Embedded Lab

The embedded control systems laboratory experiments and projects aim to address following issues:

  1. Identifying the transfer function of the system.
  2. Selection of sampling time for sensors and actuators.
  3. Deciding loop time based on sampling rates of actuator(s) and sensor(s).
  4. Discretizing the transfer function.
  5. Tuning the PID parameters.
  6. Selection of quantization levels for sensor inputs.
  7. Justifying the (in)stability of the system by considering the feasible sampling time.
  8. The output from the embedded controller is interfaced with DAC using multiple digital output ports. This interface is then modified to work with a single digital output port using PWM generation. The PWM frequency and duty cycles are selected based on the plant requirements.
  9. Parallel interfacing of encoders and motors using FPGA.
  10. Synchronisation of two motors using FPGA, microcontroller and embedded linux (giving flavour of different embedded platforms).
  11. Various advantages and limitations of micocontroller, FPGA and embedded linux platforms are demonstrated.

Following problems and corresponding setups are considered for providing hands-on exposure in embedded control laboratory:

The structure of the spherical robot has many advantages over conventional mobile vehicles or humanoids. The ball shape of a spherical robot enables rolling in any direction on non-planar surfaces. A gearless spherical robot has been designed. The design is scalable in size. Development of control-laws for real-world applications using spherical robot is being investigated. Challenge is to control nonlinear dynamics of the system with the constraints imposed by embedded processing and sensing.
• Vision based motion planning: The problems related to the navigation of an object carried by the trolley in the presence of obstacles are investigated under the measurement uncertainties. The measurement is obtained from the information extracted from image processing.

• Vision based positioning of trolley: A precise positioning of trolley is required for picking the object placed at an unknown location. The aim is to design an embedded controller for precise positioning of the trolley in the presence of sensor and actuator uncertainties. This problem also deals with various heights of the object piles.
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