The Experts below are selected from a list of 168 Experts worldwide ranked by ideXlab platform
Jinfei Hu - One of the best experts on this subject based on the ideXlab platform.
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modular development of master Slave asymmetric teleoperation systems with a novel workspace mapping algorithm
IEEE Access, 2018Co-Authors: Zheng Chen, Mingxing Yuan, Jinfei HuAbstract:This paper proposes a modular teleoperation software platform based on the robot operating system (ROS), which is flexible and portable for different master and Slave Devices. The main issues for the modularity are to develop its control modules in MATLAB/Simulink and access ROS by the robotics system toolbox, which will facilitate the design, analysis, and adjustment of the control algorithm in teleoperation systems greatly. In addition, a case study for this kind of modular teleoperation system is carried out, which is composed of a Geomagic Touch as the master Device and a robotic arm of the Rethink Baxter robot as the Slave Device. Due to the asymmetric structure property between the master and Slave Devices, the proper workspace mapping which can cover the whole workspace of the Slave robot and simultaneously achieve an excellent mapping accuracy becomes a challenging issue. Different from the traditional methods, a hybrid workspace mapping algorithm is proposed, which uses the joint space mapping to cover the whole workspace of the Slave Device and the operating space mapping to conduct the elaborate manipulation. A smoothing switch law between the joint space mapping and the operating space mapping is also designed. Comparative experiments are carried out, and the results verify the effectiveness and excellent performance of the proposed design methodology.
Zheng Chen - One of the best experts on this subject based on the ideXlab platform.
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modular development of master Slave asymmetric teleoperation systems with a novel workspace mapping algorithm
IEEE Access, 2018Co-Authors: Zheng Chen, Mingxing Yuan, Jinfei HuAbstract:This paper proposes a modular teleoperation software platform based on the robot operating system (ROS), which is flexible and portable for different master and Slave Devices. The main issues for the modularity are to develop its control modules in MATLAB/Simulink and access ROS by the robotics system toolbox, which will facilitate the design, analysis, and adjustment of the control algorithm in teleoperation systems greatly. In addition, a case study for this kind of modular teleoperation system is carried out, which is composed of a Geomagic Touch as the master Device and a robotic arm of the Rethink Baxter robot as the Slave Device. Due to the asymmetric structure property between the master and Slave Devices, the proper workspace mapping which can cover the whole workspace of the Slave robot and simultaneously achieve an excellent mapping accuracy becomes a challenging issue. Different from the traditional methods, a hybrid workspace mapping algorithm is proposed, which uses the joint space mapping to cover the whole workspace of the Slave Device and the operating space mapping to conduct the elaborate manipulation. A smoothing switch law between the joint space mapping and the operating space mapping is also designed. Comparative experiments are carried out, and the results verify the effectiveness and excellent performance of the proposed design methodology.
Hongyi Xu - One of the best experts on this subject based on the ideXlab platform.
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i2c bus realization method for point to point communication
2008Co-Authors: Yuanyuan Dang, Hongyi XuAbstract:The invention provides a bus implementation method for peer-to-peer communications, which is mainly used for the communications between a master Device and a Slave Device. The invention comprises the following steps: step S102, the master Device sends the start signal; step S104, the master Device sends the bytes including the address of the Slave Device and the read/write bits indicating the direction of transfer of data; step S106, the master Device sends the data bytes; step S108, the master Device sends the authorization bit; step S110, the master Device continues to carry out the sending in the order of 'first the data bytes then the authorization bit' till the stop bit is sent; step S112, the master Device sends the stop bit; wherein, step S110 further comprises: step S110-2, the master Device sends the read/write bit which is used for indicating the transfer direction before each data byte is sent. The technical scheme of the invention can simplify the operation of the master Device, enhance the efficiency of data transmission and simultaneously assure the reliability of data transmission.
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method and Device for realizing accessing of multiple i2c Slave Device by programmable Device
2008Co-Authors: Xiuhong He, Hongyi XuAbstract:The invention discloses a method and a relevant facility to fulfill access on a plurality of I2C Slave components with programmable components; wherein, the method comprises the following steps: (1) Select an I2C Slave component to be accessed in a plurality of I2C Slave components, and write circuit selection information for accessing the I2C Slave component into a register group inside the programmable component; meanwhile, connect an I2C controller inside the programmable component with the I2C Slave component in a corresponding circuit according to the information; (2) Write the data information, which is needed in accessing the I2C Slave component, into the register group in the programmable component, and send a command to start access operation on the I2C Slave component; (3) Follow the time sequence in I2C bus specifications to execute access operation on the I2C Slave component according to the data information inside the register group. When a CPU accesses a plurality of I2C Slave components, the method provided in the invention has advantages of simple and flexible operation, stable and reliable running, high efficiency, high speed and low single-board development cost.
Amrita Deshpande - One of the best experts on this subject based on the ideXlab platform.
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dynamic i2c Slave Device address decoder
2006Co-Authors: Amrita Deshpande, Alma Anderson, Jeanmarc IrazabalAbstract:Consistent with one example embodiment, a communications system uses an I2C serial data transfer bus that has a serial data line (110) and a clock line (120) used to implement a communications protocol. The communications system includes a Slave Device having address pins (400), each coupled to the serial data line, clock line, power line, or ground. Communications circuitry communicates with a master Device in accordance with the communications protocol over the data transfer bus. Decoding circuitry detects a first state of the address pins (410), detects a second state of the address pins (420) subsequent to the detection of the first state, wherein one or more logic values of the address pins differ between the first state and the second state, and decodes a Slave Device address (430) as a functional relationship between the first state and the second state of the address pins.
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programming parallel i2c Slave Devices from a single i2c data stream
2006Co-Authors: Amrita Deshpande, Alma Anderson, Jeanmarc Irazabal, Stephen Blozis, Paul BoogaardsAbstract:Consistent with one example embodiment, communications systems (100,300), using a serial data transfer bus having a serial data line (110) and a clock line (120) used to implement a communications protocol, incorporate programming of parallel Slave Devices (320,330,340,350) concurrently using an I2C serial bus. At least two Slave Devices are coupled in parallel on the data transfer bus and configured to load serial data over the serial data line using the communications protocol. Each Slave Device includes a programmable configuration register configured to be programmed, using the communications protocol, to select one of a plurality of selectable Slave Device configurations. One of the selectable Slave Device configurations causes the at least two Slave Devices to load the serial data in parallel, and another of the selectable Slave Device configurations causes the at least two Slave Devices to be loaded one at a time.
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simultaneous control of multiple i o banks in an i2c Slave Device
2006Co-Authors: Amrita Deshpande, Alma Anderson, Jeanmarc Irazabal, Stephen Blozis, Paul BoogaardsAbstract:Consistent with one example embodiment, communications systems, using a serial data transfer bus having a serial data line and a clock line used to implement a communications protocol, incorporate programmable loading of a logic value into parallel Slave Device registers. The communications system includes a Slave Device having two or more registers, each register having two or more bits, each register configured to load data therein received in accordance with the communications protocol over the data transfer bus in a first configuration, and to load a single logic value into the plurality of bits in a second configuration. A programmable configuration register is configured to be programmed, in accordance with the communications protocol over the data transfer bus, to select two or more of the registers for loading of the single logic value into the two or more of bits of the selected registers in the second configuration.
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generalized i2c Slave transmitter receiver state machine
2001Co-Authors: Amrita Deshpande, Paul H AndrewsAbstract:A robust state machine is provided for controlling a Slave interface to an I2C-bus. The state machine is configured to enforce the Slave-Device-protocol of the I2C specification, and to provide recovery from anomalous master-Device behavior. In accordance with this invention, the state transitions of the state machine at the Slave-Device are controlled by the master-Device's control of the SCL line of the I2C-bus, except if a START condition is detected. The state machine is configured to asynchronously respond to a START condition on the I2C-bus, regardless of its current state, to force the state machine to a known state. In the known state following the START condition, the Slave-Device terminates any transmissions to the I2C-bus, thereby minimizing subsequent interference on the bus.
Mingxing Yuan - One of the best experts on this subject based on the ideXlab platform.
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modular development of master Slave asymmetric teleoperation systems with a novel workspace mapping algorithm
IEEE Access, 2018Co-Authors: Zheng Chen, Mingxing Yuan, Jinfei HuAbstract:This paper proposes a modular teleoperation software platform based on the robot operating system (ROS), which is flexible and portable for different master and Slave Devices. The main issues for the modularity are to develop its control modules in MATLAB/Simulink and access ROS by the robotics system toolbox, which will facilitate the design, analysis, and adjustment of the control algorithm in teleoperation systems greatly. In addition, a case study for this kind of modular teleoperation system is carried out, which is composed of a Geomagic Touch as the master Device and a robotic arm of the Rethink Baxter robot as the Slave Device. Due to the asymmetric structure property between the master and Slave Devices, the proper workspace mapping which can cover the whole workspace of the Slave robot and simultaneously achieve an excellent mapping accuracy becomes a challenging issue. Different from the traditional methods, a hybrid workspace mapping algorithm is proposed, which uses the joint space mapping to cover the whole workspace of the Slave Device and the operating space mapping to conduct the elaborate manipulation. A smoothing switch law between the joint space mapping and the operating space mapping is also designed. Comparative experiments are carried out, and the results verify the effectiveness and excellent performance of the proposed design methodology.
