Hardware-software co-design tracking system for predictable high-speed mobile microrobot position control

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 43, Issue 18, 2010, Pages 447-452

  Diederichs, Claas ^a  

^a UNIVERSITY OF OLDENBURG   (Germany)

Author keywords

FPGA; Hardware; Machine vision; Robot control; Sensors; Tracking

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER HARDWARE; COMPUTER VISION; FIELD PROGRAMMABLE GATE ARRAYS (FPGA); HARDWARE; HARDWARE-SOFTWARE CODESIGN; MOBILE ROBOTS; SENSORS; SURFACE DISCHARGES; TRACKING (POSITION);

CLOSED-LOOP CONTROL; HIGH SPEED MOBILE; HIGH THROUGHPUT; MEASUREMENTS OF; NANOHANDLING; ROBOT CONTROLS; TRACKING ALGORITHM; TRACKING SYSTEM;

POSITION CONTROL;

EID: 84901948340     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20100913-3-US-2015.00080     Document Type: Conference Paper

References (12)

1. Arias-Estrada, M. and Rodríguez-Palacios, E. (2002). An fpga co-processor for real-time visual tracking. In FPL '02: Proceedings of the Reconfigurable Computing Is Going Mainstream, 12th International Conference on Field-Programmable Logic and Applications, 710-719. Springer-Verlag, London, UK.
2. Cho, J.U., Jin, S.H., Pham, X.D., Jeon, J.W., Byun, J.E., and Kang, H. (2006). A real-time object tracking system using a particle filter. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2822-2827.
3. Dahmen, C., Wortman, T., and Fatikow, S. (2008). Olvis: A modular image processing software architecture and applications for micro-namd nanohandling. In Proc. of IASTED International Conference on Visualization, Imaging and Image Processing (VIIP).
4. Eichhorn, V., Fatikow, S., Wortmann, T., Stolle, C., Edeler, C., Jasper, D., Sardan, O., Bøggild, P., Boetsch, G., Canales, C., and Clavel, R. (2009). NanoLab: A Nanorobotic System for Automated Pick-and-Place Handling and Characterization of CNTs. In Proc. of IEEE Int. Conference on Robotics and Automation (ICRA).
5. Fatikow, S., Eichhorn, V., Wich, T., Hülsen, H., Hänßler, O., and Sievers, T. (2006). Development of an automatic nanorobot cell for handling of carbon nan-otubes. In Proc. IARP - IEEE/RAS - EURON Joint Workshop on Micron and Nano Robotics. Paris, France. http://iarp06.robot.jussieu.fr/ Papers/Huelsen/.
6. Gribbon, K.T., Bailey, D.G., and Johnston, C.T. (2006). Using design patterns to overcome image processing constraints on fpgas. In DELTA '06: Proceedings of the Third IEEE International Workshop on Electronic Design, Test and Applications, 47-56. IEEE Computer Society, Washington, DC, USA. doi: http://dx.doi.org/10.1109/DELTA.2006.93.
7. ISO/IEC (2003). Road vehicles - Controller area network (CAN) - Part 1 & 2. Technical report, International Organization for Standardization, Geneva, Switzerland.
8. Jasper, D., Diederichs, C., Edeler, C., and Fatikow, S. (2010). High-speed nanorobot position control inside a scanning electron microscope. In Proc. of Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology Conference IEEE ECTI-CON.
9. Jasper, D. and Edeler, C. (2008). Characterization, optimization and control of a mobile platform. In Proc. of 6th Int. Workshop on Microfactories (IWMF).
10. Johnston, C.T., Gribbon, K.T., and Bailey, D.G. (2005). Fpga based remote object tracking for real-time control. In St International Conference on Sensing Technology, 66-72.
11. Schlessman, J., Chen, C.Y., Wolf, W., Ozer, B., Fu-jino, K., and Itoh, K. (2006). Hardware/software co-design of an fpga-based embedded tracking system. In CVPRW '06: Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop, 123. IEEE Computer Society, Washington, DC, USA. doi: http://dx.doi.org/10.1109/CVPRW.2006.92.
12. Tindell, K., Burns, A., and Wellings, A.J. (1995). Calculating controller area network (can) message response times. Control Engineering Practice, 3(8), 1163-1169.