Summer Training in Robotics and embedded systems

PLC institute of electronics, Rohini Sec-3, Delhi.

Nikhil Aggarwal
Embedded Systems
 What is an Embedded System?
 Where are Embedded Systems used?
 Typical Embedded Systems Hardware
 Robotics
 Microcontrollers
 The 8051 Microcontroller
 Project Undertaken
What is an Embedded System ??
A specialized computer system that is part
of a larger system or machine. Typically,
an embedded system is housed on a single
microprocessor board with the programs
stored in ROM. Virtually all appliances that
have a digital interface -- watches,
microwaves, VCRs, cars -- utilize
embedded systems. Some embedded
systems include an operating system, but
many are so specialized that the entire
logic can be implemented as a single
program.
KEY FEATURES
OF AN EMBEDDED SYSTEM

 Real Time in nature (RTOS)

 Employs very specific types of components. Specific in terms of
 Quantity (Memory)
 Available Feature (DVS, Watch Dog Timer)
 Operating System (Application commands the OS)
 Developed in an environment which is totally different from the
actual.
 Power Requirement, Size & Cost are considered with great detail
along with the application.
 Selects Hardware, Software components and Design Process
based on A,B & C, i.e. Application, Business Plan and Cost.
 Where are Embedded Systems used?
Market Embedded Device

Automotive Ignition System, Engine Control, Brake

System

Consumer Electronics Digital Televisions, Set-Top Boxes, Kitchen

Appliances, Toys/Games, Telephones/Cell
Phones/Pagers, Cameras

Industrial Control Robotics, Process and Manufacturing

Controls

Medical Equipment ECG Machine, Dialysis Machines, Cardiac

Monitors

Office Automation Fax Machine, Photocopier, Printers,

Scanners, UPS

Networking ( Spl. Application) Routers, Hubs

Typical Embedded Systems Hardware
 Commercial off-the-shelf components (COTS)
 e.g. wireless radios, sensors, I/O devices

 Application-Specific ICs (ASICs)

 ICs tailored to meet application needs
 Good performance for their intended task(s)
 Original ESs were ASICs only

 Domain-specific processors
 DSPs
 Microcontrollers

 Microprocessors
 General Purpose Processors
Robotics
Robotics is the engineering science and
technology of robots, and their design,
manufacture, application, and structural
disposition. Robotics is related to
electronics, mechanics, and software
 A robot is an automatically guided
machine which is able to do tasks on its
own, almost always due to electronically-
programmed instructions. Another common
characteristic is that by its appearance or
movements, a robot often conveys a sense
that it has intent or agency of its own.
Parts of robotics/mechatronics
 1.Mechanical
o The mechanical parts include Actuators,
hydraulic actuators ,mechanisms.

 2.Electronics/electrical
 Embedded systems
 Control systems
 Display units

 3.Software
 Programming
Dc motors
 An electric motor uses
electrical energy to produce
mechanical energy, very
typically through the interaction
of magnetic fields and current-
carrying conductors. The
reverse process, producing
electrical energy from
mechanical energy, is
accomplished by an alternator,
generator or dynamo.
 Stepper motor
A stepper motor (or step
motor) is a brushless,
synchronous electric motor that
can divide a full rotation into a
large number of steps.

 Stepper motors operate differently from DC brush motors, which rotate when
voltage is applied to their terminals. Stepper motors, on the other hand,
effectively have multiple "toothed" electromagnets arranged around a central
gear-shaped piece of iron. The electromagnets are energized by an external
control circuit, such as a microcontroller. To make the motor shaft turn, first
one electromagnet is given power, which makes the gear's teeth magnetically
attracted to the electromagnet's teeth. When the gear's teeth are thus aligned
to the first electromagnet, they are slightly offset from the next electromagnet.
So when the next electromagnet is turned on and the first is turned off, the
gear rotates slightly to align with the next one, and from there the process is
repeated. Each of those slight rotations is called a "step," with an integer
number of steps making a full rotation. In that way, the motor can be turned by
a precise angle.
H bridge
 An H-bridge is an
electronic circuit which
enables a voltage to be
applied across a load in
either direction.
 It can be either made by
discreet components or
by IC(L293)
Microcontroller
 A microcontroller (sometimes
abbreviated µC or uC) is a small
computer on a single integrated
circuit containing a processor core,
memory, and programmable
input/output peripherals. Program
memory is also included on chip, as
well as a typically small amount of
RAM. Microcontrollers are designed
for embedded applications, in
contrast to the microprocessors
used in personal computers or
other general purpose applications.
8051
 The Intel 8051 is a single chip
microcontroller (µC) which was
developed by Intel in 1980 for use in
embedded systems.

The 8051 family characteristics:

 4K Bytes ROM
 128 Bytes RAM
 Two timer/counters (16 bit)
 A serial port
 4 general purpose parallel
input/output port
 Interrupt controller
8051 development board
DTMF
 Dual-tone multi-frequency
signaling (DTMF) is used for
telecommunication signaling over
analog telephone lines in the voice-
frequency band between telephone
handsets and other communications
devices and the switching center.

 The DTMF system can be used to

give inputs to a robotic circuit using
IC8870
 Sensors
 A sensor is a device that measures a
physical quantity and converts it into a
signal which can be read by an observer
or by an instrument.

Various types of sensors:

 Proximity sensor
 IR proximity
 Ultrasonic proximity
 Magnetic proximity
 Metal proximity
 Light
 Gas sensors
 Pressure sensors
PROJECT
UNDERTAKEN

 MICROMOUSE
What is “MICROMOUSE ”?

•Completely autonomous robot

•Search/Navigate the given maze
•Takes ‘shortest time path‘ from start to
centre
Micromouse is an event where small robot mice
solve a 16x16 maze. It began in late 1970s, &
events are held worldwide, most popular in the
UK, U.S., Japan, Singapore, India and South
Korea.
CONSTRUCTION
 Mechanical
 Electrical
 Sensors
 Processor
 Power Supply
 Software
 Programming
A Micromouse Solving a Maze