2026-09-22T12:39:44Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/24143 2023-07-10 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

Copyright 2011 Justin Todd Czarnowski minimalism minimalist hardware architecture cyber-physical system (CPS) sensing counting tracking actuation ergodic Complex Programmable Logic Device (CPLD) Field-Programmable Gate Array (FPGA) Microcontroller arduino Minimalist Hardware Architectures for Agent Tracking and Guidance LaValle, Steven M. Czarnowski, Justin T. 2011-05-25T14:59:11Z 2011-05-25T14:59:11Z 2011-05-25T14:59:11Z 2011-05 The philosophy of minimalism in robotics promotes gaining an understanding of sensing and computational requirements for solving a task. This minimalist approach lies in contrast to the common practice of first taking an existing sensory motor system, and only afterwards determining how to apply the robotic system to the task. While it may seem convenient to simply apply existing hardware systems to the task at hand, this design philosophy often proves to be wasteful in terms of energy consumption and cost, along with unnecessary complexity and decreased reliability. While impressive in terms of their versatility, complex robots such as the PR2 (which cost hundreds of thousands of dollars) are impractical for many common applications. Instead, if a specific task is required, sensing and computational requirements can be determined specific to that task, and a clever hardware implementation can be built to accomplish the task. Since this minimalist hardware would be designed around accomplishing the specified task, significant reductions in hardware complexity can be obtained. This can lead to huge advantages in battery life, cost, and reliability. Even if cost is of no concern, battery life is often a limiting factor in many applications. Thus, a minimalist hardware system is critical in achieving the system requirements. In this thesis, we will discuss an implementation of a counting, tracking, and actuation system as it relates to ergodic bodies to illustrate a minimalist design methodology. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-15T16:22:35Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 7 apx.tex: 1897 bytes, checksum: 58f2a0c102ef4c5d81821aafd5c5aaca (MD5) concl.tex: 3048 bytes, checksum: 4fd796ca5dfceeced3a36da0d506eeb4 (MD5) exper.tex: 18249 bytes, checksum: 8310529abab63e2ced3e64a2a13d6af5 (MD5) methods.tex: 27929 bytes, checksum: 919ecd3c249e594e67161a5e6cc32e8c (MD5) intro.tex: 4036 bytes, checksum: 34e458aada189313b81d764be4e92950 (MD5) ecethesis01.tex: 7756 bytes, checksum: 3236c4b4949fe6e5e84d7f724124b81e (MD5) Czarnowski_Justin.pdf: 29609158 bytes, checksum: b2249f56f59a817a94d9bb31bc952362 (MD5) Made available in DSpace on 2011-05-25T14:59:11Z (GMT). No. of bitstreams: 8 Czarnowski_Justin.pdf: 29609158 bytes, checksum: b2249f56f59a817a94d9bb31bc952362 (MD5) license.txt: 4067 bytes, checksum: a23d4a3e7e834e42895a266f7b6a62a5 (MD5) ecethesis01.tex: 7756 bytes, checksum: 3236c4b4949fe6e5e84d7f724124b81e (MD5) intro.tex: 4036 bytes, checksum: 34e458aada189313b81d764be4e92950 (MD5) methods.tex: 27929 bytes, checksum: 919ecd3c249e594e67161a5e6cc32e8c (MD5) exper.tex: 18249 bytes, checksum: 8310529abab63e2ced3e64a2a13d6af5 (MD5) concl.tex: 3048 bytes, checksum: 4fd796ca5dfceeced3a36da0d506eeb4 (MD5) apx.tex: 1897 bytes, checksum: 58f2a0c102ef4c5d81821aafd5c5aaca (MD5) http://hdl.handle.net/2142/24143 en 1933 Electrical & Computer Eng Electrical & Computer Engr 1200 University of Illinois at Urbana-Champaign Thesis M.S. MS:Electr & Computer Eng-UIUC 10KS1200MS