robotics for embedded systems.pptx

robotics

1. Embedded System for Robotics Dr. Vikas Mahor

2. Contents: Identify uses of Embedded Systems. Understand the key differences between computers and embedded systems. Identify various embedded systems platforms for robotic development. 2

3. EMBEDDED SYSTEMS W e ar e surr ou n de d b y Embedd e d Systems.  C e l l Pho n es  Automa tic W ashi n g Machi n es.  T r a f fic Signals wit h T imers.  Automobile Ele c tro n i c s.  Fi n d a system th at co n tains no e l ectron i c system . 3

4. EMBEDDED SYSTEMS E m bedded sys t em m eans the processor is e m bedded i nto that appli c at i on. An e m bedded p r oduct uses a m icrop r ocessor or m icrocont r oller to do one task onl y . In an e m bedded sy s te m , there is only one app l icati o n software t hat is typ i ca l ly burned in t o R O M. Exa m pl e ： pr i nte r , keyboa r d, video ga m e player 4

5. PROCESS of EMBEDDED SYSTEMS INPUT (You turn on the switch) PROCESS (Program Code) OUTPUT (The motor will start to rotate) 5

6. APPLICATIONS of EMBEDDED SYSTEMS 6

7. Were the embedded systems existing earlier ? 7 Yes, We have been enjoying the grace of embedded system quite a long time. But they were not so popular because in those days most of the embedded systems were designed around a microprocessor unlike today’s systems which were built around a microcontroller . As we know a microprocessor by itself do not possess any memory, ports etc. So everything must be connected externally by using peripherals like 8255, 8257, 8259 etc. So the embedded system designed using microprocessor was not only complicated in design but also large in size.

8. Why a microcontroller for Embedded systems? 8 A microcontroller is a single silicon chip with following features : Arithmetic and logic unit Memory for storing program. EEPROM for nonvolatile data storage. RAM for storing variables and special function registers Input/output ports Analog to digital converter Circuits for reset, power up, serial programming , debugging

9. Classification of Embedded Systems 9 Based on functionality and performance requirements, embedded systems are classified as : Stand-alone Embedded Systems Real-time Embedded Systems Networked Information Appliances Mobile Devices

10. Stand-alone Embedded Systems 10 As the name implies, stand-alone systems work in stand-alone mode. They take inputs, process them and produce the desired output . Embedded systems used in process control, automobiles, consumer electronic items etc. fall into this category.

11. Real time Embedded Systems 11 Embedded systems in which some specific work has to be done in a specific time period are called real-time systems. For example, consider a system that has to open a valve within 30 milliseconds when the humidity crosses a particular threshold. If the valve is not opened within 30 milliseconds, a catastrophe may occur. Such systems with strict deadlines are called hard real-time systems . Soft and Hard real time embedded systems.

12. Network based Embedded Systems 12 Embedded systems that are provided with network interfaces and accessed by networks such as Local Area Network or the Internet are called networked information appliances. These systems have emerged in recent years. These systems run the protocol TCP/IP stack and get connected through PPP or Ethernet to an network and communicate with other nodes in the network.

13. EMBEDDED SYSTEMS vs REGULAR COMPUTERS Since embedded systems are expected to be in every single aspect of your life, they feature two important traits: low cost and specific functionality . 13

14. LOW COST allows you to have a very prolific distribution of embedded system in sensing the environment or medical equipment SPECIFIC FUNCTIONALITY means that the computer needs to do a small set of tasks really well, and these tasks are not expected to change much over time 14

15. MICROPROCESSOR Ge n era l -p urpo s e micro pro c e s sor  CPU for C o m p u t e rs  No RAM, ROM, I / O on CPU chip i t s e lf  E x a m ple : Inte l ’ s x 8 6, AMD Athelon , Qualcomm snapdragon. MICROPROCESSOR vs MICROCONTROLLER 15

16. MICROPROCESSOR vs MICROCONTROLLER MICROCONTROLLER A s m aller co m puter O n-chip R A M, R O M, I / O por t s... Exa m pl e: Motoro l a ’ s 68 1 1, Intel ’ s 8051, Z ilog ’ s Z8, PIC 16X etc. 16 CPU RAM ROM I/O Port T im e r Ser i al COM Po r t

17. DEVELOPMENT BOARDS In order to make prototyping with microcontrollers easier, there are development boards available. These boards have a microcontroller with just enough peripherals to allow you to easily place your program into the system and try out your designs without breaking out your soldering iron. 17

18. RASPBERRY PI The Raspberry Pi is a fully featured microcomputer squashed onto a circuit board measuring approximately 9cm x 5.5cm. The Raspberry Pi has a Broadcom BCM2835 system on a chip ( SoC ), which includes an ARM1176JZF-S 700 MHz processor. Video Core IV GPU, originally shipped with 256 megabytes of RAM, later upgraded to 512MB. 18

19. RASPBERRY PI Linux on a bootable SD card • Fedora • Raspbian • Debian • ArchLinux ARM Programming • By default, supporting Python as the educational language. • Any language which will compile for ARMv6 can be used with the Raspberry Pi. 19

20. ROBOTIC DEVELOPMENT USING RASPBERRY PI SCORBOT-ER III educational/industrial robotic arm and industrial IP cameras. The control system it’s a simple Raspberry PI, which is the whole control system for this automated environment. The robotic arm can hook the object marked with the green bottle stopper and place it in the correct recipient, regardless of its position. 20 Szabó , R., & Gontean , A. (2016, September). Industrial robotic automation with Raspberry PI using image processing. In  2016 International Conference on Applied Electronics (AE)  (pp. 265-268). IEEE.

21. BEAGLEBOARD This is another popular ARM-based development board similar in nature to the Raspberry Pi, but with the support of Linux and Android. Processor: AM335x 1GHz ARM® Cortex-A8 • 512MB DD3 RAM • 2GB 8-bit eMMC on-board flash storage • 3D graphics accelerator Connectivity • USB client for power and communications • USB host • Ethernet • HDMI • 2x46 pin headers Software Compatibility • Angstrom Linux • Android 21

22. ROBOTIC DEVELOPMENT USING BEAGLEBOARD 22 Hannaford, Blake, et al. "Raven-II: an open platform for surgical robotics research."  IEEE Transactions on Biomedical Engineering  60.4 (2012): 954-959.

23. MINNOWBOARD If you prefer a more PC-like experience for your embedded systems, the MinnowBoard is an x86-based platform that works with the regular PC version of Microsoft Windows 10, as well as Linux, and Android. Like the Raspberry Pi and BeagleBoard , the MinnowBoard has a section that allows connections of various sensors and components that can be used by the running program. 23

24. ARDUINO While many development boards center around exposing a few connections to the outside world to a computer, the Arduino allows for a lot more connections at a lower price (and performance). Using the AVR family of microcontrollers, the Arduino boards and their countless clones, like Genuino , are an excellent way to bridge the gap between electronics and programming in order to add smarts to your projects. Processing power is very limited, thus there are no operating systems for the Arduino ; you create your own every time you program one. 24

25. ADVANCED ROBOTS DEVLOPED USING MULTIPLE EMBEDDED SYSTEMS 25 A dv a nc e d Step i n Innov a tive Mo b ili t y ( ASIMO) . Mos t d ev e lop e d h uma n oi d i n the w orld .

26. Nanorobots ( Nani t es ) 26 Nanites   are countless  microscopic artificial machines  the size of a virus found in the air, that are capable of two commands,  absorb electricity and replicate . The  nano -machines are capable of  various medical applications  such as the killing of malignant (Cancerous) cells in human beings.  . https://revolution.fandom.com/wiki/Nanites Guang-Zhong Yang et. al..   Combating COVID-19—The role of robotics in managing public health and infectious diseases .  Science Robotics , 2020; 5 (40): eabb5589 DOI:  10.1126/scirobotics.abb5589

27. Conclusion 27 Nanites   are countless  microscopic artificial machines  the size of a virus found in the air, that are capable of two commands,  absorb electricity and replicate . The  nano -machines are capable of  various medical applications  such as the killing of malignant (Cancerous) cells in human beings.  .

28. End of presentation. Thank You 28