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    題名: 以Pineview處理器為基礎之控制平臺設計
    其他題名: Pineview-processor-based control platform design
    作者: 林世民;Lin, Shih-Ming
    貢獻者: 淡江大學電機工程學系碩士在職專班
    翁慶昌;Wong, Ching-Chang
    關鍵詞: 控制平台;處理器;控制介面;Control platform;processor;control interface
    日期: 2011
    上傳時間: 2011-12-28 19:22:17 (UTC+8)
    摘要: 本論文提出一個以Pineview處理器為控制平台核心之設計方案,所設計實現的控制平台具有體積小、重量輕、效能高、以及軟體系統容易支援開發的多功能性能,其可以滿足小型人形機器人在軟硬體系統整合設計上的需求。在體積與重量上,所設計實現之控制平台的體積與重量分別為100×72×31 mm3與100公克。在系統架構上,本論文以Intel公司針對下一代輕省筆記型電腦所開發之Pineview處理器為控制平台的核心處理器。在電路板實現上,本論文以FR-4為基材以及SMT 無鉛製程來設計一個成本低廉又合乎環保的電路板。在輸出入介面的設計實現上,本論文藉由Pine Trail開發平台來整合設計USB、Gigabit Ethernet、HD Audio、Wi-Fi、GPIO port、VGA、SPI、I2C、與RS232/485等介面,讓所設計實現的平台是一個多元化的控制介面,讓機器人可以使用各種設備以及感測器,使其具有更多的功能與應用。在軟體系統的支援上,本論文所開發完成的控制平台可以支援Windows XP、Windows 7、Windows CE與Linux等多項軟體系統,所以此控制平台可以節省許多系統建置時所產生的問題和時間。在實際系統的驗證上,此平台已實際建構在一台高58公分的小型人形機器人上,從人形機器人之系統開發過程中可以實際的驗證本論文所設計實現的控制平台確實具有體積小、重量輕、效能高、以及軟體系統容易支援開發的多功能特性。
    A control platform design by using the Pineview processor is proposed in this thesis. The implemented control platform has multi-functional features of a small size, light weight, high performance and easy to support software development. Furthermore, the software system is easy to support the system development. It can meet the requirement of small-size humanoid robot in the hardware/software system design. The volume and weight of the implemented hardware platform are 100×72×31 mm3 and 100 gs, respectively. In the system structure design, Pineview processor, which is developed by Intel for next generation notebook, is used to be the control center of this platform. In the circuit board realization, the FR-4 material and SMT process are applied. In the input/output interface design, the Pine Trail development platform is used to integrate many interfaces design, such as USB, Gigabit Ethernet, HD Audio, Wi-Fi, GPIO port, VGA, SPI, I2C, and RS232/485, etc. Let the implemented platform is a pluralistic control interface and the robot can use various kinds of sensors and equipments. In the support of the software system, many items of software systems can be used in the implemented control platform such as Windows XP, Windows 7, Windows CE, and Linux, etc, so that this platform can save time in the system design. In the real verification of the implemented control platform, it has been built on a small-size humanoid robot to illustrate its multiple functions.
    顯示於類別:[電機工程學系暨研究所] 學位論文

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