The implementation of a bioinspired PID-based controller with online tuning capabilities is developed for obstacle following/avoidance nonholonomic mobile robot. An innovative mixture the conventional PID and particle swarm optimization (PSO), which has strong capability adaptation across unknown scenarios, reduced objective error, brings us novel methodology that can derive optimal parameters given scenario. It appropriate kind plant without prior knowledge or established robot model....

Many scientific and engineering applications require to perform a large number of arithmetic operations that must be computed in an efficient manner using high precision dynamic range. Commonly, these are implemented on personal computers taking advantage the floating-point computations operational frequencies. However, most common software architectures execute instructions sequential way due von Neumann model and, consequently, several delays introduced data transfer between program memory...

Computation of floating-point transcendental functions has a relevant importance in wide variety scientific applications, where the area cost, error and latency are important requirements to be attended. This paper describes flexible FPGA implementation parameterizable library for computing sine, cosine, arctangent exponential using CORDIC algorithm. The novelty proposed architecture is that by sharing same resources algorithm can used two operation modes, allowing it compute cosine or...

Particle Swarm Optimization (PSO) algorithms have been proposed to solve engineering problems that require find an optimal point of operation. There are several embedded applications which requires online optimization with a high performance. However, the PSO suffers on large execution times, and this fact becomes evident when using Reduced Instruction Set Computer (RISC) microprocessors in operational frequencies low comparison traditional personal computers (PCs). This paper compares two...

High computational cost for solving large engineering optimization problems point out the design of parallel algorithms. Population based algorithms provide capabilities that can be explored by their implementations done directly in hardware. This paper presents a hardware implementation Particle Swarm Optimization using an efficient floating-point arithmetic which performs computations with high precision. All architectures are parameterizable bit-width, allowing designer to choose suitable...

Floating-point operations are an essential requisite in a wide range of computational and engineering applications that need good performance high precision. Current advances VLSI technology raised the density integration fast enough, allowing designers to develop directly hardware several floating-point commonly implemented software. Until now, most research has not focused on tradeoff among cost size logic area, associated with level precision, parameters very important variety such as...

This paper shows the hardware implementation of a sensor fusion technique applied to both an ultrasonic and infrared sensors, for estimating distance, using FPGA. Sensor is natural application stochastic filtering area (such as Kalman filters), being extensively in different areas such mobile robotics, signal processing, bioengineering, among others. permits combine information provided by improving estimate measured variable, well its uncertainity. The sensors have previously been...

This work describes a hardware architecture for implementing sequential approach of the Extended Kalman Filter (EKF) that is suitable mobile robotics tasks, such as self-localization, mapping, and navigation problems. As algorithm computationally intensive, commonly it implemented in Personal Computer (PC)-based platform to be employed on larger robots. In order allow development small robotic platforms, those required many current state art research (for instance microrobotics area), size,...

Particle Swarm Optimization (PSO) algorithms have been proposed to solve engineering problems that require find an optimal point of operation. However, the PSO algorithm suffers from premature convergence and high elapsed time when solving multimodal large scale problems. This problem becomes evident drawback for embedded applications in which microcontrollers often operates at low computational capacity. paper proposes a hardware implementation parallel self-adaptive based on...

This work presents the development of an integrated hardware/software sensor system for moving object detection and distance calculation, based on background subtraction algorithm. The comprises a catadioptric composed by camera convex mirror that reflects environment to from all directions, obtaining panoramic view. is used as omnidirectional vision system, allowing localization navigation tasks mobile robots. Several image processing operations such filtering, segmentation morphology have...

Proportional, integral, and derivative (PID) controllers have been widely adopted for industrial applications. However, these are not very efficient non-linear systems. Artificial neural networks (ANN) based on the Group Method of Data Handling (GMDH) great potential to replace PID due their polynomial structure, allowing complex systems be controlled. This work presents a hardware architecture GMDH network applied speed control mobile robot platform. The proposed controller was implemented...

Several scientific applications need a high precision computation of transcendental functions. This paper presents hardware implementation parameterizable floating-point library for computing sine, cosine and arctangent functions using both CORDIC algorithm Taylor series expansion different bit-width representations. The results include the accuracy as design criterion proposed architectures; therefore, tradeoff analysis between cost in area number iterations against error associated is done...

Model predictive control (MPC) based techniques have found many applications both in academia and industry. Its reach, however, may not be compared to classical due e.g. the difficulty of solving an optimization problem at each sampling interval with real-time requirements. Most efforts make application MPC viable address this more efficient solvers. This paper, contrast, proposes a new approach for solution by mapping approximate off-line into artificial neural network FPGA (Field...

Vertical transport of passengers is implemented by means an elevator group control system (EGCS) and a micro-processed sub-system implementing local (LCS) for each elevator. This paper describes the validation five dispatching algorithms systems that were on Spartan 3 FGPA based boards in integrated approach reducing area improving performance. The FPGA implementation allows user to select algorithm real time. overall composed several LCS, which implement algorithms, RS485 network virtual...

Achieving high performance optimization algorithms for embedded applications can be very challenging, particularly when several requirements such as accuracy computations, short elapsed time, area cost, low power consumption and portability must accomplished. This paper proposes a hardware implementation of the Particle Swarm Optimization algorithm with passive congregation (HPPSOpc), which was developed using floating-point arithmetic libraries. The is biological behavior allows swarm to...

For the last four decades, development of robotic hands has been focus several works. However, a small part those approaches consider exploitation parallelism FPGA-based (Field Programmable Gate Arrays) systems or discuss how using bioinspired optimization algorithms could improve mechanical and controller components. This work considers developing hand that achieves motion force control with logic hardware architecture implemented in FPGA intended to be replicated executed suitable...

Digital chaotic systems used in various applications such as signal processing, artificial intelligence, and communications often suffer from the issue of dynamical degradation. This paper proposes a solution to address this problem digital tent map. Our proposed method includes simple optimized hardware architecture, along with hardware-efficient perturbation method, create high-performance computing system that retains its properties. We implemented our architecture using an FPGA...

The advancements in information and communication technologies have had a significant impact on the engineering educational system. Virtual laboratories are progressively being adopted to improve way which students interact with simulations for control systems. enhancement of visualization interaction offered by modern computers presents an opportunity teach theoretical foundation more organic approach. In addition, there optimization algorithms that can be employed designing controllers...

Hardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications which large number of arithmetic operations transcendental functions must be computed. In this paper hardware architecture computing direct kinematics robot manipulators with 5 degrees freedom (5 D.o.f ) using floating-point is presented 32, 43, 64 bit-width representations it implemented Field Programmable Gate Arrays (FPGAs). The proposed been developed...