Abstract
In order to apply the proposed algorithms for action-oriented perception in robotic platforms, a complete hardware architecture has been designed and realized. The core of the system is the SPARK board, an FPGA-based hardware designed to fulfill the requirements needed by the SPARK cognitive architecture. Besides the SPARK board, a distributed sensory system has been designed to be embedded on wheeled and legged robots. In this chapter the main aspects that characterize the SPARK hardware are discussed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bailey, J.K., Willis, M.A., Quinn, R.D.: A multi-sensory robot for testing biologically-inspired odor plume tracking strategies. In: Proceedings of Advanced Intelligent Mechatronics International Conference (ASME) (2005)
Chappell, S., Macarthur, A., Preston, D., Olmstead, D., Flint, B., Sullivan, C.: Exploiting real-time FPGA based adaptive systems technology for real-time sensor fusion in next generation automotive safety systems. In: Proceedings of Design Automation and Test in Europe (2005)
Garcia, J.G., Robertsson, A., Ortega, J.G., Johansson, R.: Sensor fusion of force and acceleration for robot force control. In: Proceedings of International Conference on Intelligent Robots and Systems (2004)
Giesen, K., Deutscher, R., Milighetti, G., Frey, C.W., Kuntze, H.B.: Structure variable multi-sensoric supervisory control of human interactive robots. In: Proceedings of Control Applications International Conference (2004)
Hyeong-Soon, M., Baek, K.Y., Beattie, R.J.: Multi sensor data fusion for improving performance and reliability of fully automatic welding system. Proceedings of International Journal of Advanced Manufacturing Technology (2006)
Isamco Project, http://www.mediainnovation.it/progetti/isamco
Luo, R.C., Kay, M.G.: A tutorial on multisensor integration and fusion. In: Proceedings of 16th Annual Conference of IEEE Industrial Electronics Society (IECON) (1990)
Park, S.H., Kim, J.R., Oh, S.R., Lee, B.H.: Development of a practical sensor fusion module for environment modeling. In: Proceedings of Advanced Intelligent Mechatronics International Conference (2003)
Schmalzel, J., Figueroa, F., Morris, J., Mandayam, S., Polikar, R.: An architecture for intelligent systems based on smart sensors Instrumentation and Measurement. Proceedings of IEEE Transactions (2005)
Hardware - Altera home page, http://www.altera.com
Hardware - ADC producer home page, http://www.analog.com
Hardware - Datasheet distance sensors, http://www.alldatasheet.com/datasheet-pdf/pdf/SHARP/GP2D12.html
Hardware - Datasheet componet, http://www.robot-italy.com/
Hardware - Motor information, http://www.hitecrcd.com/
Hardware - Datasheet component, http://www.st.com/
Hardware - Antenna’s material, http://www.dupont.com/fuelcells/products/nafion.html
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Alba, L., Arena, P., De Fiore, S., Patané, L. (2009). SPARK Hardware. In: Arena, P., Patanè, L. (eds) Spatial Temporal Patterns for Action-Oriented Perception in Roving Robots. Cognitive Systems Monographs, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88464-4_10
Download citation
DOI: https://doi.org/10.1007/978-3-540-88464-4_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88463-7
Online ISBN: 978-3-540-88464-4
eBook Packages: EngineeringEngineering (R0)