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New Methodology of Designing Inexpensive Hybrid Control-Acquisition Systems for Mechatronic Constructions
Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering, AGH University of Science and Technology, al. Mickiewicza 30, Krakow 30-059, Poland
Received: 11 October 2013; in revised form: 25 November 2013 / Accepted: 26 November 2013 / Published: 13 December 2013
Abstract: This article presents a new methodology for designing a hybrid control and acquisition system consisting of a 32-bit SoC microsystem connected via a direct Universal Serial Bus (USB) with a standard commercial off-the-shelf (COTS) component running the Android operating system. It is proposed to utilize it avoiding the use of an additional converter. An Android-based component was chosen to explore the potential for a mobile, compact and energy efficient solution with easy to build user interfaces and easy wireless integration with other computer systems. This paper presents results of practical implementation and analysis of experimental real-time performance. It covers closed control loop time between the sensor/actuator module and the Android operating system as well as the real-time sensor data stream within such a system. Some optimisations are proposed and their influence on real-time performance was investigated. The proposed methodology is intended for acquisition and control of mechatronic systems, especially mobile robots. It can be used in a wide range of control applications as well as embedded acquisition-recording devices, including energy quality measurements, smart-grids and medicine. It is demonstrated that the proposed methodology can be employed without developing specific device drivers. The latency achieved was less than 0.5 ms and the sensor data stream throughput was on the order of 750 KB/s (compared to 3 ms latency and 300 KB/s in traditional solutions).
Keywords: sensor; real-time; control system; embedded system; USB; Android; microcontroller
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MDPI and ACS Style
Augustyn, J. New Methodology of Designing Inexpensive Hybrid Control-Acquisition Systems for Mechatronic Constructions. Sensors 2013, 13, 17222-17240.
Augustyn J. New Methodology of Designing Inexpensive Hybrid Control-Acquisition Systems for Mechatronic Constructions. Sensors. 2013; 13(12):17222-17240.
Augustyn, Jacek. 2013. "New Methodology of Designing Inexpensive Hybrid Control-Acquisition Systems for Mechatronic Constructions." Sensors 13, no. 12: 17222-17240.