This paper describes a transputer-based parallel controller that was developed in the Center for Intelligent Systems at Vanderbilt University to control the Soft Arm robot. The Soft Arm robot is used in a robotic aid system, called ISAC, for the physically challenged. The controller uses a network of T800 transputers as the parallel processing nodes. The controller is composed of a master node,...

The system on chip paradigm consists of one or more instruction set processors integrated with custom hardware on a single integrated circuit. A uni-processor real-time kernel is presented that integrates hardware coprocessors by viewing them as system resources to be scheduled in conjunction with the processor. The kernel implements the earliest-deadline first scheduling policy. To demonstrate...

This demo presents the world’s smallest wireless motion-sensing platform based on Bluetooth 4.0 Low Energy (BLE) Technology. It is merely 8×8 mm2 in area but is complete with a user-programmable microcontroller and integrated RF, a digital triaxial accelerometer with programmable threshold detection, and a real-time clock and calendar chip, and a magnetic sensor/switch. This system has been use...

This paper studies the energy-saving adaptive robust motion control of a single-rod hydraulic cylinder through the use of programmable valves—a unique combination of five proportional cartridge valves. The programmable valves decouple the meter-in and meter-out flows and provide true cross port regeneration flow which in turn allows tremendous control flexibility. Although at the expense of con...

Modern parallel and distributed applications have a wide range of communication characteristics and performance requirements. This paper presents the Programmable Routing Controller (PRC), a custom ASIC that supports exible network policies to accommodate diverse application requirements. By dedicating a small programmable processor to each incoming link, the PRC can implement wormhole, virtual...

The combination of feedforward control and programmable tooling has emerged as a promising method to reduce product variation in multistage manufacturing systems. Feedforward control allows compensation of deviations on a part-by-part basis using programmable tooling. This paper addresses the problem of designing an optimal feedforward control law that improves quality. The controller design in...

Multi-port memory controllers (MPMCs) have become increasingly important in many modern applications due to the tremendous growth in bandwidth requirement. Many approaches so far have focused on improving either the memory access latency or the bandwidth utilization for specific applications. Moreover, the application systems are likely to require certain adjustments to connect with an MPMC, si...

Automation means Delegation of human control to machine. A PLC (Programmable Logic Controller) is a device that was invented to replace the necessary sequential relay circuits for machine control. A SCADA (Supervisory Control & Data Acquisition System) is used to control the process where person cannot go or stay for longer period. The aim of tis paper is to provide information about hoelectric...

This paper presents an adaptive neuro-fuzzy controller ANFIS (Adaptive Neuro-Fuzzy Inference System) for a bilateral teleoperation system based on FPGA (Field Programmable Gate Array). The proposed controller combines the learning capabilities of neural networks with the inference capabilities of fuzzy logic, to adapt with dynamic variations in master and slave robots and to guarantee good prac...