![]() ![]() ![]() Control and acquisition devices also rely heavily on the integration with external sensors, converters and actuators that require highly reliable communication with low-latency and, in most cases, large data streams. Such short times are required for the target applications considered in this article. COTS designs are equipped with operating systems intended for general purposes but not optimised for short response times of single milliseconds or less. The COTS approach, however, faces two fundamental problems: operating system response time and latency of external communication. Separate components are microprocessors, display panels, communication modules, operating systems, including their programming and testing. Android has a special place on the operating system market due to its openness, which means that programmers can use free libraries.īuilding of an acquisition and control device from separate components would take much more time and expense than when using ready commercial off-the-shelf (COTS) components. Mobile devices run their on-board operating systems with graphic libraries and user interface and also handle communications. The devices are battery-powered and energy efficient. Cameras have become a standard in these devices, but many also feature GPS modules or other sensor types such as compasses, accelerometers, etc. Large amounts of data can be stored using Secure Digital (SD) cards while Universal Serial Bus (USB) interfaces allow external devices such as pen-drives and keyboards to be attached. They are compact, small and relatively resistant to shocks. These devices typically comprise several modules, including colour touch screens and a range of communication modules, such as Wi-Fi, Bluetooth and GSM/3G. Mass production makes them increasingly affordable and attractive as a component of acquisition, control and recording applications. Widely popular mobile devices, such as phones, tablets and personal digital assistants offer an alternative. ![]() This approach requires specialised software and dedicated hardware drivers. Processing of user data is normally performed by either embedded solutions (microprocessors) or personal computers equipped with I/O cards. The latency achieved was less than 0.5 ms and the sensor data stream throughput was on the order of 750 KB/s (compared to 3 ms latency and 300 KB/s in traditional solutions).Īdvanced control, acquisition-recording and automation systems require extensive communication interfaces to integrate with external computer systems and highly ergonomic sophisticated user interfaces. It is demonstrated that the proposed methodology can be employed without developing specific device drivers. It can be used in a wide range of control applications as well as embedded acquisition-recording devices, including energy quality measurements, smart-grids and medicine. The proposed methodology is intended for acquisition and control of mechatronic systems, especially mobile robots. Some optimisations are proposed and their influence on real-time performance was investigated. It covers closed control loop time between the sensor/actuator module and the Android operating system as well as the real-time sensor data stream within such a system. This paper presents results of practical implementation and analysis of experimental real-time performance. An Android-based component was chosen to explore the potential for a mobile, compact and energy efficient solution with easy to build user interfaces and easy wireless integration with other computer systems. It is proposed to utilize it avoiding the use of an additional converter. This article presents a new methodology for designing a hybrid control and acquisition system consisting of a 32-bit SoC microsystem connected via a direct Universal Serial Bus (USB) with a standard commercial off-the-shelf (COTS) component running the Android operating system. ![]()
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