Control of a line robot system with Embedded Linux
Vasilopoulos, Anastasios-Emmanouil (2015)
Diplomityö
2015
Julkaisun pysyvä osoite on
http://urn.fi/URN:NBN:fi-fe2015120321932
http://urn.fi/URN:NBN:fi-fe2015120321932
Tiivistelmä
Many, if not all, aspects of our everyday lives are related to computers and control. Microprocessors
and wireless communications are involved in our lives. Embedded systems are
an attracting field because they combine three key factors, small size, low power
consumption and high computing capabilities.
The aim of this thesis is to study how Linux communicates with the hardware, to answer
the question if it is possible to use an operating system like Debian for embedded systems
and finally, to build a Mechatronic real time application. In the thesis a presentation of
Linux and the Xenomai real time patch is given, the bootloader and communication with
the hardware is analyzed. BeagleBone the evaluation board is presented along with the
application project consisted of a robot cart with a driver circuit, a line sensor reading a
black line and two Xbee antennas. It makes use of Xenomai threads, the real time kernel.
According to the obtained results, Linux is able to operate as a real time operating system.
The issue of future research is the area of embedded Linux is also discussed.
and wireless communications are involved in our lives. Embedded systems are
an attracting field because they combine three key factors, small size, low power
consumption and high computing capabilities.
The aim of this thesis is to study how Linux communicates with the hardware, to answer
the question if it is possible to use an operating system like Debian for embedded systems
and finally, to build a Mechatronic real time application. In the thesis a presentation of
Linux and the Xenomai real time patch is given, the bootloader and communication with
the hardware is analyzed. BeagleBone the evaluation board is presented along with the
application project consisted of a robot cart with a driver circuit, a line sensor reading a
black line and two Xbee antennas. It makes use of Xenomai threads, the real time kernel.
According to the obtained results, Linux is able to operate as a real time operating system.
The issue of future research is the area of embedded Linux is also discussed.