signals, instruments, and systems – w7 introduction to hardware … · 2010-06-08 · what is an...
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Signals, Instruments, and Systems – W7
Introduction to Hardware in Introduction to Hardware in Embedded Systems –General Concepts and th k E lthe e-puck Example
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Outline• General concepts: autonomy,
perception, action, computation, p p , , p ,communication
• Examples of embedded systemsExamples of embedded systems• The e-puck miniature robot
G l hit t• General architecture• Perception (Sensors)
i ( )• Action (Actuators)• Computation (Microcontroller)• Communication (Transceivers)
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G l C t f General Concepts for Embedded SystemsEmbedded Systems
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What is an Embedded System?
From Wikipedia: An embedded system is a special-purpose computer y p p p psystem designed to perform one or a few dedicated functions often with real-time computing constraints. It is usually embedded as part of a complete device including hardware and mechanical parts. In contrast a general purpose computer such as acontrast, a general-purpose computer, such as a personal computer, can do many different tasks depending on programming.depending on programming.
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What is Challenging in DesigningWhat is Challenging in Designing Embedded Systems?
• Computation is subject to physical and resource constraintssuch as timing, deadlines, memory restrictions, and power consumption requirements.consumption requirements.
• The traditional abstraction of separating software from the hardware is more difficult. Hardware and software are integrally intertwinedintegrally intertwined.
• But: hardware components are becoming more and more flexible, cheap, small, and standardized. The design complexity is shifting to software!
• Your role as Environmental Engineers: get enough background to contribute to the software side with your domain knowledgeto contribute to the software side with your domain knowledge and collaborate with electrical and computer engineers.
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AutonomyAutonomy
• Different levels/degrees of autonomyDifferent levels/degrees of autonomy– Energetic level– Sensory motor and computational level– Sensory, motor, and computational level– Decisional level
• Needed degree of autonomy depends on task/environment in which the unit has to operate
i l di bili i i l b• Environmental unpredictability is crucial: robot manipulator vs. mobile robot vs. sensor node
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Autonomy –The Impact of Controllable Mobility
Task ComplexityHuman-Guided
Robotics
State of the Art in Di t ib t d A tMobile Robotics
Research
Distributed Autonomous Robotics
?
Autonomy
IndustryAutonomous
Robotics
y
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Perception-to-Action Loop
sensors actuators
Computation
rcep
tion
Act
ion
Per A
Environment
Note: real-time aspect emphasized!
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Perception - Sensors• Propioceptive (“body”) vs. exteroceptive
(“environment”)( environment )– Ex. proprioceptive: motor speed/robot arm joint angle,
battery voltage– Ex. exteroceptive: distance measurement, light
intensity, sound amplitude
• Passive (“measure ambient energy”) vs. active (“emit energy in the environment and measure the en ironmental reaction”)environmental reaction”)– Ex. passive: temperature probes, microphones, cameras
Ex active: laser rangfinder IR proximity sensors– Ex. active: laser rangfinder, IR proximity sensors, ultrasound sonars
[Adapted from Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a10 Classification of Typical SensorsClassification of Typical Sensors
[From Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a11 Classification of Typical Sensorsyp
[From Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a12 General Sensor Performance
– Range• Upper limit
– Dynamic range• ratio between lower and upper limits, usually in decibels
(dB for power and amplitude)• e.g. voltage measurement from 1 mV to 20 V
Note: similar to the acoustic amplitude (see lecture on signal processing)
• e.g. power measurement from 1 mW to 20 W21 UIUP =⋅=
Note: similar to the acoustic amplitude (see lecture on signal processing)
R
Note: 20 instead of 10 because square of voltage is equal to power!![Adapted from Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a13 General Sensor Performance
– Resolution• minimum difference between two values
General Sensor Performance
• minimum difference between two values• usually: lower limit of dynamic range = resolution• for digital sensors it is usually the A/D resolution.for digital sensors it is usually the A/D resolution.
– e.g. 5V / 255 (8 bit)
– Linearity• variation of output signal as function of the input signal• linearity is less important when signal is treated with a
computer
)()(
fxfx →
)()()(?
yfxfyxfyx ⋅+⋅=⋅+⋅→⋅+⋅ βαβαβα)(yfy → )()()( yfxfyxfyx +=+→+ βαβαβα
[From Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a14 General Sensor Performance
– Bandwidth or Frequency
General Sensor Performance
• the speed with which a sensor can provide a stream of readings
ll th i li it d di th• usually there is an upper limit depending on the sensor and the sampling rate
• lower limit is also possible, e.g. acceleration sensorp , g• frequency response (see signal processing lecture):
phase (delay) of the signal and amplitude might be i fl dinfluenced
[Adapted from Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a15 In Situ Sensor PerformanceIn Situ Sensor Performance
Characteristics that are especially relevant for real world environments
• Sensitivityy– ratio of output change to input change– however, in real world environment, the sensor has very often high
sensitivity to other environmental changes, e.g. illuminationy g , g
• Cross-sensitivity (and cross-talk)– sensitivity to other environmental parameters
i fl f h i– influence of other active sensors
• Error / Accuracy– difference between the sensor’s output and the true valuep
m = measured value
error
v = true value
[Adapted from Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
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4a - Perception - Sensors4a16 In Situ Sensor Performance
Characteristics that are especially relevant for real world environments
S t ti > d t i i ti• Systematic error -> deterministic errors– caused by factors that can (in theory) be modeled -> prediction– e.g. calibration of a laser sensor or of the distortion cause by the optic g y p
of a camera
• Random error -> non-deterministicd i i i di i ibl– no deterministic prediction possible
– however, they can be described probabilistically – e.g. gaussian noise on a distance sensor, black level noise of camera g g ,
• Precision (different from accuracy!)– reproducibility of sensor results
[From Introduction to Autonomous Mobile Robots, Siegwart R. and Nourbakhsh I. R.]
σ = standard dev of the sensor noise
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Action - Actuators
• For different purposes: locomotion, control a part of the body (e.g., arm), heating, sound p y ( g , ), g,producing, etc.
• Examples of electrical-to-mechanicalExamples of electrical to mechanical actuators: DC motors, stepper motors, servos loudspeakers etcservos, loudspeakers, etc.
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ComputationComputation• Usually microcontroller-based; memory y y
internal and potentially external to the microcontroller
• “Discretization” (analog-to-digital for values, continuous-to-discrete for time) andvalues, continuous to discrete for time) and “continuization” (digital-to-analog for values, discrete-to-continuous for time)values, discrete to continuous for time)
• Different types of control architectures: e.g., reactive (‘reflex based”) vs deliberativereactive ( reflex-based ) vs. deliberative (“planning”)
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Microprocessors vs. Microcontrollers
• Microprocessors – These chips contain a processing core, and occasionally
a few integrated peripherals. In a broader sense, microprocessors are simply CPUs found in desktops.
Mi t ll• Microcontrollers – These chips are all-in-one computer chips. They contain
a processing core, memory, and integrated peripheralsa processing core, memory, and integrated peripherals (e.g., ADC, motor control PWM generator, bus controller). In a broader sense, a microcontroller is a CPU that is sed in an embedded s stemCPU that is used in an embedded system.
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Communication• Different physical channels: wired (e.g., RS232, USB)
and wireless (e g radio infrared ultrasound sound)and wireless (e.g., radio, infrared, ultrasound, sound)• Internal or external to the device: buses connecting
different components (wired communication); external p ( );(node to base-station, node-to-node in a network)
• Asymmetric (one way) or symmetric (bidirectrional) link• Direct (explicit) or indirect (implicit): direct implies
dedicated hardware and software components for intentional targeted information sharing; indirect impliesintentional, targeted information sharing; indirect, implies anonymous, broadcasting forms which are temporary (e.g., visual signs) or persist, perhaps with some volatility, in the environment (e.g., chemical signs such as pheromones)
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Overview of Main Wireless C i i S d dCommunication Standards
AvailableAvailable for e-puck
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Examples of Embedded Systems
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Consumer Market Devices
Digital Watch
Digital cameraWeather station
Digital video camera
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Niche Market – Scientific Equipment Commercially Available
e-puck
Mica-Z
Handheld Airborne Mapping SystemSensorscope station
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The e-puck miniature robot
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S l t d d l b t d lid f
Microinformatique
Selected and re-elaborated slides from:
q
I t d ti t th k b tIntroduction to the e-puck robot
Francesco MondadaRobotics Systems Laboratory
IMT - STI - EPFL
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The e-puck Mobile RobotMain features
The e puck Mobile Robot
• Cylindrical, Ø 70mm• dsPIC processor
T o stepper motors• Two stepper motors• Ring of LEDs• Many sensors:
CameraSoundIR proximityIR proximity3D accelerometer
• Li-ion accumulator• Bluetooth wireless communication• Bluetooth wireless communication• Open hardware (and software)
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The e puck Open Hardware LicenseThe specifications of the e-puck mobile robot are "open source hardware".
The e-puck Open Hardware License
You can redistribute them and/or modify them under the terms of the e-puck Robot Open Source Hardware License as published by EPFL. You should have received a copy of the EPFL e-puck Robot Open Source Hardware Li l ith th ifi ti if t it t th E lLicense along with these specifications; if not, write to the Ecole Polytechnique Fédérale de Lausanne (EPFL), Industrial Relations Office, Station 10, 1015 Lausanne, Switzerland.
These specifications are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. For more details, see the EPFL e-puck Robot Open Source Hardware License.
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Mechatronic Hardware Mechatronic Hardware OverviewOverview
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e-puck Block SchemaComputation and memory
Actuators
and memoryCommunicationActuatorsSensors
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e-puck Overview
IR receiver(remote control)
Speaker
RS232
Accelerometer( )
Mode selector
Reset
RS232
Ring of LEDs
IR i i
Programming anddebug connector
ON-OFFIR proximity sensors
CMOSmicrophones
Wheels with stepper motor Li-Ion accumulator
CMOS camerap
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Mechanical Structuree puck Mechanical Structure
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e-puck Electronics(typical routing report produced by the EPFL PCB workshop)(typical routing report produced by the EPFL PCB workshop)
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k El t i S l S h tie-puck Electronics: Sample Schematics
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e-puck Electronics: Placement of Components
bottom top
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e-puck Electronics: Layout (4 Layers PCB)e-puck Electronics: Layout (4 Layers PCB)
mask masktop bottom
inside
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e-puck Electronics: e-jumpere puck Electronics: e jumper
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On Board Computational On-Board Computational Capabilities Capabilities
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PIC/dsPIC Familyfrom www.microchip.com
Microcontroller h kon the e-puck
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DSP and Specialized Variants• dsPIC is a family of chips combining microcontroller and Digital
DSP and Specialized VariantsdsPIC is a family of chips combining microcontroller and Digital Signal Processor (DSP) structure and features
• For each dsPIC family member there are three variants:• General purpose (codec interface)• Motor control and power conversion (Pulse Width
Modulation generator and encoder reading)• Sensor processor (minimal variant)Sensor processor (minimal variant)
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dsPIC Family VariantsdsPIC Family Variants
e-pucke puckmicrocontroller
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dsPIC Family VariantsdsPIC Family Variants
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dsPIC Architecture
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dsPIC Architecture
Microcontroller core
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dsPIC Architecture
Memory and memory yaddressing
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dsPIC ArchitecturePeripheral device control
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Peripheral Device Control
ADC: Analog-to-Digital ConverterSPI S i l P i h l I t fSPI: Serial Peripheral InterfaceI2C: Inter-Integrated CircuitUART: Universal Asynchronous Receiver TransmitterCAN: Controller Area NetworkDCI: Data Converter Interface
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Analog-to-Digital Converter (ADC)
16 channels, 12 bits12 bits
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dsPIC ArchitecturePinout
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Conclusion
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Take Home Messages1. Embedded system: specific purpose, equipped for
interfacing discrete/digital and continuous/analog world, g g g ,microcontroller-based design, often real-time constraints
2. Main modules of an embedded system: perception, action, computation, communication
3. e-puck use dsPIC as computational unit (programmable in C) has a reach sensory set actuation capabilities andC), has a reach sensory set, actuation capabilities, and bidirectional wireless and wired links
4 The hardware of an embedded device such an e-puck4. The hardware of an embedded device such an e puck consists of a customized mechanical chassis and off-the-shelf components (e.g., dsPIC, sensors, other logic chips, connectors, motors) assembled on one or several printed circuit boards (PCBs).
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Additional Literature – Week 7Manuals and technical documentation• MPLAB C30 C Compiler User’s Guide• dsPIC datasheet• dsPIC30F Programmer’s Reference Manual• dsPIC30F Programmer s Reference Manual• e-puck website: http://www.e-puck.org/