Luubaatar Badarch

Embedded software and hardware implementation system for a human machine interface based on ISOAgLib

Modern agricultural machinery demands adoption of embedded electronic and remote sensing technology for precision agriculture. One of the electronic devices commonly used is the virtual terminal (VT) for tractors. A VT’s functions and terminology are described in the ISO 11783 standard. This paper presents a control system design and implementation for a VT and some other electronic control units (ECUs) for agricultural vehicles based on that standard. Hardware and software development for the VT is implemented using the ISOAgLib open library, in the advanced embedded system. The main part of the system is an embedded board based on a Samsung S3C6410 ARM11 core microprocessor with a controller area network (CAN) module. Its working environment is Windows Embedded CE 6.0 (WinCE6.0). The ISOAgLib library provides abundant open sources consistent implementation of ISO 11783. It is written in C++ programming language using object-oriented technology. In this paper, we describe an ISO 11783-based tractor control system with a CAN and its implementation in the embedded system. This paper also explains the operation of a CAN-bus device driver in WinCE6.0 and some modifications of ISOAgLib for our target system. The target system consists of the VT, an ECU for the global positioning system (GPS), and an ECU for lighting for an agricultural tractor. The ECU for GPS and the ECU of a light controller are implemented using STM32F107F ARM Cortex M3-based development boards.

3D computer simulation of motion of golf ball in putting green

In this paper we introduce the 3D graphic animation program for simulating the 5 DOF(degree of freedom) motion of golf ball in putting green. We also derive and introduce the dynamics of golf ball and find special physical property which should exist between the friction mechanism of rotational motion and that of translational motion. We choose the Samsung 3D LCD monitor as a graphic monitor and build the simulation program by using OpenGL, MATLAB, 3ds Max, and virtual comport device driver software.

Implementation of a three-dimensional stereo image capture system based on the multi-segment method

Abstract. This paper presents a new model of a complementary metal–oxide–semiconductor (CMOS) camera using combinations of several pin hole camera models, and its validity is verified by using synthesized stereo images based on OpenGL software. Our embedded three-dimensional (3-D) image capturing hardware system consists of five motor controllers and two CMOS camera modules based on an S3C6410 processor. An optimal alignment for capturing nine segment images that have their own convergence planes is implemented using a pi controller based on the measures of alignment and sharpness. A new synthesizing fusion with the optimized nine segmentation images is proposed for the best 3-D depth perception. Based on the experimental results of the disparity values in each of the nine segments, the multi-segment method proposed in this paper is a good method to improve the perception of 3-D depth in stereo images.

Implementation of wireless 3D stereo image capture system and 3D exaggeration algorithm for the region of interest

In this paper, we introduce the mobile embedded system implemented for capturing stereo image based on two CMOS camera module. We use WinCE as an operating system and capture the stereo image by using device driver for CMOS camera interface and Direct Draw API functions. We aslo comments on the GPU hardware and CUDA programming for implementation of 3D exaggeraion algorithm for ROI by adjusting and synthesizing the disparity value of ROI (region of interest) in real time. We comment on the pattern of aperture for deblurring of CMOS camera module based on the Kirchhoff diffraction formula and clarify the reason why we can get more sharp and clear image by blocking some portion of aperture or geometric sampling. Synthesized stereo image is real time monitored on the shutter glass type three-dimensional LCD monitor and disparity values of each segment are analyzed to prove the validness of emphasizing effect of ROI.

Implementation of wireless 3D stereo image capture system and synthesizing the depth of region of interest

In this paper, we introduce the mobile embedded system implemented for capturing stereo image based on two CMOS camera module. We use WinCE as an operating system and capture the stereo image by using device driver for CMOS camera interface and Direct Draw API functions. We send the raw captured image data to the host computer by using WiFi wireless communication and then use GPU hardware and CUDA programming for implementation of real time three-dimensional stereo image by synthesizing the depth of ROI(region of interest). We also try to find and declare the mechanism of deblurring of CMOS camera module based on the Kirchhoff diffraction formula and propose a deblurring model. Synthesized stereo image is real time monitored on the shutter glass type three-dimensional LCD monitor and disparity values of each segment are analyzed to prove the validness of emphasizing effect of ROI.

Improvement algorithm for the unfocused image captured by CMOS camera module

In this paper, we present an algorithm for obtaining an original image which becomes blurred due to the size of the aperture of the CMOS camera module in capturing images of the objects near the camera. We introduce the mathematical property of a circulant matrix which can be used to describe the PSF and propose a new algorithm based on this matrix. We suggest new algorithms for both one-dimensional and two-dimensional signal processing case. These proposed algorithms were validated by the results of computer simulation for two-dimensional images synthesized by a CMOS camera model which was based on a pinhole camera model previously proposed by our research group.

New synthesizing 3D stereo image based on multisegmented method

In this paper, we introduce the harwdare/software technology used for implementing 3D stereo image capturing system which was built by using two OV3640 CMOS camera modules and camera interface hardware implemented in S3C6410 MCP. We also propose multi-segmented method to capture an image for better 3D depth feeling. An image is composed of 9 segmented sub images each of which is captured by using two degree of freedom in DC servo per each left and right CMOS cameras module for the improving the focusing problem in each segmented sub image. First, we analyze the whole image. We hope and sure that this new method will improve the comfortable 3D depth feeling even though its synthesizing method is a little complicated.

Software Development Tool for Agricultural Machinery Based on IsoAgLib Open Source Library

This paper tries to describe how to develop software environment for developing for an electronic control system consistent with ISO11783 standard by using IsoAgLib library developed by OSB&IT Engineering Company. IsoAgLib library has the all the functions for the communication services and management systems needed for implementing firmware software of ECU according to the ISO11783 standard. We focus on developing plug-in for Eclipse Integrated Development Environment (IDE) and propose configuration plug-in and IAR system plug-in. We also introduce the hardware implementation of ECU by using STM32F107 ARM 32-bit Cortex™-M3 CPU and CAN-bus receiver/ transceiver driver chip.

Simulation of RC Helicopter based on dynamics of quaternion by using OpenGL and simulink

In this paper, we present a sliding mode control for the radio controlled helicopter based on quaternion dynamics. We also introduce the kinematics of the rotating object based on quaternion and then propose a robust sliding mode control algorithm which can guarantee the over all stability of the whole system. We will show the simulation results by using the matlab simulink software tool and then implement the computer animation by using OpenGL based on the data of the simulation results. In this paper, we introduce implementation of virtual training environments based on Embedded System. Our virtual environment consists of S3C6410 ARM11 based embedded board, 3D Auto-Stereoscopic LCD Module, and RC Helicopters remote controller. We use the simple dynamics of the helicopter which we derived in previous research work under the assumption that it can be modeled as rigid body composed of three main parts, such as main body, main rotor, and tail rotor. From the computer simulation, we can check the validness of proposed control law.