Monday, July 07, 2008

Last built hardware testing platform

These are some few shots of the hardware assembled to perform tests for a previous design of the same system. Motherboard is a pcm4823 by Advantech (c). CCD, frame grabbers, bump sensors, inclination sensors, two big legs.



side view



front view


legs not mounted on body: front view



legs not mounted on body: side view



rear view

Linux debian is on board, installed is also a GSM modem but it is not used yet. To provide minimum perimeter penetration events' notifications, there are Sharp GPD2D12 infrared barriers. Legs, when the system is used, are connected to the body one, per side. The motherboard (a POS like one) based on the industrial PC104 standard, for high level computation. Another board uquipped with a Motorola 68HC11 performs the readings from all sensors, makes all writing on all actuators. This board is quipped with a customized jvm created for this type of device. This board by Grifo implements the "man in the middle" design pattern.
It is possible to see details about the board and the java runtime at http://www.rtjcom.com/6811/gpc114.html. The motherboard is instead visible, here: http://taiwan.advantech.com.tw/support/sr_detail.asp?SR_ID=1%2BGE%2B1057. The problem is always the same, buy hardware after you know exactly the software requirements. Also when hardware is very interesting and an excuse is needed to have it, just because it has on board a 16MB disk on chip storage (DOC2000). A note on the "vision" system: the CCD was mounted inside a thermal insulation provided box with a Peltier cell just behind the bottom of the camera box. This because the intent was to keep cold the CCD and perceive infra red frequecies in few enlightened environments, making a bigger difference between the internal camera box temperature and the external world temperature. Simple pattern recognition was performed using PNG image files captured by a digital parallel port converter, connected to the analogue camera output.

This prototype name was "virgola", "comma" in English

(Every trademark is of its own properietary)

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