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Kuang-Chyi Lee Po-Ting Tsai July 25-29, 2005, Gliwice, Poland

Automation Engineering, National Formosa University. A Mobile Robot Vision-Feedback System. Kuang-Chyi Lee Po-Ting Tsai July 25-29, 2005, Gliwice, Poland. Automation Engineering, National Formosa University. Outline. Introduction SOC System Structure Communication Circuit

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Kuang-Chyi Lee Po-Ting Tsai July 25-29, 2005, Gliwice, Poland

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  1. Automation Engineering, National Formosa University A Mobile Robot Vision-Feedback System Kuang-Chyi Lee Po-Ting Tsai July 25-29, 2005, Gliwice, Poland

  2. Automation Engineering, National Formosa University Outline • Introduction • SOC System Structure • Communication Circuit • Encryption/Decryption Circuit • Motor Control Circuit • Experiments • Conclusions

  3. Automation Engineering, National Formosa University Introduction • SOC System Structure • RF Communication • Encryption/Decryption • Position Decoder • Software Differential • Motor Control

  4. Automation Engineering, National Formosa University SOC System Structure

  5. Automation Engineering, National Formosa University FPGA Communication • SAE J1850 Communication Standard • Traditional RS232 and J1850 • Knapsack Encryption • Knapsack Decryption

  6. Automation Engineering, National Formosa University J1850 Communication Standard • VPM (Variable Pulse WidthModulation)

  7. Automation Engineering, National Formosa University Traditional RS232 and J1850 Traditional RS232 J1850

  8. Automation Engineering, National Formosa University Knapsack Encryption Process: 1.100111(39) 2.Knapsack Code M=[2,3,6,12,24,48] 3.[1 0 0 1 1 1]‧[2 3 6 12 24 48]=86 4.Result(86)

  9. Automation Engineering, National Formosa University Knapsack Decryption Process: 1.Binary(1010110) S=86 2.Knapsack Decryption M=[2,3,6,12,24,48] 3. For(i=0;i<6;i++){ If (S>=(Mi)){ Ri=1; S=S-Mi;} else Ri=0;} 4.Result(100111)39

  10. Automation Engineering, National Formosa University Flow Chart of Communication System

  11. Automation Engineering, National Formosa University Motor Control System

  12. Automation Engineering, National Formosa University Decoder

  13. Automation Engineering, National Formosa University Velocity and Angular Speed

  14. Automation Engineering, National Formosa University SoftwareDifferential

  15. Automation Engineering, National Formosa University Experiments

  16. Automation Engineering, National Formosa University Tests of RF Module

  17. Automation Engineering, National Formosa University Response of Motor

  18. Automation Engineering, National Formosa University Obstacle Avoidance (Video)

  19. Automation Engineering, National Formosa University Speed Control (Video)

  20. Automation Engineering, National Formosa University Conclusions • Integrated all functions on a single FPGA chip. • RF Communication • Encryption/Decryption • Position Decoder • Software Differential • Motor Control • The maximal speed is more than 10km/hr. • The maximal communication rate is more than 6 kbps.

  21. Automation Engineering, National Formosa University Thanks for Your Attention

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