Kuang-Chyi Lee Po-Ting Tsai July 25-29, 2005, Gliwice, Poland 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 Encryption/Decryption Circuit Motor Control Circuit Experiments Conclusions Automation Engineering, National Formosa University

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

SOC System Structure Automation Engineering, National Formosa University

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

J1850 Communication Standard VPM (Variable Pulse Width Modulation) Automation Engineering, National Formosa University

Traditional RS232 and J1850 Traditional RS232 J1850 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) 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 Automation Engineering, National Formosa University

Flow Chart of Communication System Automation Engineering, National Formosa University

Motor Control System Automation Engineering, National Formosa University

Decoder Automation Engineering, National Formosa University

Velocity and Angular Speed Automation Engineering, National Formosa University

Software Differential Automation Engineering, National Formosa University

Experiments Automation Engineering, National Formosa University

Traditional Transmit Method Tests of RF Module 10m 15m 30m Traditional Transmit Method 100/100 95/98 81/96 J1850 Transmit 99/99 97/97 Automation Engineering, National Formosa University

Response of Motor Automation Engineering, National Formosa University

Obstacle Avoidance (Video) Automation Engineering, National Formosa University

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

Thanks for Your Attention Automation Engineering, National Formosa University