Open-Source Robotics and Process Control Cookbook: Designing and Building Robust, Dependable Real-time Systems

Lewin Edwards

  • 出版商: Newnes
  • 出版日期: 2004-12-01
  • 售價: $2,620
  • 貴賓價: 9.5$2,489
  • 語言: 英文
  • 頁數: 256
  • 裝訂: Paperback
  • ISBN: 0750677783
  • ISBN-13: 9780750677783
  • 相關分類: 機器人製作 Robots
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With recent powerful developments in processor and sensor technology, robotics and the closely related field of process control systems are experiencing rapid growth and attracting many new hardware and software engineers. There is particular interest in using open source tools for these applications, with many companies, universities and laboratories desiring to build sophisticated systems without having to purchase an expensive real-time operating system (RTOS). Practical, authoritative information on this subject is scattered and difficult to find. In this comprehensive guide, experienced embedded engineer and author Lewin Edwards demonstrates efficient and low-cost open source design techniques, covering end-to-end robotic/process control systems using Linux as the development platform (and also as the embedded operating system), with extensive information on free compilers and other tools. Specifically the book targets development of real-time physical system controls using Atmel AVR microcontrollers communicating with Linux-based PCs for overmonitoring. It also covers open-source tools for other controllers, including MSP430, PIC and 8051. Code examples are given to provide concrete illustrations of tasks described in the text. The accompanying CD-ROM contains all the code used in the design examples as well as useful open-source tools for robotics and process control system design.

The book includes:

  • schematics, PCB layouts and firmware source code for various sensors and servo/stepper/propulsion motor controllers, with theory of operation text.
  • discussion of navigation mathematics (GPS) and example code and circuits.
  • discussion of 3D attitude sensing using MEMS accelerometers.
  • techniques for designing reliable systems, including watchdogs, avoidance of race conditions, and identifying when it's time to offload functionality onto slave processors
  • documented sourcecode (with theory-of-operation) for sample overmonitoring applications, both for testing the sensor/controller modules and for complete process monitoring. (To take a trivial example, documenting how to build a system that monitors four thermal sensors with onscreen thermometers, logs the temperature over time, and
    emails a supervisor's pager if any of the temperatures go out of range.)
  • a brief introduction to machine vision, including simple ways to capture images,
    differentiating the image for edge detection, and simple shape recognition.

    Table of Contents:

    Introduction; Microcontrollers, Single-board computers and development tools;
    Building Linux-based overmonitoring systems; Creating a custom slim Linux distribution; Example Sensor and Control Applications; Designing for System Robustness; Tying it all together;


    隨著處理器和感測器技術的快速發展,機器人學和相關的過程控制系統正在迅速增長,吸引了許多新的硬體和軟體工程師。在這些應用中,使用開源工具特別受到關注,許多公司、大學和實驗室希望能夠建立複雜的系統,而不必購買昂貴的實時作業系統(RTOS)。關於這個主題的實用、權威的資訊分散且難以找到。在這本全面指南中,經驗豐富的嵌入式工程師和作者Lewin Edwards展示了高效且低成本的開源設計技術,涵蓋從頭到尾的機器人/過程控制系統,使用Linux作為開發平台(同時也是嵌入式作業系統),並提供了大量關於免費編譯器和其他工具的資訊。具體而言,本書針對使用Atmel AVR微控制器與基於Linux的個人電腦進行實時物理系統控制的開發,並涵蓋了其他控制器的開源工具,包括MSP430、PIC和8051。書中提供了代碼示例,以提供對文本中描述的任務的具體說明。附帶的CD-ROM包含了設計示例中使用的所有代碼,以及用於機器人和過程控制系統設計的有用的開源工具。

    - 簡介;微控制器、單板電腦和開發工具
    - 構建基於Linux的過監控系統
    - 創建自定義的精簡Linux發行版
    - 示例感測器和控制應用
    - 設計系統的穩健性
    - 將所有內容結合在一起