine. The major purpose of the designed system is to reduce filter damage of Air Sampling Machine. The main function of the controller is to automatically switching the Air Sampling Machine with predefined On-Off time interval for 24 hours operation. This is a low cost system which is designed using locally available components and user friendly. The controlling operation is maintained by ATMEL AT89C52 microcontroller. A programmable real time clock PCF8583 is used to produce timing control signal for automatic switching of the Air Sampling Machine. Control signals generated by real time clock operate opto-isolator and an electromechanical relay for switching the Air Sampling Machine. EEPROM (M24C64) is used to store necessary data. The instruction firmware for the designed controller has been developed in BASIC platform using BASCOM-8051 software. The designed system is functioning properly and serving the purpose of the design. Keywords: Programmable Controller, AT89C52 microcontroller, RTC, EEPROM, I2C Protocol, BASCOM-8051 IDE
UFM Downtown San Francisco – Managing Underground Electric Assets in Densely ...UDC
Esri GeoConX 2016 White Paper Presentation by Hamid Akhavan of UDC Inc. and Robert Smith of Pacific Gas & Electric.
In 2015, PG&E deployed an Esri/ArcFM based solution for managing underground electric facilities across the downtown San Francisco area. The data density presented unique challenges in automating the workflows to maintain data accuracy, coherent annotation and legible views of the data. This presentation explores the complexities encountered and how they were overcome to provide an effective underground facilities management solution.
“Lower OPEX and Improved Service Availability Using Intelligent Nodes and Amplifiers” by Pasi Järvenpää, Senior Vice President, R&D, Teleste Corporation. Increased competition and changes in the value chain are forcing CATV operators to seek new ways to improve operational efficiency and reduce churn. These issues can be addressed by adding intelligence to the network. Adding intelligence to the network can significantly reduce the need for on-site maintenance and improve network reliability - contributing to reduced operating costs.
Presentation for unit V in Mechatronics excluding case study. Stepper motor, servo motor, design procedure, Traditional and Mechatronic design approach
The batteries used in electric and hybrid vehicles
consists of several cells with voltages between 3.6V battery and
4.2 V in series or parallel combinations of configurations for
obtaining the necessary available voltages in the operation of a
hybrid electric vehicle. How malfunction of a single cell affects
the behavior of the entire battery pack, BMS main function is to
protect individual cells against over-discharge, overload or
overheating. This is done by correct balancing of the cells. In
addition BMS estimates the battery charge status
ROLE OF DIGITAL SIMULATION IN CONFIGURING NETWORK PARAMETERSDeepak Shankar
Selecting the right Ethernet standard and configuring all the network devices in the embedded systems accurately is an extremely hard and rigorous job. The configuration depends on the topology, workloads of the connected devices, processing overhead at the switches, and the external interfaces. Network calculus, mathematical models and analytical techniques provide worst case execution time (WCET), but their probability of activity is extremely wide. This leads to overdesign which leads to higher costs, power consumption, weight, and size. Simulating the network is the best way to measure the throughput of the entire system. Digital system simulation provides better latency and throughput accuracy, but the accuracy is still limited because it does not consider the latency associated with the network OS, cybersecurity processing and scheduling. In many cases, these factors can reduce the throughput by 20-40%.
In this paper, we will present our research on modeling the entire Ethernet network, including the workloads, network flow control, scheduling, switch hardware, and software. To substantially increase the coverage and compare topologies, we have developed a set of benchmarks that provides coverage for different combination of deterministic, rate-constrained, and best effort traffic. During the presentation, we will cover the benchmarks, the list of attributes required to accurately model the traffic, nodes, switches, and the scheduler settings. We will also look at the statistics and reports required to make the configuration decision. In addition, we will discuss how the model must be constructed to study the impact of future requirements, failures, network intrusions, and security detection schemes.
Key Takeaways:
1. Learn how to efficiently use network simulation to design Ethernet systems
2. Develop a reusable benchmark and associated statistics to test different configurations
3. The role and impact of the CDT slots, guard band, send slope, idle slope, shuffle scheduling, flow control and virtual channels
Design and development of programmable controller for air sampling machineeSAT Journals
Abstract A programmable Controller is designed and developed for time pedestal controlling of Air Sampling Machine. The major purpose of the designed system is to reduce filter damage of Air Sampling Machine. The main function of the controller is to automatically switching the Air Sampling Machine with predefined On-Off time interval for 24 hours operation. This is a low cost system which is designed using locally available components and user friendly. The controlling operation is maintained by ATMEL AT89C52 microcontroller. A programmable real time clock PCF8583 is used to produce timing control signal for automatic switching of the Air Sampling Machine. Control signals generated by real time clock operate opto-isolator and an electromechanical relay for switching the Air Sampling Machine. EEPROM (M24C64) is used to store necessary data. The instruction firmware for the designed controller has been developed in BASIC platform using BASCOM-8051 software. The designed system is functioning properly and serving the purpose of the design. Keywords: Programmable Controller, AT89C52 microcontroller, RTC, EEPROM, I2C Protocol, BASCOM-8051 IDE
UFM Downtown San Francisco – Managing Underground Electric Assets in Densely ...UDC
Esri GeoConX 2016 White Paper Presentation by Hamid Akhavan of UDC Inc. and Robert Smith of Pacific Gas & Electric.
In 2015, PG&E deployed an Esri/ArcFM based solution for managing underground electric facilities across the downtown San Francisco area. The data density presented unique challenges in automating the workflows to maintain data accuracy, coherent annotation and legible views of the data. This presentation explores the complexities encountered and how they were overcome to provide an effective underground facilities management solution.
“Lower OPEX and Improved Service Availability Using Intelligent Nodes and Amplifiers” by Pasi Järvenpää, Senior Vice President, R&D, Teleste Corporation. Increased competition and changes in the value chain are forcing CATV operators to seek new ways to improve operational efficiency and reduce churn. These issues can be addressed by adding intelligence to the network. Adding intelligence to the network can significantly reduce the need for on-site maintenance and improve network reliability - contributing to reduced operating costs.
Presentation for unit V in Mechatronics excluding case study. Stepper motor, servo motor, design procedure, Traditional and Mechatronic design approach
The batteries used in electric and hybrid vehicles
consists of several cells with voltages between 3.6V battery and
4.2 V in series or parallel combinations of configurations for
obtaining the necessary available voltages in the operation of a
hybrid electric vehicle. How malfunction of a single cell affects
the behavior of the entire battery pack, BMS main function is to
protect individual cells against over-discharge, overload or
overheating. This is done by correct balancing of the cells. In
addition BMS estimates the battery charge status
ROLE OF DIGITAL SIMULATION IN CONFIGURING NETWORK PARAMETERSDeepak Shankar
Selecting the right Ethernet standard and configuring all the network devices in the embedded systems accurately is an extremely hard and rigorous job. The configuration depends on the topology, workloads of the connected devices, processing overhead at the switches, and the external interfaces. Network calculus, mathematical models and analytical techniques provide worst case execution time (WCET), but their probability of activity is extremely wide. This leads to overdesign which leads to higher costs, power consumption, weight, and size. Simulating the network is the best way to measure the throughput of the entire system. Digital system simulation provides better latency and throughput accuracy, but the accuracy is still limited because it does not consider the latency associated with the network OS, cybersecurity processing and scheduling. In many cases, these factors can reduce the throughput by 20-40%.
In this paper, we will present our research on modeling the entire Ethernet network, including the workloads, network flow control, scheduling, switch hardware, and software. To substantially increase the coverage and compare topologies, we have developed a set of benchmarks that provides coverage for different combination of deterministic, rate-constrained, and best effort traffic. During the presentation, we will cover the benchmarks, the list of attributes required to accurately model the traffic, nodes, switches, and the scheduler settings. We will also look at the statistics and reports required to make the configuration decision. In addition, we will discuss how the model must be constructed to study the impact of future requirements, failures, network intrusions, and security detection schemes.
Key Takeaways:
1. Learn how to efficiently use network simulation to design Ethernet systems
2. Develop a reusable benchmark and associated statistics to test different configurations
3. The role and impact of the CDT slots, guard band, send slope, idle slope, shuffle scheduling, flow control and virtual channels
Evaluating UCIe based multi-die SoC to meet timing and power Deepak Shankar
Multi-die designs allow systems engineering to pack more functionality with different timing and power constraints into a single package. Older generation multi-die split the dies into high-speed and low speed. Newer, high-performance multi-die System-on-Chip (SoC) requires interaction between memories across the die-to-die interfaces. Connections between dies must be power efficient, have low latency, provide high bandwidth to transfer massive amounts of data, and deliver error-free operation. The distribution of cores, deep neural networks and AI engines across these dies makes it extremely hard to predict the expected end-to-end latency, power spikes and effective bandwidth. Moreover, Multi-die architectures have evolved from proprietary to industry standard UCIe.
This Webinar looks at the system-wide view of performance and power in a multi-die SOC. We will be showcasing a few use cases that combines various types of processing engines across PCIe and interconnected UCIe. This modeling effort will present the user with different system performance and system architecture models and a guide on how to best bring different aspects of their design together in a holistic way that is optimized for power, timing and functionality.
During the Webinar, users can follow along using VisualSim Cloud. To get started with VisualSim Cloud, users can register and receive a login at https://www.mirabilisdesign.com/visualsim-cloud-login/. Once you receive the login, follow the instructions, and open the models provided in the Template pull-down. More instructions will be provided at the start of the Webinar.
The designed SCADA software system ensured remote monitoring of the positions and advanced system health conditions of all the solar tracking systems to provide data analytics and reporting. This SCADA solution was designed and developed toco-exist in a remote system that will continuously monitor multiple fields consisting of several masters and their respective slave trackers.
Kent Melville and Annie Wise from Inductive Automation, and water/wastewater controls professionals Henry Palechek and Jason Hamlin, cover 10 steps for building a sustainable SCADA system that survives and even thrives using only your operational expenditure budget.
You'll learn about:
• What type of hardware and operating systems to use
• Utilizing smart devices and MQTT
• The advantages of server-centric architecture and web-based deployment
• Rapid development with templates and UDTs
• Powerful alarming and reporting tools
• And more
Kent Melville and Annie Wise from Inductive Automation, and water/wastewater controls professionals Henry Palechek and Jason Hamlin, cover 10 steps for building a sustainable SCADA system that survives and even thrives using only your operational expenditure budget.
You'll learn about:
• What type of hardware and operating systems to use
• Utilizing smart devices and MQTT
• The advantages of server-centric architecture and web-based deployment
• Rapid development with templates and UDTs
• Powerful alarming and reporting tools
• And more
Embedded system is a combination of computer hardware and software.It may or not be programmable, depending on the application.technology development and use of an internet of things to upgrade to next version of embedded systems.
Similar to VIP - Wheelchair Project Final Presentation (20)
3. Content
•Green bars at bottom of slides indicates work done by the
Spring 2016 VIP team
•Orange bars at bottom of slides indicates work done by the
Fall 2015 VIP team
•Blue bars at bottom of slides indicates work done by the
Spring 2015 VIP team
4. Motivation
•This project is intended to create a research platform
•The goal of this project is to create a wheelchair that can map
a floor of the TSRB building, while using CAN bus
•The use of a CAN Bus allows other peripheral devices to be
integrated onto the system
5. Background
• Results from prior research teams:
• LIDAR interfaced to system
• Odometry data from Arduinos interfaced with Central
Computer
• Wheelchair motor control established
• CAN Bus set up
8. Subgroups
• Due to increased size of team, 3 main subgroups were formed
to tackle different issues
• This allowed multiple issues to be tackled at once
• When needed assistance was provided by members in other
subgroups
Odometry
Graham
Jack
Karvin
Driving
Siyan
Wes
Hardware Architecture
Dan
Graham
9. Semester Goals
• Goals:
• Solve odometry issues
• Implement SLAM
• CAN data packet design
• Create more sophisticated motor control system
• Shift CAN Bus control to central computer
10. ROS Topic Overview
• Initial redesign of ROS structure separated every operation,
giving access to any data easy for potential peripherals
11. ROS: Adapting System Layout
• After feedback, we simplified our planned ROS layout to reduce the
number of components
• This entailed combining package 2 and 3 into 1 package, this meant
that a single package would:
• Combine the position data from the odometry topic, and the
environmental data from the LIDAR unit
• Conduct SLAM
• Determine and publish instructions for motor control
12. Adapted ROS Topic Overview
LSE N
RSE N
SE
Topic
LIDAR
Node
LIDAR
Topic
Main
Package
PUB
PUB
SUB
PUB
MC
Topic MC N
SUB
SUB
Left Shaft Encoder
PUB
Right Shaft Encoder
LIDAR
Computer
Motor Controller
13. SLAM and Motor Control
• Once Odometry is implemented, the SLAM package will send
data to move the wheelchair, after conducting SLAM with
Odometry and LIDAR data
14. CAN Bus Implementation
•Libpcan allows central computer to send CAN messages (using
PCAN-USB interface)
•CAN Messages are read by Arduino and corresponding
messages are sent to 5 way motor control
15. Shaft Encoder
● There are two outputs A & B.
● Either outputs send a high
signal when a set of bars on
the internal encoder disk pass
an optical sensor.
● From these two outputs there
are 4 possible states based on
the rising edge.
*** The physical shaft encoders contain ~ 2500 bars on the
encoder disk, may have the A & B sensors in a different location
than indicated above, and the encoder disk may not always move
in the direction indicated by the green arrow
16. Data Acquisition
•The code on the Arduinos is used to
record wheel movement.
•If A outputs a high signal then we look
at output B.
•If B is high then we increase the
encoder count, otherwise we decrease
the encoder count (Encoder count is
used to record the change in encoder
values over a period of time)
17. Issues – Odometry in use-case
•During use-case testing (mounted on wheelchair), odometry
will not accurately track the position of the wheelchair
•When shaft encoders were individually tested at low
velocities the odometry readings would be accurate
•Error was unsolved, but attributed to hardware
•Odometry system was working previously
18. Odometry
• At the beginning of the
semester, it was
established that the
encoders were not being
recorded correctly
• The shaft encoders are
flipped on the wheelchair,
so they should produce
opposite readings
19. Issues: Odometry
• Testing and research suggested that the main
cause of odometry errors was due to hardware
limitations
• In order to ensure the odometry was calculated
accurately, all calculations were moved to the
Central Computer
• This way each arduino would have a lighter
workload, and hence be more accurate in their
readings, leading to more accurate odometry
data
20. Odometry
• Currently, our main focus
is constructing the
Odometry package for
the Central Computer
• Reading both Right and
Left Encoder topics at the
correct times have
proven difficult
21. Wheelchair Movement
•Wheelchair is controlled through 5-way proprietary controller
Controller
(Central Computer, Laptop) CAN Arduino
2 1
3 2
4 3
5 4
6 6
5-Way Controller
Wheelchair Motors Proprietary CAN
bus
22. Motor Control - Problems
• The wheelchair was limited in the motions it could do; its
movements were sharp when instructions/commands were
changed and it was not able to move forward without
accelerating constantly
• The initial implementation of the motor control system would
risk misinterpreting CAN messages intended for
non-motor-control purposes
23. Motor Control - Solutions
• Due to the lack of documentation for the 5 way motor
controller, testing was done to reverse-engineer it
• A new command scheme was drafted
24. New Command Scheme for
Wheelchair (First Attempt)
Control byte identifies
message as motor control
message
25. Motor Control
• Took into account new knowledge of 5 way controller
◦ See Appendix B of accompanying report for detailed
information
• Made use of pulsing to control wheelchair speed and
acceleration in forward and reverse states
• Made use of states to keep track of what wheelchair was doing
before turning
• Middle bits can be used to transmit additional data as needed.
28. Power Management
• The previous semester’s team had to replace a battery, due
to the system architecture – only one of the two 12V
batteries were interfaced with the odometry system
• This semester another battery was depleted, and was not
rechargeable
• It was identified that in order to ensure long term operation
of the wheelchair, a better power management system
must be implemented
29. Power Management
• In order to avoid these issues in the future, a power
distribution system was designed
• This would:
• Provide power to the motors, the odometry system, the
motor control system, the central computer, the LIDAR
unit and any other peripherals
• Drain each battery at an equal rate
31. Power Management
● All wheelchair
electronics are
powered by both
batteries
connected in
series
● Load on batteries
is equal
32. Ethernet Implementation
• Work was done to interface the LIDAR unit to the Central
Computer via Ethernet.
• This communication method would reflect the original target
architecture for the Wheelchair.
• The benefits would be:
• Prevent data collisions
• Expandability through time division multiplexing
• However, the current LIDAR-to-PC connection through a serial
to USB adaptor was done due to ease of use.
33. Mobilize Central Computer
• Mount computer to back of wheelchair with intent of making
wheelchair autonomous
• Mini ITX case was chosen vs. Micro ATX for size practicalities
• Easier to attach due to smaller size
• Two computers allow 2 subgroups to work at once
• A PCAN PCI Express card was installed, to enable CAN
communication with the Central Computer
34. Category Specification
Form factor mini-ITX
Case Dimensions 8.27"x7.83"x9.65"
Processor Cores 4
Processor Base Frequency 2 GHz
Memory size 8 GB
Memory Type DDR3L 1333
Ports
PCIe 2.0, mini-PCIe, SATA3 (2), SATA2 (2), VGA, D-Sub, HDMI,
USB 3.0 (4), USB 2.0 (4), Printer Port, COM Port, 7.1 CH audio
Storage type SSD
Storage capacity 250 GB
Wifi Protocol 802.11b/g/n
Input Voltage 6-30VDC
Max Input Current 25A
Max Output Power 250W
Input Connector M4 screw terminal
Output Connector 24-pin ATX
Central Computer Key Specs
35. Mobilize Central Computer
• New computer fits easily
on wheelchair
• Power supply runs directly
off of wheelchair batteries
• Having two computers on
which to test is more
robust
36. Semester Results
• ROS architecture redesigned
• New driving scheme created
• Odometry function moved onto the central computer
• Construction of new central computer
37. Future Work
• SLAM
• Feedback control of wheelchair motion from within ROS
• Encryption of CAN bus, resistance to tampering
• Research on USB timing errors on central computer