Microcontroller-based peak current mode control using digital slope compensation

Microcontroller-based peak current mode control of a buck converter is investigated. The new solution uses a discrete time controller with digital slope compensation. This is implemented using only a single-chip microcontroller to achieve desirable cycle-by-cycle peak current limiting. The digital controller is implemented as a two-pole, two-zero linear difference equation designed using a continuous time model of the buck converter and a discrete time transform. Subharmonic oscillations are removed with digital slope compensation using a discrete staircase ramp. A 16 W hardware implementation directly compares analog and digital control. Frequency response measurements are taken and it is shown that the crossover frequency and expected phase margin of the digital control system match that of its analog counterpart.

Geiger tube coincidence counter for lower atmosphere radiosonde measurements

Atmospheric profiles of cosmic rays and radioactivity can be obtained using adapted meteorologi- cal radiosondes, for which Geiger tubes remain widely used detectors. Simultaneous triggering of two tubes provides an indication of energetic events. As, however, only small volume detectors can be carried, the event rate is small, which, due to the rapid balloon ascent, cannot be circumvented using long averaging periods. To derive count rates at low altitudes, a microcontroller is used to de- termine the inter-event time. This yields estimates of the coincidence rate below 5 km, where the coincidence rate is too small to determine solely by event counting

A compact low-cost electronic hardware design for actuating soft robots

A low cost, compact embedded design approach for actuating soft robots is presented. The complete fabrication procedure and mode of operation was demonstrated, and the performance of the complete system was also demonstrated by building a microcontroller based hardware system which was used to actuate a soft robot for bending motion. The actuation system including the electronic circuit board and actuation components was embedded in a 3D-printed casing to ensure a compact approach for actuating soft robots. Results show the viability of the system in actuating and controlling siliconebased soft robots to achieve bending motions. Qualitative measurements of uniaxial tensile test, bending distance and pressure were obtained. This electronic design is easy to reproduce and integrate into any specified soft robotic device requiring pneumatic actuation.