Dissertation > Excellent graduate degree dissertation topics show

Software Design and Optimization of a Perceptual State System for Quadruped Bionic Robot

Author: WuDaHua
Tutor: ChenZuo
School: Central South University
Course: Control Science and Engineering
Keywords: quadruped bionic robot perceptual state system fieldprogrammable gate array (FPGA) multi-core processors custominstruction C2H hardware acceleration
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 7
Quote: 0
Read: Download Dissertation

Abstract


Complex sources of perceptual information, high requirements in information complicity, real-time data communication and reliability are the issues always concerned, but hard to be tackled, in the development of multiple legged bionic robots. The paper provides a new design of perceptual state system for quadruped bionic robots. The system can real-timely monitor robot’s movement posture and work state of each unit to obtain their basic characteristics with the help of multi-source information fusion processing technique, which then provide real-time and key body information for planning coordination layer using for path planning and balance control.Firstly, requirement analysis of the perceptual state system for quadruped bionic robot is determined to confirm its function, target and overall program. Then the software architecture is designed to provide a sound basis for its software design.Secondly, by analyzing the characteristics of perceptual state information of quadruped bionic robot and the requirements of detection and process, data acquisition and data processing layer are established, then a double-core architecture for real-time information collection and data analysis is introduced, and the software functional modules of each layer are fully designed.Thirdly, to realize high real time of perceptual state system for quadruped bionic robots, an optimization method based on NIOS Ⅱ soft-core is presented, such as related optimization techniques based on CPU configuration and program code, as well as some optimization methods by using the custom instruction and the c-to-hardware (C2H) acceleration techniques, which are applied in attitude estimation and collision detection algorithm. The experimental results are to verify the validity of software optimization.Finally, Software performance of perceptual state system for quadruped bionic robots concerning multiple data acquisition indicators, information processing time indicator and collision detection indicator is tested to verify whether it meet the requirements of planning coordination layer.

Related Dissertations

  1. Research on Parallel Processing of Sparse MRI and Direct Fourier Transform Reconstruction Algorithm,TP391.41
  2. The Development and Implement of VxWorks BSP of WCDMA Basestation Diagnosis Equipment,TN929.533
  3. Design of Software Controller of Large Scale Led Control System Base on Multi-core and Multi-thread,TP273
  4. Parallel multi-core processor -based H.264 coding algorithm design and implementation,TN919.81
  5. Design and Implementation of Pallaral Batch B~+-tree Indexing on Multi-core Processors,TP311.13
  6. Research and Implementation of Memory Consistency Model in X Multi-Processor,TP332
  7. Implementation of Simulation and Compilation of Transactional Memory in Multi-Core Processors,TP314
  8. Research on Content Filter in Hardware Firewall Based on FPGA,TP393.08
  9. Design of Navigation Computer Based on DSP&FPGA,TN965.8
  10. Performance Analysis of Anti-interference for Wireless Commnunication Systems,TN92
  11. Research and Design of Embedded Operating System Based on Multi-Core Processors,TP316.2
  12. Research and Design of Real-time Control System for Quadruped Bionic Robot,TP242
  13. Research and Implementation of Fast Fourier Transform by Using Custom Instruction Based NiosⅡ Processor,TP332
  14. Real-time Task Scheduling Strategies for Multimedia Stream Computing on Heterogeneous Multicore Systems,TP332
  15. Research on the WCET Analysis of Real-time Systems in Multi-core Platform,TP332
  16. Design of Distributed Concurrent State-aware System for the Quadruped Bionic Robot,TP242
  17. Research and Implementation of Parallel Query Processing in Column-store,TP311.13
  18. Study of Low-Power Software Optimization Technology,TP302
  19. Based on three multi-core system TriBA storage system key technologies research,TP332
  20. Storage system architecture based three issues related to research,TP332

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile