Project Robotics - March 2009 - (Page 19) and software architecture used on the loT-V were effortlessly ported over to the hoT-V for execution on the Compactrio with minimal modification. The loT-V’s primary purpose was to act as a test bed for the various types of sensors that we planned to use on the project. We devoted a significant amount of time to choosing appropriate and reliable sensors because accurate and high-bandwidth information was necessary to successfully balance the platform. figure 3 the labView simulation subsystem for the doebelin sensor fusion scheme. VoluMe 1 19 || nuMBer 1 one additional challenge in choosing the correct sensor was sensor placement. We planned to attach all sensors within the platform structure increasing the types of terrain the platform can operate on. We quickly found that several different sensors would have to be integrated together to make a single measurement of acceptable quality. Testing sensor combinations was extremely easy in labVieW because the entire system was implemented in a single environment. schemes could first be evaluated in simulation and then transitioned to realworld hardware with no extra effort. Many sensor schemes were explored and after extensive experimentation, a sensor fusion scheme introduced by professor ernest doebelin of ohio state university was chosen (see figure 3). it was then integrated into the overall control system of the platform and used to combine measurements from an Contents Viewpoint the Cutting edge for haptiC researCh Modeling CoMplex eleCtroMeChaniCal systeMs deVeloping a two-wheeled self-BalanCing transport platforM home page product training Module online ordering suppliers Catalog http://ad.doubleclick.net/clk;212362954;32989198;w?http://www.digikey.com http://ad.doubleclick.net/clk;212362954;32989198;w?http://www.digikey.com http://ad.doubleclick.net/clk;212363051;32989198;l?http://digikey.com/PTM/PTMMaster.page?site=us&lang=en http://ad.doubleclick.net/clk;212363300;32989198;i?http://ordering.digikey.com/ordering/addpart.aspx?site=US&source=search http://ad.doubleclick.net/clk;212363091;32989198;p?http://digikey.com/Suppliers/SupplierIndex.page?site=us&lang=en http://ad.doubleclick.net/clk;212363309;32989198;r?http://dkc1.digikey.com/us/en/pdf/Current.html
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