Title :
Utilization of PSoC-5 for sensor data acquisition in a semi-autonomous robotic platform
Author :
Airs Lin;Aleksander Milshteyn;Garth Herman;Manuel Garcia;Charles Liu;Khosrow Rad;Darrel Guillaume;Helen Boussalis
Author_Institution :
Structures, Pointing, and Control Engineering (SPACE) University Research Center, Department of Electrical and Computer Engineering, California State University, Los Angeles, Los Angeles, United States of America
Abstract :
This paper introduces a semi-autonomous robotic platform for future planetary exploration. The Microcontroller Unit (MCU) of this platform is reconfigurable to support varied demands of scientific applications using Programmable System on Chip (PSoC) technology. The PSoC acquires and processes sensor data, then relays the data to a remote control station. The platform supports three modes of operations: (1) anytime user remote-control mode, (2) limited time autonomous control mode, and (3) mixed-control mode, which assigns certain tasks to run in automated execution mode, while reserving critical or complex tasks for user-controlled execution. The real-time task scheduling for precise control is supported by the Micrium μC/OS-III realtime operating system (RTOS). The use of such an RTOS also allows interleaving of data acquisition for enhancing effective bandwidth.
Keywords :
"Robot sensing systems","Microcontrollers","Hardware","Mars","Robot kinematics","Data acquisition"
Conference_Titel :
SAI Intelligent Systems Conference (IntelliSys), 2015
DOI :
10.1109/IntelliSys.2015.7361151
