1. 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

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

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

4. SOC System Structure
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5. FPGA Communication SAE J1850 Communication Standard
Traditional RS232 and J1850
Knapsack Encryption
Knapsack Decryption
Automation Engineering, National Formosa University

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

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

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

9. 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
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10. Flow Chart of Communication System
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11. Motor Control System
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12. Decoder
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13. Velocity and Angular Speed
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14. Software Differential
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15. Experiments
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16. 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
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17. Response of Motor
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18. Obstacle Avoidance (Video)
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19. Speed Control (Video)
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20. 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

21. Thanks for Your Attention
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