B.Tech Industrial Training Presentation onEMBEDDED SYSTEM AND ROBOTICS

Presented PALLAVI BHARTI

20130549E&C Engg. Dept., SMIT

Under the Supervision of

MR.ROHAN SINGH

TRAINING HEAD

Contents • Introduction to Embedded Systems• Types & Applications• Microcontroller• IDE & Programmer• I/O function registers• LCD interfacing• ADC• Communication • Introduction to Robotics• History and Laws of Robotics • How robot moves?• Sensors• Conclusion

INTRODUCTION TO EMBEDDED SYSTEMS

It is a scaled down computer which is designed to perform a specific task only/operation.

Am embedded system is a software program on a hardware chip designed for specific purpose and can also contain some moving parts

‘Embedded’ means whole system embedded(implanted) onto an appliance

Types & Applications Embedded systemsNon-real time embedded

system: no deadline• Security systems• Mobile phones• Alarm system• Digital camera

Real time embedded system: deadline to be met

Sensor system in nuclear plants Missile defense system Flight control system

PROPERTIES OF EMBEDDED SYSTEMS Small in size Low cost High accuracy Easy to design Low power required Portable Efficient

APPLICATIONS OF EMBEDDED SYSTEMSSecurity system, Cell phone, Automobile system, Memory storage device, Calculators , Printer , Mouse , Alarm system

MICROCONTROLLER

• Programmable digital processor with necessary peripherals.

• It is complex sequential digital circuit meant to carry out the job according to the program.

Classification• Embedded (self-contained) 8-bit

microcontroller• 16 to 32 bit microcontroller• Digital signal processor

Features:• Built in monitor program• Built in program memory• Facility to interface

external memory• Interrupts• Analog I/O• Serial I/O• Timers

IDE AND PROGRAMMER

Some compilers are:

• WINAVR• Code vision AVR• AVR studio• Parts of programmer: Software(to open .hex file on the

computer)• Avr dude• Avr studio• Atprog Hardware• Usb-asp(sub)

I/O PORTS• DDRX(data direction register)• PORT X• PINX

LCD interfacingWe need to interface LCD to our microcontroller so that we can display output on it. Types:• Text display• Graphics display Lcd functions:• Lcd_clear()• Lcd_gotoxy(x,y)• Lcd_putchar(char c)• Lcd_putsf(constant string)• Lcd_puts(char arr)• Iota(into Val, char arr[])• Foa(float armchair decimal, char arr[])

ADC• Analog to digital converter• It is used to convert physical

quantity like temperature, pressure, etc. into electrical domain i.e. voltage

• functions for adc• Read_adc()

TimersIt is a register which is used to measure time interval Timers in Atmega 16:• Timer 0(8 bit)• Timer 1(16 bit)• Timer (8 bit) Timer modes:• Normal• PWM(pulse width modulation)• CTC(clear timer on compare)

CommunicationCommunications Techniques:• Simplex • Half duplex• Full duplex Modes of data transfer: Synchronous Asynchronous Parallel Serial Serial peripheral interface(SPI) Universal Synchronous Asynchronous

Transmitter Receiver(USART)

Interrupt

It is a signal that stops the current program and forces the execution of another program• Types:Mask ableNon mask ableHardwareOverflowCompare match

3 external Interrupts in Atmega16:

• INT0: PD2, Pin 16• INT1: PD3, Pin 17• INT2: PB2, Pin 3

Introduction to Robotics • Robotics is the science of

designing and building Robots Robot • Re-programmable multi-functional

manipulator designed to move materials, parts, tools or specialized devices to programmed motions

• Name ROBOT derived from Czechoslovakian word Robota meaning ‘compulsory labour’

• ‘Unimation’ –Joe Engleberger-Father of Robotics

Essential characteristics:• Mobility• Flexibility• Programmability • Mechanical capability• Sensors

Laws of RoboticsIsaac Asimov’s, 1940 ‘robotics’1. A robot must not injure human

being, or, through inaction, allow a human being to come to harm.

2. A robot must obey the orders given it by human being, except where such orders would not conflict with the first law.

3. A robot must protect its own existence as long as it doesn’t conflict with law 1st and 2nd.

Basic elements for building autonomous robot.

• Robot chassis and actuators: body and wheels arrangement.

• Electronics: includes Sensors, motion control circuits, power management system etc.

• Power Source :Usually batteries or direct supply through wire.

• Intelligence: is achieved by using Microcontroller.

How a Robot moves?

• Controlling rpm and direction of wheels, controls speed

•3 motors for 4 wheels• 2 motors for 2 wheels and 1 ball bearing caster

Motor and Motor Drives• Convert electrical energy into mechanical

energyMotors used in Embedded System & Robotics:• Servo, Stepper, Geared DC.H-bridge:• Electronic circuit enables a voltage to be

applied across load in either direction• Allows microcontroller logic chip or remote

control can electronically command the motor to go forward reverse brake and coast.

Sensors • Sensors are like “feel” for robot. • Device that measures a physical quantity and converts it into a

signal which can be read by an observer or by an instrument. Some sensors are: Temperature sensor• like DS1621,thermistor. LM35 measures from 0 to 100 degrees Light Dependent Resistor (LDR)• a resistor whose resistance varies with intensity of light.• IR sensor: (IR led + photodiode + LM358)• Infra red emitting diode as transmitter and photo diode as receiver • 0V<=Output<=5V • Output can be taken to a microcontroller by ADC• From any “non black body” i.e. obstacle, IR reflects and falls on

photo diode.• Hence Photo diode become forward bias, and it turn on the IC

LM358 that gives the output.

Conclusion • electronics + mechanics +

software = ROBOT• Efficient • Reliable• Interaction with environment• Multi Tasking• Favor for Mankind, if Used wisely

References • www.google.com• www.wikipedia.comGoogle images• http://www.embeddedsystem.com/• http://robotics.nasa.gov/• www.cmosexod.com• www.best-microcontrollerprojects.com• Handouts given by the organization

Thank You