Programmable System on Chip Distributed Communication and Control Approach for Human Adaptive Mechanical System

Abstract

Problem statement: Communication and control are two main components in any Mechatronics system. They can be designed either by centralized or decentralized approach. Both approaches can be chosen based on application designed and specific requirements of the designer. In this study, decentralized or normally called distributed approach was selected to solved communication and control of a human adaptive mechanical system namely Intelligent Chair Tools (ICT). The ICT seating system is powered by thirty six intelligent pneumatic actuators to facilitate investigation of chair shapes from spring and damping effect of seating and backrest surface. Three studies are proposed from the sitting experiments namely chair shapes, chair spring and chair damping properties. Approach: PSoC microcontroller was selected based on its features of having configurable analog and digital blocks. Its flexible modules and programmable peripherals ease designer in designing the communication and control of ICT in improved and faster way. Three protocols of USB, SPI and I²C were used for the communication system of ICT using PSoC. Flow charts of each communication protocols algorithms were discussed. On the other hand, the control system used PSoC’s ADC and counter modules to read inputs of pressure and encoder respectively. PWM module is used to control the valve and data communication was achieved using I²C module. Block diagram of unified control was discussed for further understandings of the control algorithms. Results: The PSoC specification, development design and experimental evaluation of ICT system are presented and discussed. Three studies of chair shapes, chair spring property and chair damping property from sitting experiment were shown. Conclusion/Recommendations: The PSoC microcontroller selection was discussed and application of its distributed communication and control was successfully applied to ICT. This distributed approach can be applied to other application suitable for local control approach for easy debugging, more modular design and intelligence in deciding output based on feedback inputs.