Open-Source Robotics and Process Control Cookbook

Open-Source Robotics and Process Control Cookbook, 1st Edition

Open-Source Robotics and Process Control Cookbook, 1st Edition,Lewin Edwards,ISBN9780750677783






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Applies affordable and popular open-source tools to the burgeoning and exciting world of robotics for the first time ever in one book!

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Key Features

* The first-ever book on using open source technology for robotics design!
* Immensely valuable source code and design tools provided on a com,panion website
* Covers hot topics such as GPS navigation, 3-D sensing, and machine vision, all using a Linux platform!


In this practical reference, popular author Lewin Edwards shows how to develop robust, dependable real-time systems for robotics and other control applications, using open-source tools. It demonstrates efficient and low-cost embedded hardware and software design techniques, based on Linux as the development platform and operating system and the Atmel AVR as the primary microcontroller. The book provides comprehensive examples of sensor, actuator and control applications and circuits, along with source code for a number of projects. It walks the reader through the process of setting up the Linux-based controller, from creating a custom kernel to customizing the BIOS, to implementing graphical control interfaces.

Including detailed design information on:
· ESBUS PC-host interface
· Host-module communications protocol
· A speed-controlled DC motor with tach feedback and thermal cut-off
· A stepper motor controller
· A two-axis attitude sensor using a MEMS accelerometer
· Infrared remote control in Linux using LIRC
· Machine vision using Video4Linux

The Accompanying companion site contains a wealth of design materials, including:
· Full schematics and source code for the projects described
· Ready-made disk images for the miniature Linux distribution uses as the basis for the PC-side software
· Distribution archives of source code for all GNU software used, along with application-specific patches where appropriate
· A free version of the schematic capture and PCB CAD software used
· Atmel AVR Studio


Engineers, programmers, students and advanced hobbyists involved in robotics applications and/or process control system design. Embedded systems engineers interested in portions of the
technology applicable to their designs (process control, sensor interfacing, etc.)

Lewin Edwards

Lewin Edwards is an embedded engineer with over 15 years experience designing embedded systems hardware, firmware, and control software.

Affiliations and Expertise

Digi-Frame Inc., Port Chester, NY, USA

View additional works by Lewin Edwards

Open-Source Robotics and Process Control Cookbook, 1st Edition

About the Author
What’s on the companion site?
1. Introduction
History of this Book and What You’ll Get From Reading It
Target Readership and Required Skills and Tools
Conventions Used in the Text
2. Microcontrollers, Single-Board Computers and Development Tools
The Division of Labor
Candidate Microcontrollers for ‘Hard’ Tasks
The Atmel AVR and its Development Hardware Up Close
Candidate x86-based SBCs for ‘Soft’ Tasks
The Advantech PCM-5820 Single-Board Computer Up Close
Selecting an Inter-Module Communications Protocol
3. Some Example Sensor, Actuator and Control Applications and Circuits (Hard Tasks)
E2BUS PC-Host Interface
Host-To-Module Communications Protocol
Stepper Motor Controller
Speed-Controlled DC Motor with Tach Feedback and Thermal Cutoff
Two-Axis Attitude Sensor using MEMS Accelerometer
RS-422 - Compatible Indicator Panel
4. The Linux-Based Controller (A Soft Task)
A Brief Introduction to Embedding Linux on PC Hardware
Configuring the Development System and Creating Our Custom Kernel
The Linux Boot Process - Creating a Bootable CompactFlash Card
Creating a Root Filesystem for out Embedded System
Creating a Bootable Linux System-Restore CD-ROM Disc
Using the Parallel Port as a General-Purpose I/O Interface in Linux
Implementing Graphical Control Interfaces
Infra-Red Remote Control in Linux Using LIRC
Introduction to Machine Vision Using Video4Linux
Customizing You BIOS - The Structure of a Modern BIOS
5. Encryption and Data Security Primer
Classes of Algorithm
Protecting One-Way Control Data Streams
Protecting One-Way Telemetry
Protecting Bidirectional Control/Data Streams
Protecting Logged Data
Where to Obtain Encryption Algorithms
6. Expecting the Unexpected
Dangerous Exception Conditions and Recovering From Them
On-Chip vs. Off-Chip Watchdog Hardware
Good Power-On Reset Practices
A Few Additional Considerations for Battery-Powered Applications
7. Contents of the companion site



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