REAL TIME ROBOT

REAL TIME REACTIVATE CONTROLLED SIVER MATE ROBOT USING RTAI : 

REAL TIME REACTIVATE CONTROLLED SIVER MATE ROBOT USING RTAI S.VITHYA SAAHAR- II-ECE J.THIYAGHAMANI-II-ECE APRIL 9,2010 KALASALINGAM UNVERSITY (Kalasalingam Academy of Research & Education)

Real Time Reactivate Control : 

Real Time Reactivate Control RTAI is the Real Time Application Interface. In the last stage robots are controlled by using WINDOWS based program. In RTAI , LINUX program were used to control the sensors and the real time performance. reactivate Robots are capable of handling complex tasks and recognition of vocal commands. In this Robot , TSCA were used to control the multiple number of software components in the reactive layer.

PLATFORMS USING HARDWARE ARCHITECTURE : 

PLATFORMS USING HARDWARE ARCHITECTURE Platforms consists of SBC In this Robot , Head part consist of two stereo vision cameras, sixteen microphones for voice processing, vision. In this Robot, there are several controllers were used. Actuator Component manages Actuator hardware and sends generated control outputs. Behaviour Component manages the actions of the robot. In this robot, Ten Resources were used to control all the components.

REAL TIME OS AND DRIVERS : 

REAL TIME OS AND DRIVERS It was implemented using RTAI ( Version 3.1) along with LINUX Kernel. By using RTAI , SBC uses an 8 port serial board, real time serial driver. COMEDI driver was also modified to support hardware timer functionally if the DAQ board.

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REACTIVATE CONTROL LYER DESIGN

GYRO SENSOR : 

GYRO SENSOR Gyro sensor is to detect the sound signal and to control the action Of the robot. Gyro Resource module uses modified COMEDI driver to convert analog sensor output to digital value.

LRF RESOURCES : 

LRF RESOURCES

IR RESOURCE : 

IR RESOURCE InfraRed sensor (IR sensor)  Is an electronic device that measures infrared (IR) light radiating from objects in its field of view IR is a Infrared Resource were used as data receiving part of IR resource module uses a call back function.

SONAR RESOURCE : 

SONAR RESOURCE

BUMPER RESOURCE : 

BUMPER RESOURCE The main thing of Bumper is to accessed through serial protocol by BLDC control. The Modules depends on functionalities provided by MB actuator module. Encoder, Battery and Bumper depends on MBase Actuator.

BEHAVIOUR MODULES : 

BEHAVIOUR MODULES It is basis of action used to determine actual movement of the robot platform. It tries to move to a certain position or obstacle that avoid static obstacles. It receives Translational and rotational velocity commands from the sequencing layer.

REAL TIME TASK SUPERVISOR : 

REAL TIME TASK SUPERVISOR RTTS were implemented as kernel modules. IPC mechanisms provided by RTAI to interface these two layers. RTTS module uses RI-FIFOs to receive service requests issued to the reactive layer and it set back to the sequencing layer.

CONCLUSION : 

CONCLUSION In this paper, The real time reactivate control is able to obtain sensor data periodically in a predictable manner and execute navigation commands in real time. It gives the different types of sensor resources were used to control the SILVER MATE ROBOT using RTAI.

RECENT TRENDS : 

RECENT TRENDS Nowadays , Some of the man made work is done by Machines This implementation will be integrated with resulting software components. It will focus on the CAN and Ethernet for distributing computer Environment.

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THANK YOU

Slide 16: 

QUERIES!!