Human & Robot Interaction Lab. (TaarLab)

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Electronic systems design and mobile robot control has dramatically changed from the beginning up to now. Need to miniaturize the systems, decrease the noise and consumption and also get higher calculation and processing ability are the main goals of designers and developers.

FPGA, is one of the most capable integrated circuits in electronic world which enable designers in various industries such as martial, aerospace, medical industries and etc to design desired architecture on these integrated circuits based on requirements and to apply them for special usages. Safe IPs, low electrical consumption, resistance to telecommunication, electromagnetic and heat, fast processing capability and real time of analogue and digital signals, have made these integrated circuits as the main choice of research teams in the world to develop industrial tools, home appliances and particularly hazardous industries and martial systems which face various threats and noises every time. This group goal is to make a robot under embedded system based on FPGA and do special mechanical and electronic design for mobile robots as an industrial and educational robot platform.

 Respective to these issues and dramatic changes happened since 2005 by designing and presenting various hard ware and software processors in different models such as NIOSII software core and by presenting new FPGA models named SOC with ARM hardware core to global market  in 2012, and these processors support by high level languages like C, C++  and JAVA ,… and hardware development language simultaneously which consequently has expanded these integrated circuits capabilities, the team decided to design and develop a robot which only uses FPGA in its processes such as robot navigation, signal and image processing and present it as a new educational  robot style to enthusiasts. Besides, with increasing the pace of designing system in FPGA, by new design method which will be specified below, mobile robots with working capability in industrial, martial, noisy environments and generally robots with real functional capabilities and more powerful than similar ones with microcontroller will be developed, and researchers can learn these methods by this educational robot and use it in their main designs.

Finally, this group could make and use a mobile robot in embedded systems based on FPGA with image processing, robot control and guidance and launching various sensors capabilities. MRTQ and NTACO are two robots designed in this group and researcher develop its from 2012 up to now.

Implementation of obstacle avoidance algorithm on mobile robot via vision and locost sensor

People Involved
 Siavash BoroumandArya SabouryAli Ravari, Amir Nasser Khaleghi

An embedded system is a computer system with a dedicated function with in a larger mechanical or electrical system, often with real-time computing constraints.Properties typical of embedded computers when compared with general-purpose ones are e.g. low power consumption, small size, rugged operating ranges and low per-unit cost.We work in the Mechatronics Lab, where we researche Image processing and Machine vision in Mobile robots under the advisement of Prof. Mehdi Tale Masouleh. We are currently pursuing research in the new and exciting field of Mobile robots ; specifically, we are interested in Machine vision in Mobile robots under Embedded System in FPGA. We had also done extensive work in Mobile-robot vision, developing algorithms for the control and interactions of vision of robots.




Development of a Mobile robots for implements real – time SLAM Algorithms on Embedded Systems via data fusion concepts

People Involved
Arya Saboury, Siavash BoroumandAli Ravari

MRTQ (Mobile Robot of Tehran University & Qazvin Islamic Azad University) which can be regarded as an embedded system, is made under FPGA concepts and has the ability to be connected to different models of memory. MRTQ is a mobile robot platform which is developed for research and educational purposes. Therefore, it is a special and appropriate platform for implementing various algorithms with help of high level language such as C. By having in mind the (Field-Programmable Gate Array (FPGA)) performance in industrial and very noisy environments and also its high speed and parallel processing, the fuzzy logic for line tracking and obstacle avoidance of MRTQ is implemented on FPGA concept, which is the main contribution of this work. It should be noted that the main objective of this project consists in developing a completely FPGA-based mobile robot in which all the parts, including among others, the motor drive, navigation, communication and vision and sensor data fusion are implemented on FPGA.



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