VOL. 12, NO. 23, DECEMBER 2017 ISSN 1819-6608 ARPN Journal of Engineering and Applied Sciences ©2006-2017 Asian Research Publishing Network (ARPN). All rights reserved. www.arpnjournals.com 6725 DESIGN AND IMPLEMENTATION OF EMBEDDED TRACKING SYSTEM USING SPATIAL PARALLELISM ON FPGA FOR ROBOTICS Noor Aldeen A. Khalid and Muataz H. Salih School of Computer and Communication Engineering, Universiti Malaysia Perlis (UniMAP) Perlis, Malaysia E-Mail: nooraldeen4561@gmail.com ABSTRACT The robot tracking system is one type of utilization system on a mobile robot and generally utilized as a part of numerous perspectives, for example, security or military. In this project, we implemented an active robot tracking system used FPGA platform. The robot can identify and track objects by using Infrared long range (IR). Perception approach and motion planning is the most essential part in this project. We used Two long range IR sensors for the tracking process and to distinguish any moving object while, the DE0-Nano board is the project platform and the characteristic of FPGA offer programmability and makes it easier to implement on different mobile robot platforms. We integrated Sensors with the DE0-Nano board. In our project a structure VHDL coding is used for design the robot tracking system and Quartus II 13.0sp1 as a development CAD tool. The implementation of complex tracking system with FPGA platform (DE0-Nano) was possible because of the rich logic elements, a specific sensors characteristics testing and robot stability was carried out to master those sensors and robot. The result for this project that already got, shown the frequency for DE0-nano achieved up to 1.3 GHz, also the total logic elements we used for this project is 4,022 and shown the output reading voltage of the IR sensor is high reflectivity for the white colour object compared to another colours like blue and black, also the long detection distance. Keywords: embedded system, tracking system, spatial parallelism, FPGA design. INTRODUCTION The field of robotics was seeing a massive impact on daily life. The robots were invented for overcoming the problem related to insufficient resources. Moreover, they are able to accomplish the tasks which are highly risk for the humans. We designed and implemented the robot tracking system on FPGA. Nowadays, robotics has been widely applied in the areas of security, service etc. The robot tracking system helps us carry out several tasks successfully. On the other hand, some of the important problems in the robot tracking system include object discovery, path planning are explored. We used two long- range Infrared (IR) beams for tracking any type of object, using these sensors was able to resolve the object detection and the tracking issues. Furthermore, we selected the DE0 Nano board for mastering these sensors and controlling the robot motors through L293D chip to let the robot moved in different directions. The DE0 Nano refers to a compact- sized FPGA development platform; which is more suited for the portable designing projects like a robot. The configurable logic block used in the FPGA helps in updating the design easily. Also, the DE0 Nano platform consists of rich I/O pins, and enables it to simultaneously handle huge data volume and achieve higher data processing speeds with frequency up to 1.3GHz. The DE0 Nano platform solves the problems related to a low processing speed and I/O and resource limitation. We interfaced the DE0 Nano platform with the sensors and the robot. Thereafter, we used the VHDL and such Mega function modules for overcoming the design-based challenges. The Quartus II 13.0sp1 CAD tool software acted as the designing tool for simulating the VHDL coding or the block diagram for validating the performance of our design. RELATED WORK The FPGAs are integrated circuits that can be customised by the user for implementing arbitrary digital functions. The modem FPGAs can combine the general logic resources with the microprocessors, programmable interconnections, multipliers, networking, memories, the delay/phase locked loops and such other cores for designing a more versatile System on Chip (SoC). FPGA provides a highly flexible and integrated platform, it’s processing fast, using FPGA to complete fixed function modules, such as filters or any other design, down-converter, a memory, co-processors has a very significant advantage [1]. Table-1. Comparison betweenFPGA and DSP[1]. FPGA DSP Power Low High Difficulty Of Development Hard Easy Volume Small Big MAC Speed Parallel Processing Speed Limited Parallel Processing Parallel Processing Serial Processing Basic Development Language V/A HDL And etc. C, Assembler Language etc. FPGAs are very popular in all of the application domains. Initially, the FPGAs were used in the form of the digital glue logic or only for prototyping, however, today; they are generally applied as integral components of complex designs like communications, consumer electronics, space systems and military. The FPGAs are