ūüéČWe can now proudly present the winners of the TAPAS Community Challenge 2018! ūüéČ
Congratulations to Team "Wireless Charging" (idea 56). We are really excited for all finalists and a really big thank you to all participants for your interest in this challenge!

We got over 200 submissions! 65 ideas got one or more TAPAS boards, 10 submissions were presentation-ready.
And now we have 5 finalists! YEAH ūüėÉ The finalist's idea numbers were 40, 56, 68, 212 and 213.
What's next?
We are now preparing the next steps for you, the community. Please stay tuned!
We are working on a forum and a separate webpage. If you have any question please don't hesitate to contact us via email!

Smart 4D Gimbal for Device under Test

Goal of the Project:

Development of 4D gimbal (4 Axis turntables) which can be used for next generation measurements. This Automated test equipment can be used to measure radar sensors, communication systems and antenna systems to characterize real time behavior.

What is definition of 4D Gimbal?

4D gimbal means 4 different movements across different axis to test the device under test (DUT). One motion is linear motion and rest three is rotatory motion. Here is small diagram to show motion which can be done on gimbal.

Figure 1 Gimbal Motion Axis Overview

Below diagram will show motor placements.

Figure 2 Motors placement overview


System Overview:

There are two important types of motion definition in measurement domain for Automated test equipment: One is Linear motion and other is rotatory motion of device under test(DUT)

Final system is a 4D design (3D pattern + linear actuator) motion with one high torque servo motor on base with linear actuator to move the whole system. 3 Additional servo motors will be mounted for 3D axis measurement of Device under test (DUT).

As shown in Figure 1 and Figure 2:

Base linear actuator motor will move complete 3D gimbal back and forth to change distance of DUT from measurement system under range of 1 meter. Three rotators will further move to create 3D patterns of DUT.

How powerful is final system?

Final 4D system is able to power up three powerful servo motors and one linear actuator which can handle good amount of torque and need to drive heavy DUTs and antennas. The antennas and DUT can vary from few grams to several Kgs. With this basic preliminary system it will be tested what we can drive with Tapas platform. It will be then extended with help of Individual Tapas boards for as drivers for future units.

Use Cases for testing

  • Miniaturized Sensor systems which are used for Gesture sensing. 3D motion helps to mimic Human hands. These Sensor includes Radar sensors, Time of flight sensors, Ultrasound sensors etc. This system can helps in distance, velocity, target cross range estimation.
  • Measuring Antennas: This platform can enable to measure all parameters of antenna testing comprising of polarization, Elevation, azimuthal plane, Gain and 3D radiation patterns.
  • Measuring Communication systems : Alignment of Antennas between two systems can be mimic to see what happen in real environments
  • Measure Autonomous Driving sensors: This can be used to mimic radar sensors used for autonomous driving to understand how the behavior will be on roads. The unambiguity in road patterns will be generated in 4D gimbal by linear and 3D motion to mimic behavior of motion of car on roads.

Components Details

  • Linear servo motor control: https://www.beckhoff.de/
  • 3 Servo motors: https://www.beckhoff.de/
  • Several 3D printed parts to test initial concepts

Why Tapas Board?

Tapas are powerful platforms specifically with use case of Motor controls. We can drive 2 motors per board easily. With embedded software inverter circuit power usage and power driven circuits can be controlled and estimated. This also enables us to build smart algorithms of control and drivers to mimic certain profiles of measurement for example movement of sensors on Roads, movement of antennas due to wind etc.

For initial phase we need 3 boards for testing. We will use them to build one system prototype to test the concept and understand some improvements in mechanical and control design.

For extension of project we are planning to integrate 5 motors with 2 to 3 Tapas boards for 5D Gimbal.

Technical Flow and step by step procedure

 This section details the flow diagram of system. There can be some changes as per the convenience in system design. But this is just initial flow to understand how to proceed and embed several design aspects for 4D gimbal.

Figure 3 System Architecture with Tapas Boards

Step by Step Development Flow:

  • Integration of Tapas board with Raspberry Pi and software control for configurability
  • Enabling Raspberry Pi to control Tapas board from MATLAB/Python Interface
  • Integration of Servo motor control with Tapas board
  • Integration of Multiple servo and linear actuator control
  • 3D printing of Modular parts to create the Gimbal architecture
  • Running of full system together with Raspberry pi and tapas boards
  • Development of smart algorithms for mimicking different profiles for DUT under test like Car on Road behavior, Wind load behavior in form of movement and vibration


Future Aspects: System extension to 5D Gimbal

This will be extended in next generation to provide capabilities for 5D axis measurements which comprise of 3D pattern of DUT + 2 liner motions including change in range and lateral displacement with additional linear actuator embedded with servo motors.


Team Members

Ashutosh Baheti (Systems consultant, Infineon Technologies AG)

Raghavendran Vagarappan Ulaganthan (Algorithm and Embedded Designer, Infineon Technologies AG)

Rohith Revindran (Student for Antenna chamber control and measurements, Infineon Technologies AG)

  • Ashutosh Baheti
  • May 28 2018
  • Jun 4, 2018

    Admin Response

    this idea will get three TAPAS dev kits

  • Stefan Steinm√ľller [TAPAS team] commented
    May 29, 2018 09:09

    Hi Pedro,

    Thank you for the submission.

    It would be great if you can provide detailed schematic, an implementation plan and most importantly how TAPAS board fits in your idea. Please reply at the earliest as the deadline is soon approaching.

    Best Regards,

    Stefan @ TAPAS Team

  • Stefan Steinm√ľller [TAPAS team] commented
    May 29, 2018 09:11

    Hi Ashutosh,

    I am Sorry for submitting the wrong name in my answer.


    It would be great if you can provide detailed schematic, an implementation plan and most importantly how TAPAS board fits in your idea. Please reply at the earliest as the deadline is soon approaching.

    Pleas keep in mind, that the TAPAS is a "48V, 3-phase GaN power stage with on-board filters." (https://github.com/SDI-SoftwareDefinedInverter/TAPAS/blob/master/README.md)

    Best Regards,

    Stefan @ TAPAS Team

  • Ashutosh Baheti commented
    May 30, 2018 09:01

    Hi Stefan I will add more details soon.. Thanks 

  • Ashutosh Baheti commented
    May 31, 2018 13:24

    HI Stefan 


    I have updated all the details we can provide. I hope we can get some Tapas boards to proceed with our implementation .. Thanks 




  • Admin
    Nora Schille (TAPAS team) commented
    June 04, 2018 09:43

    Hey Ashutosh,

    thanks for your additional feedback.
    We want to provide you and your team three TAPAS boards.
    One of my colleagues will message you shortly.

    Nora @ TAPAS team

  • Admin
    Nora Schille (TAPAS team) commented
    June 04, 2018 14:30

    and something else...
    PS: We want to do a community call with you! Please use our doodle to find a date which fits best for you. :-)

    Nora @ TAPAS Team

  • Jacqueline Hofmann commented
    June 20, 2018 13:08

    Hi Ashutosh,

    Don't forget that the submission deadline for your presentation is on 24th of June! We are already curious to see the results of your project :-) Keep in mind that you still have time to work on the implementation of your idea after the submission!

    Please post your project visualization and all related documents within your idea board entry :-)


    Jacqueline @ TAPAS Team

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