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Projects page.
Miscellaneous Older Projects

Index:
|> T.J. - Biped Walker
|> Tank Robot Conversion
|> Tekno
|> Snail Vision
|> Equivalent-Time Sampling on a PIC

<| T.J. - Bipedal Walking Robot [05.2007]

T.J. is a simple bipedal walking robot with 2-DOF per leg. Click here for T.J. biped.


<| Tank Robot Conversion [12.2002]

This project involves conversion of a radio-controlled Sentinel Tank into a robot using the OOBOT40 Controller Board for command, communications, and operational control. The unit has been desert-certified for operation in quicksand environments, but has been removed of its cannon rounds. For more information, see the Tank page.


<| Tekno the Robotic Puppy [02.2002]

A little info about one of the original robot dogs: Tekno.


<| Snail Vision [09.2001]

How do animals with low-resolution vision systems perceive the world? The associated page shows some basic transformations on low-resolution images, as might exist in the Snail Visual System (loads about 150 KBytes of images).


<| Equivalent-Time Sampling on a PIC [01.2001]

Under normal operating conditions, the A/D converter on a PIC can sample at best at about a 50 Khz rate, or 20 usec/sample, and this limits the useful frequency for input signals to approx 5 Khz - when viewed in the time-domain on oscilloscope-type displays. However, by use of "equivalent-time sampling" techniques, the PIC can be made to sample at up to the equivalent of 1 Mhz, and "repetitive" signals to approx 100 Khz can be captured and resolved using the same A/D converter.

For ETS to work properly, the signal waveform must repeat unchanged over a given sampling period, and a means is required for obtaining a hard, stable trigger from the signal waveform. A typical setup for ETS employs an amplifier and low-pass filter which feeds the signal to the A/D converter and also to a threshold-comparator, whose output is sensed by a digital I/O channel and used for triggering. The signal is sampled over several triggers, with sampling initiated at increasing delays with each successive trigger. For each individual sweep, the signal is actually undersampled, but it can be pieced together by combining the information present over all the sweeps.

By employing this technique, the usefulness of the PIC A/D converter can be greatly enhanced. Figures illustrating ETS on a PIC 16C76 are shown on the accompanying page: Equivalent-Time Sampling on a PIC.


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