Embedded Systems & Open Source Mechatronics
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Transcript of Embedded Systems & Open Source Mechatronics
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Doctor Thesis (1996) “Ultrasonic Transmission Tomography Using Ray Interval Correction
Based on Echo Profiles” Precision Machinery Engineering Dept., Dohi Laboratory
Ultrasonic Limited-Angle Partial Projections
Agar phantom
Porcine kidney
Complete projections Limited and partial
Ray Interval Correction on Echo Profile
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Trajetória Real x Estimada
coordenada x (m)
coord
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Real
Estimada
Ponto de partida
Ckeckpoints
região ampliada
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coordenada x (m)
coord
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(m
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Real
Estimada
Ponto de partida
Ckeckpoints
Reconstruction without sensor fusion Reconstruction with sensor fusion
Actual trajectory
Sensors: strap-down inertial unit (accelerometers & gyros), electronic compass & odometry
(No GPS...)
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Corrosion assessment on pipeline internal walls
Problems: noise multiple echo overlap lateral reflections Dispersion and lateral reflections of ultrasonic signals on
corroded pipeline wall
Phase-shift encoded pulse signal Received echo signal Processed Echo signal
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Arduino MEGA 256 RepRap 3D printer
E-puck Robot Lasersaur cutter Elphel Camera
Computer Systems, Cameras, Amateur Radio, Audio and Music, Telephony, Machine and Tools, Robotics, ... http://en.wikipedia.org/wiki/List_of_open-source_hardware_projects
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Arduino and shield boards for 3D printer
3D printer
Joint work with Faculty of Dentistry, USP
Use of 3D printer on dental filling training