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Alderney1

Discovered public repositories for Alderney1 in the GitHub catalog.

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Alderney1/Python_ATI_ForceTorque_Sensor_Interface

This module handle the interaction between the ft-sensor class and the ft-sensor. Here it can be data from the real sensor or from the simulation sensor. The sensor has sererval modes it can be running in. The ATI class has to be run as a thread, and the result can recived in synchronously and asynchronously way.

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Alderney1/Robotics_PlanningOfSafeMotion

This report describes the work done building a planner focused on safe motions around a human. To satisfy safe motions around a human, specific constraints are needed to be implement in the motion planning. Conditions for safe motion around a human are listed below. • The planner should work as a traditional planner with bi-directional paths, if the distance between human and robot tool exceeds 0.75 m. • If the distance is less than 0.75 between human and robot tool, then planning is restricted to di- rectional paths, meaning that only motions that increase the distance between human and robot tool are allowed. • Goal configuration which distance to the human is less than init configuration’s distance and less than 0.75 will never be possible. Notice that the distance used for threshold is only specified in the x,y plane. Our constraint must for fill these conditions for safe motion. This planning problem is solved by using a RRT-connect algorithm. Where there is checked for the constraint and collision before the trees are allowed to expand. The scene that is used can be seen in figure 1.1. Its a very simple scene without many obstacles to collide with.

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Alderney1/Design_Of_A_Demodulator

This project is about implementing a FM demodulator in VHDL, more precisely an incoherent demodu- lation. Figure 1.1 illustrates the system and process. Figure 1.1: Demodulator process The input signal to the demodulator is a generated signal by Matlab. Matlab generates a text file with the coordinates of the input signal, which the simulation is able to read. Then the signal will be demodulated, which is the main goal for this project. The output signal of the demodulation will be write to another text file, so it can be plotted by Matlab for further investigating.

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Alderney1/Realtime_Synchronization_On_Locokit

This project is about a synchronization project which aim to synchronize two locokit boards over a wire- less network and test the synchronization by controlling locokit motors. This include to produces a synchronization algorithm to work in a wireless environment and motor controlling. This feature is es- sential in sensor networks where the time is an important factor in the measurements e.g. position and velocity. In those cases a common clock is not a possibility, therefore this method is used to solve the problem, on an alternative way. We choose this project, because we think it is relevant according to our course in EMB4. In this project we tried to synchronize a locokit, therefore our challenge in this project were to learn about locokit and get locokit’s wireless and motors to work properly. Another challenge was to understand, how wireless synchronization in sensor networks are working and to choose which one how fits best to our project. Here we used the basic of the RBS to make the synchronization. When the time is synchronized, a test setup is made to illustrate, how well the synchronization worked.

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Alderney1/PythonErrorDisplay

A class that store warnings and exceptions to be used to display errors in the code during the development process.

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