designing and building a line following robot
more straw bale building a complete guide to designing and building with straw - chris magwood
... move, load, and stack, and they make a big mess Settle in advance all issues of labor and cleanup If you have a crew on hand to load and unload a truck, it will save time and may be necessary before ... Contractors Catherine Wanek and Pete Fust Cari and Russ Cheryl, Beth and Grace Chris and Judith Plant Chris Walker Dale Brownson Dave McKey, Goldie and others David Saunders David and Anne-Marie ... its parts A plastered bale wall creates what engineers call a stressed skin panel or sandwich panel, and it has impressive JOY ALLAN It’s a Sandwich, But Don’t Eat It structural capabilities As...
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Feedback Control for a Path Following Robotic CarPatricia Mellodge doc
... the lateral controller in hardware is discussed The vehicle platform is described and the hardware and software architecture detailed The car described is capable of operating manually and autonomously ... using a cell phone, etc Such distractions may also lead to accidents According to [3], driver distraction was a factor in 11% of fatal crashes and 25-30% of injury and propertydamage-only crashes ... (3.20) The simulation environment is detailed in Chapter A path was created in MATLAB to simulate the actual track in the FLASH lab This path Patricia Mellodge Chapter Curvature Estimation 26 Figure...
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designing and implementing a neural network library for handwriting detection, image analysis etc
... table As you know, AND truth table is AND TRUTH TABLE A B Output 0 0 1 1 0 Fig: A 2-2-1 Neural Network and Truth Table Of AND In the above network, N1 and N2 are neurons in input layer, N3 and ... trained the network 4.1 Training Phase This section explains how the training takes place, in a back ward propagation neural network In a backward propagation neural network, there are several ... interface A Neuron has a strategy, and a strategy should implement the INeuronStrategy interface We have a concrete implementation of INeuronStrategy, called BackPropNeuronStrategy (for a backward...
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Designing and building Windowed interface for Web applications
... Smith http://sidebarcreative.com http://orderedlist.com @orderedlist What is a Windowed Interface? Advantages • Important interface elements are always in sight and available • Allows for independent ... various content sections • Feels more like a desktop application • Lends itself to more natural AJAX integration Concerns • Less room for content areas because of persistent navigation or header ... mean small • Take only the space necessary for each element • The fewer items you need to show, the more breathing room you can give them, which increases usability • Maximize the clickable area...
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Feedback Control for a Path Following Robotic Car potx
... the lateral controller in hardware is discussed The vehicle platform is described and the hardware and software architecture detailed The car described is capable of operating manually and autonomously ... using a cell phone, etc Such distractions may also lead to accidents According to [3], driver distraction was a factor in 11% of fatal crashes and 25-30% of injury and propertydamage-only crashes ... (3.20) The simulation environment is detailed in Chapter A path was created in MATLAB to simulate the actual track in the FLASH lab This path Patricia Mellodge Chapter Curvature Estimation 26 Figure...
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Line Following Robot pps
... that can follow a path The path can be visible like a black line on a white surface (or vice-versa) or it can be invisible like a magnetic field Why build a line follower? Sensing a line and maneuvering ... Programming Sheer interest, an innovative brain and perseverance! Background: I started with building a parallel port based robot which could be controlled manually by a keyboard On the robot ... interface make adding external devices a cakewalk While most popular uCs require at least a few external components like crystal, caps and pull-up resistors, with AVR the number can be as low as...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 1 pptx
... the lateral controller in hardware is discussed The vehicle platform is described and the hardware and software architecture detailed The car described is capable of operating manually and autonomously ... to thank Dr Abbott and Dr VanLandingham for serving on the advisory committee for this thesis The author would also like to thank the members of the FLASH team, in particular Ricky Henry and Eric ... Feedback Control for a Path Following Robotic Car Patricia Mellodge (ABSTRACT) This thesis describes the current state of development of the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 2 ppsx
... using a cell phone, etc Such distractions may also lead to accidents According to [3], driver distraction was a factor in 11% of fatal crashes and 25-30% of injury and propertydamage-only crashes ... collision avoidance to avoid hitting obstacles in the roadway; and lateral control to maintain the car’s position on the roadway In addition, sensors would be needed to alert the car to road or weather ... repairing after the inevitable crashes!) is also easier on a scale model vehicle Additionally, a full scale protoype requires a full scale roadway on which to test, rather than the relatively small area...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 3 docx
... demonstrated by a parallel parking maneuver When a driver arrives next to a parking space, he cannot simply slide his car sideways into the spot The car is not capable of sliding sideways and this ... moving the car forwards and backwards and turning the wheels, the car can be placed in the parking space Ignoring the restrictions caused by external objects, the car can be located at any position ... perpendicular distance between the rear axle and the path is given by d The angle between the car and the tangent to the path is θp = θ − θt The distance traveled along the path starting at some arbitrary...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 4 docx
... (3.20) The simulation environment is detailed in Chapter A path was created in MATLAB to simulate the actual track in the FLASH lab This path Patricia Mellodge Chapter Curvature Estimation 26 Figure ... φ was averaged over 10 sample periods A threshold of 0.5 was used so that if the calculated curvature was less than 0.5, a c(s) value of was used If the calculated curvature was greater than ... curve against a black background The roadway was designed so that the transition between the black background and the white centerline gives the highest contrast possible Also, the camera is oriented...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 5 ppt
... initialization involves creating the car and path for animation and placing the car on the path Next, the car’s position on the path is determined and the values needed by the controller are calculated ... similar to that used by the FLASH vehicle The car’s methods of measurement and calculation are the same in the simulation as in the hardware However, in the simulation, an ideal path is created ... constant In addition, it is known a priori that the track is made up of straight sections and curves of constant radius The simulation has been set up to create a path that contains a straight...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 6 pdf
... calculated using the displacement errors at the front and rear of the car as determined above, ef and eb and the distance between them, l Assuming the path directly underneath the car is straight, ... placed in the proper orientation using the locate and rotate commands Finally, they are joined together using the attach command so that the entire car can be moved as one piece In addition, each ... they are on the actual car Patricia Mellodge 5.2.6 Chapter Simulation Environment 44 Animation Finally, the movement is animated to provide a means of viewing the car’s behavior The animation...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 7 pptx
... for the standard servo PWM control signal Generating PWM Signals The servo and motor both operate using pulse width modulated (PWM) signals A PWM signal has a fixed frequency and variable duty ... assembled and a HEX file created, the program can be downloaded to the chip using MPLAB and a PIC device programmer After the chip has been programmed, it can be placed into a circuit and upon power-up, ... different information to the main processor The infrared and magnetic sensors indicate where the path is located directly beneath the car The camera provides path information about the area in front...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 8 docx
... ORed with the appropriate bits to indicate a steering or velocity command and enabled mode as given in Table 6.6 6.4 Infrared and Magnetic Sensors The FLASH car contains infrared and magnetic sensors ... use later Access to the hardware is done using assembly language functions directly The assembly language functions are called from C and the bus data gets put into a C variable The following assembly ... global variables mem, offset, and input are used to select the particular device and store the data First the data in the CPU registers are saved on the stack The data is read from memory location...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 9 pptx
... performance of the controller under various conditions Unfortunately, the car does not have any data logging and the variables that it calculates as it is driving are not available for analysis As ... were similar, the car was unstable on the straightaways While the variables calculated by the estimator are not available, it is known that when the car oscillates, the value of c is oscillating ... Patricia Mellodge Chapter Hardware Implementation 71 Table 6.9: Technical information for the digital camera Device name Manufacturer Operating voltage Operating current Array size Pixel...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 10 pps
... Crash Data from the Fatality Analysis Reporting System and the General Estimates System,” DOT HS 809 337, U.S Department of Transportation, National Highway Traffic Safety Administration, National ... Highway Systems Research at the Center for Transportation Research,” Center for Transportation Research Report, 1994 [6] P Kachroo and M Tomizuka, ”Design and Analysis of Combined Longitudinal Traction ... v1*cos(theta_p(i))+v1*d*tan(phi0)/L-theta_p_dot*d; y_hat = w *a_ hat; e = y_hat-y; E(i) = e; P = 1/(prev_P+w*w*T); prev_P = w*w*T; a_ hat_dot = -w*e*P; a_ hat = a_ hat +a_ hat_dot*T; A_ hat(i) = a_ hat; P_cum(i)...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 11 doc
... estimator float a_ hat_dot; float theta_p_dot; // Derivative of theta_p float theta_p_prev; // Previous value of theta_p float w; float y; float y_hat; float P; float P_prev; float e; float v1_actual; ... input&0xFF00; right_bank = right_bank>>8; back_array = left_bank|right_bank; back_array = back_array>>2; back_array = back_array&0xFFF; /*********************************/ /** car control **/ /* ... float d; // Lateral distance from line (meters) float dxdd,dxdtheta; float alpha1,alpha2; float temp; float curv_hat; // Estimate of the curvature long i; // Loop counter float a_ hat; // Used...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 12 pdf
... ****************************************************************************/ float LateralController(float X2, float X3, float X4, float U1) { static float U2; // steering angular velocity and a very good rock band static float k1,k2,k3; // gains #define lambda 20 k1 ... Until serial data has been received goto MainLp ; Loop here Stop bcf Flag,1 btfss Flag,0 ; if char1 was a Carriage Return goto NoCR bcf Flag,0 ; decode what was sent movf char2,0 ; is char2 a letter ... f_error, float b_error, float length) { static float theta_local; theta_local = atan( (f_error-b_error)/length ); return(theta_local); } C.2 PutMem.asm global _mem,_output,_offset global _PutMem...
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Feedback.Control.for.a.Path.Following.Robotic.Car Part 13 potx
... PIR1,TMR2IF ; Clear the interrupt decfsz loopcnt,1 ; We are sampling at 1KHz, and commanding goto sample ; the motor at 100Hz, so we must wait ; for sample periods before we can ; command the motor ... ;(sets bank to original state) movwf STATUS ;Move W into STATUS register swapf W_TEMP,1 ;Swap W_TEMP swapf W_TEMP,0 ;Swap W_TEMP into W retfie end Appendix 113 Appendix E FLASH Images 114 Patricia ... Rhode Island in Kingston, RI Upon graduating, Patricia took a job with Optigain, Inc in Peacedale, RI where she designed analog circuits for use in the company’s fiber optic amplifiers In the fall of...
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global financial stability report; meeting new challenges to stability and building a safer system (imf, 2010)
... loans Asia = China, India, Indonesia, Malaysia, Korea; Latin America = Argentina, Brazil, Chile, Mexico; Europe and CIS = Hungary, Kazakhstan, Poland, Russia, Turkey, Ukraine; Middle East and Africa ... Sylwia Nowak, Jaume Puig, Christine Sampic, Manmohan Singh, Juan Solé, Tao Sun, Narayan Suryakumar, and Morgane de Tollenaere Martin Edmonds, Oksana Khadarina, Yoon Sook Kim, and Marta Sanchez Sache ... y and building a safer system Table 1.8 Asset Class Valuations (Z -score) Residential Real Estate Equity Backwardlooking Asia-Pacific Australia China Hong Kong SAR India Indonesia Japan Korea...
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