A reconfigurable sensor-data processing system for personal robots

A reconfigurable sensor-data processing system for personal robots is proposed. This system consists of two reconfigurable units including Altera's CPLDs which are directly connected with sensors, and is implemented on the interface board of a personal robot prototype ASPIRE-II. By treating digital raw data directly, flexible and precise processing can be achieved. In this system, the correlation function of data from ultrasonic sensor is computed about 20 times faster than that with the RISC processor in ASPIRE-II.

[1]  John D. Villasenor,et al.  Configurable computing solutions for automatic target recognition , 1996, 1996 Proceedings IEEE Symposium on FPGAs for Custom Computing Machines.

[2]  Nobuyuki Yamasaki,et al.  Active interface for human-robot interaction , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[3]  Mark Shand.  Flexible image acquisition using reconfigurable hardware , 1995, Proceedings IEEE Symposium on FPGAs for Custom Computing Machines.

[4]  Steven A. Guccione,et al.  Classification and Performance of Reconfigurable Architectures , 1995, FPL.

[5]  Pradeep K. Khosla,et al.  Implementing real-time robotic systems using CHIMERA II , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[6]  R. G. Harley,et al.  A Programmable I/O System for Real-Time AC Drive Control Applications , 1995, FPL.

[7]  Nobuyuki Yamasaki,et al.  Applying personal robots and Active Interfaceto video conference systems , 1995 .