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ABSTRACTAMOBILELABORATORYWASDEVELOPEDFORSTUDENTSOFTHEECE5320MECHATRONICSANDECE7750DISTRIBUTEDCONTROLSYSTEMSCOURSESATUTAHSTATEUNIVERSITYASERIALSERVERWASCONNECTEDTOTHEEMBEDDEDCONTROLLEROFASTANDALONE3AXESROBOTICWHEELASSEMBLYTHISENABLEDCOMMUNICATIONBETWEENTHEWHEELANDANYINTERNETENABLEDCOMPUTERATELEPRESENCECONTROLSYSTEMANDAPROTOTYPENETWORKEDCONTROLSYSTEMNCSWEREDEVELOPEDANDTESTEDTHISSYSTEMWASSUITABLYMODIFIEDTOACCOMMODATETHENEEDSOFTHECOURSELABORATORIES,THEREBYENABLINGSTUDENTSTODESIGN,DEBUGANDTESTTHEIRLABORATORYPROJECTSINREALTIMEATTHEIRCHOSENTIMEANDLOCATIONSAFULLYFUNCTIONALDEMONSTRATIONOFTHISREMOTELABORATORYISAVAILABLEFROMHTTP//WWWCSOISUSUEDU/PEOPLE/SMARTWHEEL/COMPLETEINFOPAGEHTMIINTRODUCTIONAPIDSTRIDESINTHEUSEOFTELEPRESENCESYSTEMSFORDISTANCELEARNINGANDREMOTEEXPERIMENTATIONPURPOSESHAVERESULTEDTHROUGHPROLIFERATIONOFTHEINTERNET,ADVANCESINMOBILECOMMUNICATIONSTECHNOLOGYANDAVAILABILITYOFHIGHSPEEDCOMPUTERSTHESEDEVELOPMENTSHAVEALSOGREATLYBENEFITEDTHEFIELDOFCONTROLSYSTEMSEDUCATIONANDPROPRIETARYPLATFORMSLIKENATIONALINSTRUMENTS’LABVIEW1ANDQUANSER’SWINCONHAVEBEENUSEDINTEACHINGLABORATORIESTHEDEPARTMENTOFELECTRICALCOMPUTERENGINEERINGATUTAHSTATEUNIVERSITYOFFERSAGRADUATELEVELCOURSEINDISTRIBUTEDCONTROLSYSTEMS2THISCOURSEDEALSWITHTHEDESIGN,IMPLEMENTATIONANDSTABILITYISSUESINNETWORKEDCONTROLSYSTEMS,WIRELESSSENSORNETWORKS,ANDDISTRIBUTEDPARAMETERSYSTEMSTHEDEPARTMENTALSOOFFERSACOURSEINMECHATRONICS3,WHICHDEALSWITHTHEPRINCIPLES,INTERFACING,ANDSIGNALCONDITIONINGOFMOTIONSENSORSANDACTUATORS,THEMODELING,ANALYSIS,ANDIDENTIFICATIONOFDISCRETETIMESYSTEMS,ANDMANUSCRIPTRECEIVEDSEPTEMBER14,2005YANGQUANCHENISACTINGDIRECTOR,CENTERFORSELFORGANIZINGANDINTELLIGENTSYSTEMS,ANDASSISTANTPROFESSOR,DEPARTMENTOFELECTRICALANDCOMPUTERENGINEERING,UTAHSTATEUNIVERSITY,LOGAN,UT84322USAPHONE4357970148;FAX4357973054;EMAILYQCHENECEUSUEDUBHARATHRAMASWAMYWASGRADUATERESEARCHASSISTANTATCENTERFORSELFORGANIZINGANDINTELLIGENTSYSTEMS,DEPARTMENTOFELECTRICALANDCOMPUTERENGINEERING,UTAHSTATEUNIVERSITY,LOGAN,UT84322USAHEISNOWENGINEERATQUALCOMMINCORPORATED,SANDIEGO,CA92121USAEMAILBHARATHRAMASWAMYQUALCOMMCOMKEVINMOOREWASDIRECTOR,CENTERFORSELFORGANIZINGANDINTELLIGENTSYSTEMS,UTAHSTATEUNIVERSITY,LOGAN,UT84322USAHEISNOWTHEGADOBELMANDISTINGUISHEDCHAIRANDPROFESSOROFENGINEERING,DIVISIONOFENGINEERING,COLORADOSCHOOLOFMINES,GOLDENCO80401USAEMAILKMOOREMINESEDUDIGITALCONTROLLERDESIGNMETHODSTHISPAPERDESCRIBESALOWCOSTREMOTELABORATORYSOLUTIONDEVELOPEDATUTAHSTATEUNIVERSITYFORTHEMECHATRONICSANDDISTRIBUTEDCONTROLSYSTEMSCOURSESTHEPAPERISORGANIZEDINTOEIGHTSECTIONSSECTIONIIADDRESSESTHENEEDFORAREMOTELABORATORYFROMAPEDAGOGICALPERSPECTIVESECTIONIIIGIVESBACKGROUNDINFORMATIONONTHE“SMARTWHEEL”SYSTEMWHICHISTHEPLANTTOBECONTROLLEDDURINGTHELABORATORYSESSIONSSECTIONIVPROVIDESTHEOBJECTIVESANDOVERALLSTRUCTUREOFTHECOURSELABORATORYSECTIONVDESCRIBESTHEHARDWAREANDSOFTWAREARCHITECTUREOFTHESYSTEMSECTIONVIPROVIDESDETAILSONHOWASTUDENTOFTHECOURSECANPERFORMTHELABORATORY“ONTHEGO”FINALLY,SECTIONVIIANDSECTIONVIIISUMMARIZETHERESULTSANDOUTLINESFUTUREPROJECTGOALSIIPEDAGOGICALMOTIVATIONITISIMPERATIVETHATENGINEERINGCOURSESESPECIALLYTHOSEINTHEAREAOFCONTROLSYSTEMSINCLUDEAHANDSONLABORATORYCOMPONENTTOEXTENDTHECLASSROOMEXPERIENCEHOWEVER,THESETUP,OPERATIONANDMAINTENANCEOFLABORATORYEQUIPMENTBECOMERESOURCEINTENSIVE,TIMECONSUMINGANDEXPENSIVEVIRTUALLABORATORIESOFFERACOSTEFFECTIVEALTERNATIVE;HOWEVERTHEYOFTENFAILTOMODELTHEPRACTICALEFFECTS,ANDCANNOTSUBSTITUTEFOREXPERIENCEWITHTHEREALSYSTEMREMOTELABORATORIESOFFERDISTINCTADVANTAGESOVERCONVENTIONALANDVIRTUALLABORATORIESAPARTFROMCOSTREDUCTION,MOREEFFICIENTUSAGEOFLABORATORYEQUIPMENT,REDUCEDMAINTENANCE,FLEXIBLEANDSELFPACEDLEARNING,THEREISTHEABILITYTOGIVESTUDENTSTHESAMEKINDOFEXPERIENCETHEYWOULDORDINARILYOBTAININATRADITIONALLABORATORYSETTINGWITHUSEOFVERSATILE,REALWORLDEQUIPMENTAREMOTELEARNINGAPPLICATIONCALLED“SECONDBESTTOBEINGTHERESBBTWASDEVELOPEDATOREGONSTATEUNIVERSITY4THISSOLUTIONINCORPORATESSEVERALFEATURESSUCHASDATACOLLECTIONFACILITY,LIVEVIDEOANDAUDIOSTREAMING,SAFETYANDSTABILITYMEASURES,REGULATIONOFACCESS,ANDCOLLABORATIONSUPPORTALLOFWHICHMAKETHEREMOTELABORATORYAPLEASANTANDIMMERSIVEEXPERIENCEFORTHESTUDENTIIIPLANTBACKGROUNDINFORMATIONTHECENTERFORSELFORGANIZINGANDINTELLIGENTSYSTEMSOMNIDIRECTIONALROBOTICWHEELAMOBILEREALTIMECONTROLSYSTEMSLABORATORYBHARATHRAMASWAMY,YANGQUANCHENANDKEVINMOORERPROCEEDINGSOFTHE2006AMERICANCONTROLCONFERENCEMINNEAPOLIS,MINNESOTA,USA,JUNE1416,2006WEI2151424402107/06/20002006IEEE719CSOISATUTAHSTATEUNIVERSITYHASDESIGNEDANDDEVELOPEDSEVERALPROTOTYPEROBOTICVEHICLESBASEDONAKEYENABLINGCONCEPTCALLEDTHE“SMARTWHEEL”ITISASELFCONTAINEDROBOTICWHEELMODULEWITH3INDEPENDENTAXESNAMELYTHESTEERINGAXIS,THEDRIVEAXIS,ANDTHEZAXISWHENMULTIPLESMARTWHEELSAREATTACHEDTOACHASSIS,THERESULTINGVEHICLEISCALLEDANOMNIDIRECTIONALVEHICLE5CSOISHASASTANDALONESMARTWHEELASSEMBLYSHOWNINFIG1EQUIPPEDWITHSTEERINGANDDRIVEMOTORS,ALINEARACTUATORFORZAXISMOVEMENT,DRIVECIRCUITRYFORTHEMOTORSANDACTUATOR,ENCODERSFORDRIVEANDSTEERINGFEEDBACK,AMICROCONTROLLER,ANDAPOWERDISTRIBUTIONUNITTHESMARTWHEELASSEMBLYWASMODIFIEDANDAUGMENTEDFORUSEINTHETWOCOURSESMENTIONEDTHEINTENDEDOUTCOMESWERETOENABLESTUDENTSTODESIGNANDTESTTHEIROWNCONTROLLERSFORTHESTEERINGANDDRIVEAXESOFTHEWHEELTHEASSEMBLYALSODOUBLESUPASADEMONSTRATIONSYSTEM6TOSHOWCASETHECAPABILITIESOFTHESMARTWHEELTOVISITORS,INSITUANDVISITORSTOTHECSOISWEBSITEIVSYSTEMOVERVIEWAINTRODUCTIONTOTHELABORATORYSINCEBOTHCOURSESMENTIONEDEARLIERINCLUDEASTUDYOFNETWORKEDCONTROLSYSTEMSATVARYINGLEVELS,ITWASNECESSARYTODEVELOPALABORATORYCOMPONENTINORDERTOAUGMENTTHECLASSROOMTHEORYANETWORKEDCONTROLSYSTEMISAFEEDBACKCONTROLSYSTEMINWHICHTHECONTROLLOOPISCLOSEDTHROUGHACOMMUNICATIONNETWORK7ITISIMPERATIVETHATREMOTEEXPERIMENTATIONBEUSEDFORTHISLABORATORYINTHISCASE,THEPLANTANDFEEDBACKSENSORISSITUATEDINSIDETHEUNIVERSITY’SRESEARCHCENTER,THECONTROLLERISLOCATEDONTHEREMOTESTUDENT’SCOMPUTER,ANDTHECOMMUNICATIONNETWORKISTHEIPNETWORKBETWEENTHEPLANT/SENSORANDTHECONTROLLERHOWEVER,DEDICATEDEQUIPMENTFORSUCHASPECIALIZEDLABORATORYISEXPENSIVEANDPLANNINGANDINSTALLATIONISTIMECONSUMINGALOWCOSTSOLUTION,INWHICHASERIALSERVERWASUSEDTOMAKETHESMARTWHEELASSEMBLYTELEOPERABLE,WASCONCEIVEDANDIMPLEMENTEDBDISTRIBUTEDCONTROLSYSTEMSDESIGNLABORATORYINTHISCOURSE,THESTUDENTISEXPECTEDTODESIGNANDTESTANETWORKEDCONTROLSYSTEMFORTHESTEERINGAXISOFTHESMARTWHEELTHESERIALPORTRS232ONTHESMARTWHEEL’SEMBEDDEDCONTROLLERWASCONNECTEDTOANETHERNETHUBVIAASERIALSERVER,WHICHTRANSLATESMESSAGESBETWEENETHERNETANDRS232FORMATSTHEMICROCONTROLLERONTHEWHEELWASPROGRAMMEDTOPOLLTHEPOSITIONENCODERANDTRANSMITTHESEVALUESTHROUGHITSSERIALPORTITALSOACCEPTSVELOCITYVALUESVIATHESERIALPORTANDCONVERTSITINTOPULSEWIDTHMODULATEDPWMSIGNALSTODRIVETHEMOTORTHESTUDENTWITHTHEINTERNETENABLEDCOMPUTERATANYREMOTELOCATIONWILLINSTALLAVIRTUALCOMDRIVER,INORDERTOCOMMUNICATEWITHTHESMARTWHEEL’SSERIALSERVERHECANDEVELOPHISCONTROLLERPROGRAMONTHECOMPUTER,WHICHWILLTRANSMITVELOCITYVALUESTOTHESMARTWHEEL,CALCULATEDBASEDONTHEENCODERREADINGSRECEIVEDFROMTHESMARTWHEELTHEINTERNETINTRODUCESRANDOMTIMEDELAYSANDPERTURBATIONSTHESENETWORKINDUCEDEFFECTSNEEDTOBETAKENINTOCONSIDERATIONWHILEDESIGNINGTHECONTROLLER,THROUGHTHEUSEOFSUITABLETECHNIQUESSUCHASNETWORKPREDICTIONANDDELAYCOMPENSATIONTHEPERFORMANCEOFTHECONTROLSYSTEMCANBEEXAMINED,BYPARSINGANDPLOTTINGTHEENCODERDATAONTHEREMOTECOMPUTERANYWINDOWSBASEDENVIRONMENTMAYBEUSEDFORDEVELOPMENTFIG2SHOWSTHEUSERINTERFACEFORAPROTOTYPENETWORKEDCONTROLSYSTEMIMPLEMENTEDFORTHESTEERINGAXISOFTHESMARTWHEELDEVELOPEDINVISUALBASICTHESETPOINTSTEERINGANGLEANDCONTROLLERGAINSPIDCONTROLLERAREUSERSELECTABLEANDTHEUSERCANVIEWTHESYSTEMPERFORMANCEBYOBSERVINGTHEANGULARPOSITIONPLOTTHATAPPEARSINREALTIMEONTHEGRAPHICALDISPLAYANINTERNETCAMERASTREAMINGLIVEVIDEOANDAUDIOENABLESTHESTUDENTTOVIEWANDHEARTHEWHEELMOTIONINREALTIMEONTHECONTROLPANELCMECHATRONICSDESIGNPROJECTLABORATORYSINCETHISISACOURSEATTHEUNDERGRADUATELEVEL,THESTUDENTSCANDESIGNANDTESTSIMPLEPIDNETWORKEDCONTROLLERSFORTHESTEERINGANDDRIVEAXESONTHEIRINTERNETENABLEDCOMPUTERS,BUTWITHOUTCONSIDERINGNETWORKINDUCEDEFFECTSINTOTHEIRDESIGNITISPROPOSEDTOEXTENDTHEUSEOFTHESMARTWHEELASSEMBLYFORTHEMECHATRONICSCOURSEINTHEYEAR2006FIG1SMARTWHEELASSEMBLYONAMOBILERIG720DDEMONSTRATIONSYSTEMTHEMICROCONTROLLERONTHESMARTWHEELALSOHASITSOWNSETOFCONTROLALGORITHMSFORTHESTEERING,DRIVEANDZAXESINTHISCASE,THEMICROCONTROLLERACCEPTSSETPOINTSFROMAPAIROFJOYSTICKSORTHEREMOTECOMPUTERFOREACHOFTHETHREEAXESANDCONTROLSTHEWHEELACCORDINGTOITSONBOARDCONTROLPROGRAMTHISFEATUREENABLESTHECAPABILITIESOFTHEWHEELTOBESHOWCASEDTOVISITORSINSITUANDVISITORSTOTHECSOISWEBSITEWHENTHEWHEELISNOTBEINGUSEDFORTHECOURSELABORATORIESFIG3SHOWSTHEUSERINTERFACEFORTHESMARTWHEEL’STELEPRESENCECONTROLSYSTEMSUITABLEHANDSHAKING,CONTROLANDARBITRATIONPROTOCOLSCOORDINATEBETWEENJOYSTICK,TELEPRESENCEANDNETWORKEDCONTROLMODES,ANDALSOENSUREPREDICTABLEBEHAVIORWHENMULTIPLEUSERSATTEMPTTOACCESSTHESYSTEMVSYSTEMDESCRIPTIONAARCHITECTURETHEARCHITECTUREOFTHESTANDALONESMARTWHEELDEMONSTRATIONSYSTEM6ISSHOWNINFIG4THESTEERINGMOTOR,DRIVEMOTOR,ANDLINEARACTUATORCONTROLTHESTEERINGAXIS,DRIVEAXIS,ANDZAXISOFTHESMARTWHEEL,RESPECTIVELYTHESTEERINGANDDRIVEMOTORSARECONTROLLEDBYPWMANDDIRECTIONSIGNALSFROMTHEIRRESPECTIVEMOTORDRIVERSTHESTEERINGMOTORISCOUPLEDTOANABSOLUTEENCODER,WHICHMEASURESTHEABSOLUTEANGULARPOSITIONOFTHEWHEELTHEDRIVEMOTORISATTACHEDTOAQUADRATUREENCODERTHATMEASURESTHERELATIVEMOTIONOFTHEWHEELTHELINEARACTUATORMOVESTHEENTIRESTEERINGCOLUMNUPORDOWNALONGTHELINEARSLIDETHELINEARPOTENTIOMETERPROVIDESFEEDBACKABOUTTHEZPOSITIONOFTHESTEERINGCOLUMNTHEZAXISCONTROLBOXCOMMANDSTHELINEARACTUATORBASEDONTHEVOLTAGEVALUEFROMTHEDIGITALTOANALOGCONVERTERDACANDTHEFEEDBACKFROMTHELINEARPOTENTIOMETERTHEWHEELNODEDIGITALINTERFACEBOARDCONSISTSOFTHETATTLETALEMODEL8TT8,AMICROCONTROLLERBYONSETCOMPUTERCORPORATION8BASEDONMOTOROLA’SMC68332MICROPROCESSORITALSOPROVIDESINTERFACESFORSERIALCOMMUNICATION,MOTORDRIVERS,DAC,ABSOLUTEANDQUADRATUREENCODERS,CIRCUITSFORPOWERSUPPLYANDREGULATION,LEVELSHIFTING,ANDOPTICALISOLATION,ANDTHEHARDWAREWATCHDOGUNITTHESTEERINGANDDRIVEMOTORSAREEACHDRIVENBYA50A8DDSERIESPWMSERVOAMPLIFIERORMOTORDRIVERFROMADVANCEDMOTIONCONTROLSTHEDUTYCYCLEOFTHEPULSEWIDTHMODULATEDPWMSIGNALSDETERMINESTHESPEEDOFTHEMOTORANDLOGICLEVELOFT
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