Fpga Based Design
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FPGA Based Robotic Design By Rajesh Kumar P
Overview of Presentation ♦ Motivation ♦ Digital Logic Alternatives ♦ ASIC X PLD ♦ FPGA X CPLD ♦ Sensors for Mobile Robot ♦ Interfacing of FPGA with Sensors ♦ Making a Mobile Robot
Motivation ♦ PC-based solutions are not space-
efficient and consume more power
Digital Logic Alternatives Digital Logic
Standard Logic
Programmable ASIC
Masked ASIC
ASIC X PLD ♦ Programmability ♦ Turnaround time ♦ Power consumption ♦ Cost
Definition of a CPLD
CPLD Architecture
CPLD Board
Definition of a FPGA
FPGA Architecture
The LUT: Basic Building Block
Wide Logic
Data Intensive Operation
Xilinx FPGA Board
Sensors ♦ Ultrasonic Sensor ♦ Infrared Sensor
Ultrasonic Sensors
Distance Measurement Using Ultrasonic Sensor
Ultrasonic Sensor Working
Sound Wave Propagation Speed ♦ V = 331.5 + 0.6 * t [ m/sec ]
t : The temperature (°C) Temperature(°c) 0 10 20 30 40
Speed of Sound(m/sec) 331.5 337.5 343.5 349.5 355.5
Ultrasonic Range Finder
IR Sensors
Architecture of FPGA Based Mobile Robot
Elements of FPGA Based Mobile Robot Ultrasonic Sensors Circuits FPGA BOARD Stepper Motor
Stepper Motor Controller
An Architecture for Robotic Exploration
FPGA Based Mobile Robot
References ♦ Vincent.J.Coli. “FPGA Design Technology”,
Microprocessors and Microsystems Journal, Elsevier, Vol 17,pp 383-389, March 2006. Available from www.sciencedirect.com ♦ Amara. A, Thomas Ea. “FPGA Vs. ASIC for Low Power Applications ”, Microelectronics Journal, Elsevier, Article in press. Available from www.sciencedirect.com
References ♦ N. Ranganathan, B. Parthasarathy and K.
Hughes,A parallel algorithm and architecture for robot path planning, Proceedings of IEEE Parallel Processing Symposium ",PP 275-279,1994 ♦ P.Rajesh Kumar, K. Sridharan.``Field Programmable Gate Array-based Robotic Exploration of an Indoor Environment". Accepted for presentation in First IEEE Conference on Industrial Electronics and Applications (ICIEA2006), To be held in Singapore in May 2006; Proceedings will be published on IEEExplore
ASIC Design Flow
FPGA Design Flow
A FPGA Based Mobile Robot
A Notebook PC based Mobile Robot
Overview of Presentation ♦ Motivation ♦ Digital Logic Alternatives ♦ ASIC X PLD ♦ FPGA X CPLD ♦ Sensors for Mobile Robot ♦ Interfacing of FPGA with Sensors ♦ Making a Mobile Robot
Motivation ♦ PC-based solutions are not space-
efficient and consume more power
Digital Logic Alternatives Digital Logic
Standard Logic
Programmable ASIC
Masked ASIC
ASIC X PLD ♦ Programmability ♦ Turnaround time ♦ Power consumption ♦ Cost
Definition of a CPLD
CPLD Architecture
CPLD Board
Definition of a FPGA
FPGA Architecture
The LUT: Basic Building Block
Wide Logic
Data Intensive Operation
Xilinx FPGA Board
Sensors ♦ Ultrasonic Sensor ♦ Infrared Sensor
Ultrasonic Sensors
Distance Measurement Using Ultrasonic Sensor
Ultrasonic Sensor Working
Sound Wave Propagation Speed ♦ V = 331.5 + 0.6 * t [ m/sec ]
t : The temperature (°C) Temperature(°c) 0 10 20 30 40
Speed of Sound(m/sec) 331.5 337.5 343.5 349.5 355.5
Ultrasonic Range Finder
IR Sensors
Architecture of FPGA Based Mobile Robot
Elements of FPGA Based Mobile Robot Ultrasonic Sensors Circuits FPGA BOARD Stepper Motor
Stepper Motor Controller
An Architecture for Robotic Exploration
FPGA Based Mobile Robot
References ♦ Vincent.J.Coli. “FPGA Design Technology”,
Microprocessors and Microsystems Journal, Elsevier, Vol 17,pp 383-389, March 2006. Available from www.sciencedirect.com ♦ Amara. A, Thomas Ea. “FPGA Vs. ASIC for Low Power Applications ”, Microelectronics Journal, Elsevier, Article in press. Available from www.sciencedirect.com
References ♦ N. Ranganathan, B. Parthasarathy and K.
Hughes,A parallel algorithm and architecture for robot path planning, Proceedings of IEEE Parallel Processing Symposium ",PP 275-279,1994 ♦ P.Rajesh Kumar, K. Sridharan.``Field Programmable Gate Array-based Robotic Exploration of an Indoor Environment". Accepted for presentation in First IEEE Conference on Industrial Electronics and Applications (ICIEA2006), To be held in Singapore in May 2006; Proceedings will be published on IEEExplore
ASIC Design Flow
FPGA Design Flow
A FPGA Based Mobile Robot
A Notebook PC based Mobile Robot
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