Papers by NISHA MUDIMANNAN
PID Controller has been designed and incorporated into the differential drive mobile robot. The m... more PID Controller has been designed and incorporated into the differential drive mobile robot. The mobile robot is built around an ARM7 based microcontroller LPC2129. It includes an odometry unit attached to the rear wheels and ZigBee based RF transceivers. The position and the orientation of mobile robot are estimated using the odometry unit. As a ZigBee based RF transceivers are integrated on mobile robot and remote PC an online tracking and control system is established. In several mobile robotic applications the control systems implemented are Open Loop Control System(OLCS). These OLCS based systems faces uncertainity errors on their tracjectory. To overcome such errors a Closed Loop Control System(CLCS) driven robot is discussed in this paper. A firmware including a Proportional-Integral-Derivative (PID) control algorithm is developed. This enables the online velocity tuning mechanism for the robots to drive in user defined trajectory. The PID control algorithm is developed for re...
Bookmarks Related papers MentionsView impact
Advances in Vision Computing: An International Journal, 2015
Bookmarks Related papers MentionsView impact
PID Controller has been designed and incorporated into the differential drive mobile robot. The m... more PID Controller has been designed and incorporated into the differential drive mobile robot. The mobile robot is built around an ARM7 based microcontroller LPC2129. It includes an odometry unit attached to the rear wheels and ZigBee based RF transceivers. The position and the orientation of mobile robot are estimated using the odometry unit. As a ZigBee based RF transceivers are integrated on mobile robot and remote PC an online tracking and control system is established. In several mobile robotic applications the control systems implemented are Open Loop Control System(OLCS). These OLCS based systems faces uncertainity errors on their tracjectory. To overcome such errors a Closed Loop Control System(CLCS) driven robot is discussed in this paper. A firmware including a Proportional-Integral-Derivative (PID) control algorithm is developed. This enables the online velocity tuning mechanism for the robots to drive in user defined trajectory. The PID control algorithm is developed for reducing the initial inertia error. Inertial errors affects the robot's programmed velocity which intrun causes the robot to deviate from the user defined trajectory. The PID based CLCS periodically checks and corrects the individual wheel speed online to place the robot in trajectory. A LabVIEW application program is developed to compute, track the position and orientation of robot online. Experimental tests were conducted to demonstrate the working of the PID control system and the results are presented.
Bookmarks Related papers MentionsView impact
PID Controller has been designed and incorporated into the differential drive mobile robot. The m... more PID Controller has been designed and incorporated into the differential drive mobile robot. The mobile robot is built around an ARM7 based microcontroller LPC2129. It includes an odometry unit attached to the rear wheels and ZigBee based RF transceivers. The position and the orientation of mobile robot are estimated using the odometry unit. As a ZigBee based RF transceivers are integrated on mobile robot and remote PC an online tracking and control system is established. In several mobile robotic applications the control systems implemented are Open Loop Control System(OLCS). These OLCS based systems faces uncertainity errors on their tracjectory. To overcome such errors a Closed Loop Control System(CLCS) driven robot is discussed in this paper. A firmware including a Proportional-Integral-Derivative (PID) control algorithm is developed. This enables the online velocity tuning mechanism for the robots to drive in user defined trajectory. The PID control algorithm is developed for reducing the initial inertia error. Inertial errors affects the robot's programmed velocity which intrun causes the robot to deviate from the user defined trajectory. The PID based CLCS periodically checks and corrects the individual wheel speed online to place the robot in trajectory. A LabVIEW application program is developed to compute, track the position and orientation of robot online. Experimental tests were conducted to demonstrate the working of the PID control system and the results are presented.
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
This paper presents the design of a Vision assisted pick and place robotic Arm. The main objectiv... more This paper presents the design of a Vision assisted pick and place robotic Arm. The main objective of the
paper is to pick and place an object from one place to other by 2 DOF robotic arm. USB camera is used as
a vision sensor to measure the dimensions of the object to be picked. The USB camera collects the image of
the object is transferred to the LabVIEW API with image processing toolkits and modules to process the
image. The processed dimension of the object is transmitted via RS-232 serial communication to the
microcontroller LPC2129. The appropriate PWM signal is generated by LPC2129 respectively to the
servomotors. The robotic arm is designed with servomotors. Digital image processing algorithms are
implemented to process the image captured by the USB camera to find the exact dimension of the object
thereby to assist the robotic arm to finest. NI-IMAQ - Machine vision based functions are implemented and
the results are presented.
Bookmarks Related papers MentionsView impact
Robotic Arm action is assisted with the help of a USB camera and Image processing algorithms
Bookmarks Related papers MentionsView impact
To develop a position monitoring system for a robotic arm using LabVIEW. The system consists of a... more To develop a position monitoring system for a robotic arm using LabVIEW. The system consists of a robotic arm, inertial sensors, an Arduino based microcontroller board, and a personal computer with LabVIEW. Accelerometer used to measure the robotic arm position. Arduino is an open source physical computing platform based on a simple microcontroller board and a development environment for writing software for the board. Arduino can be used to develop interacting objects, taking inputs from a variety of switches or sensors and controlling a variety of lights, motors and other physical outputs. Arduino microcontroller board will be used to measure the position of the robotic arm using the inertial sensors, send the measured position to a LabVIEW based Virtual Instrument (VI) running on the personal computer, and to actuate the servo motors based on the commands received from the VI to attain desired position. The VI receives the measurement data from the microcontroller, computes the required control signal to attain the desired position and sends the data to the microcontroller.
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
Bookmarks Related papers MentionsView impact
A differential drive mobile robot is constructed using ARM7 based LPC2129 microcontroller. The ro... more A differential drive mobile robot is constructed using ARM7 based LPC2129 microcontroller. The robot has two fixed wheels at rear side and a castor wheel in the front. The two rear wheels are driven by a pair of identical DC motors. The revolutions the wheels make in one second intervals are determined by counting the number of pulses generated by a wheel encoder assembly attached to each wheel. The count values are transferred to a remote PC using a pair of ZigBee transceivers which serve as end device and coordinator of a wireless sensor network (WSN). The position and the orientation of mobile robot are estimated by odometry using the count values. An embedded program to drive the robot on a desired path and a LabVIEW application program to compute and display the position and orientation of robot at instants of one second interval have been developed. The design of mobile robot and the development of the programs are described. Results of remote tracking of robot are presented.
Bookmarks Related papers MentionsView impact
Conference Presentations by NISHA MUDIMANNAN
Abstract
Now days the agricultural land irrigation is still using manual mode in our country. Th... more Abstract
Now days the agricultural land irrigation is still using manual mode in our country. This way depends on the experience of the operator while the motor-pumped wells are in scattered locations, resulting in the waste of water resources and human resources. This paper presents the design and development of a smart wireless farmland irrigation system for agricultural environment. The main objective is to design a wireless based remotely soil moisture monitoring system and controls irrigation of water via Internet. Monitoring agricultural soil moisture by commercially available soil moisture sensor. Investigations were performed for a remote monitoring system using Wi-Fi, where the wireless sensor nodes are constructed with ESP8266-01 Serial Wi-Fi module which serves as a Wi-Fi enabled Microcontroller. These nodes send data wirelessly to a central server, which collects the data, stores it and allows it to de analysed and displayed as needed. A standard PC linked to internet is finally used in order to control the whole network, to store the data, and to allow the remote access to the real-time data.
Keywords: Soil moisture sensor, Internet of Things (IoT), ESP8266-01 serial Wi-Fi Network, Wireless remote monitoring
Bookmarks Related papers MentionsView impact
Uploads
Papers by NISHA MUDIMANNAN
paper is to pick and place an object from one place to other by 2 DOF robotic arm. USB camera is used as
a vision sensor to measure the dimensions of the object to be picked. The USB camera collects the image of
the object is transferred to the LabVIEW API with image processing toolkits and modules to process the
image. The processed dimension of the object is transmitted via RS-232 serial communication to the
microcontroller LPC2129. The appropriate PWM signal is generated by LPC2129 respectively to the
servomotors. The robotic arm is designed with servomotors. Digital image processing algorithms are
implemented to process the image captured by the USB camera to find the exact dimension of the object
thereby to assist the robotic arm to finest. NI-IMAQ - Machine vision based functions are implemented and
the results are presented.
Conference Presentations by NISHA MUDIMANNAN
Now days the agricultural land irrigation is still using manual mode in our country. This way depends on the experience of the operator while the motor-pumped wells are in scattered locations, resulting in the waste of water resources and human resources. This paper presents the design and development of a smart wireless farmland irrigation system for agricultural environment. The main objective is to design a wireless based remotely soil moisture monitoring system and controls irrigation of water via Internet. Monitoring agricultural soil moisture by commercially available soil moisture sensor. Investigations were performed for a remote monitoring system using Wi-Fi, where the wireless sensor nodes are constructed with ESP8266-01 Serial Wi-Fi module which serves as a Wi-Fi enabled Microcontroller. These nodes send data wirelessly to a central server, which collects the data, stores it and allows it to de analysed and displayed as needed. A standard PC linked to internet is finally used in order to control the whole network, to store the data, and to allow the remote access to the real-time data.
Keywords: Soil moisture sensor, Internet of Things (IoT), ESP8266-01 serial Wi-Fi Network, Wireless remote monitoring
paper is to pick and place an object from one place to other by 2 DOF robotic arm. USB camera is used as
a vision sensor to measure the dimensions of the object to be picked. The USB camera collects the image of
the object is transferred to the LabVIEW API with image processing toolkits and modules to process the
image. The processed dimension of the object is transmitted via RS-232 serial communication to the
microcontroller LPC2129. The appropriate PWM signal is generated by LPC2129 respectively to the
servomotors. The robotic arm is designed with servomotors. Digital image processing algorithms are
implemented to process the image captured by the USB camera to find the exact dimension of the object
thereby to assist the robotic arm to finest. NI-IMAQ - Machine vision based functions are implemented and
the results are presented.
Now days the agricultural land irrigation is still using manual mode in our country. This way depends on the experience of the operator while the motor-pumped wells are in scattered locations, resulting in the waste of water resources and human resources. This paper presents the design and development of a smart wireless farmland irrigation system for agricultural environment. The main objective is to design a wireless based remotely soil moisture monitoring system and controls irrigation of water via Internet. Monitoring agricultural soil moisture by commercially available soil moisture sensor. Investigations were performed for a remote monitoring system using Wi-Fi, where the wireless sensor nodes are constructed with ESP8266-01 Serial Wi-Fi module which serves as a Wi-Fi enabled Microcontroller. These nodes send data wirelessly to a central server, which collects the data, stores it and allows it to de analysed and displayed as needed. A standard PC linked to internet is finally used in order to control the whole network, to store the data, and to allow the remote access to the real-time data.
Keywords: Soil moisture sensor, Internet of Things (IoT), ESP8266-01 serial Wi-Fi Network, Wireless remote monitoring