embedded systemsgrupen/503/slides/...embedded systems …an integrated computational, electrical,...
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Laboratory for Perceptual Robotics – Department of Computer Science
www-robotics.cs.umass.edu/~grupen/503
Overview of Our Course
Embedded Systems
2Laboratory for Perceptual Robotics – Department of Computer Science
Embedded Systems
…an integrated computational, electrical, and mechanical system…
hardware (sensors, actuators), software with RT constraints, interfaces
low power, small size, rugged, cheap
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Embedded Systems
Lecture Units:
• analog circuitry• semiconductors• control• actuators• sensors, interface,
signal processing• RT computing
electromechanical mechanism
computation
I/O circuitry
team projects rely on peer instruction
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Laboratory Projects - 2019
Individual • Photovore
Team: Self-Driving Fleet• sensor/motor interface – IMU?, encoder?, ping?,
motor, camera• Communication – blue tooth, WiFi?• option - balancing control (inverted pendulum)• GPS, odometry? – long-term precision challenge• lane following – respecting signage• long-range, multi-agent – traffic challenge
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1953 experiment in “Cybernetics”one motor, 4 state control logiclight and bump sensorsBehavior:
• seek light• obstacle avoidance• recharge
Principles:• parsimony – simple is better• normally active behavior• tropism – positive (attraction) and
negative (repulsion)
Grey Walter’s Tortoise
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Braitenberg�s Vehicles – 1984 simulation study
Valentino Braitenberg, “Vehicles: Experiments in Synthetic Psychology,” MIT Press; Reprint edition (1986) ISBN:0262521121
• sensors map to motors via simple analog logic• apparently complex behavior results from simple control rules
interacting with a complex environment• inhibitory and excitatory signals• uphill analysis and downhill invention –
some systems are easier to invent than to analyze
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Simple Braitenberg�s Vehicles
Coward, Explorer, Lover, and Aggressor8Laboratory for Perceptual Robotics – Department of Computer Science
Project #1 - photovore
see web site for details
Chris VigoritoDirk Ruiken
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Project #1 - project management
A draft project plan is the first step of every project---before the first circuit is prototyped.
The plan enumerates all the tasks required and sets completion times. This level of description makes it clear that all aspects of the project have been considered (nothing has been left out), how tasks depend on one another, and provides reasonable time estimates.
It also should include a description of the products (designs, numerical values) that verify the completion of each task or establish parameters necessary for subsequent tasks.
Inevitably, the plan will need to be modified as it unfolds so it make sense to do it in a way that is easily edit-able. I like the excel spreadsheet for a Gantt chart---you can find templates on-line you can use. Find one that you like..
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Project #1 – Photovore Project Management
1. Design
2. Prototype
3. Implementation (8 hours)4. Demonstration (0.5 hours)5. Report
a) CdS/R2/Rmotor resistances (0.5 hours)b) voltage divider, Vout (light/dark) (1 hour)c) switch logic (1 hour)d) circuit layout (pin-2-pin) (1 hour)e) chassis structure, motor mount, wheels/skid
concept (1.5 hours)
a) circuit breadboard (4 hours)b) logic/performance checkout (0.5 hours)
a) #1 - summary of progress, re-plan, critical evaluation (2 hours)b) #2 – summary of project, demo results, critical evaluation (2 hours)
Task
Task
Task
TaskTask
This is an outline for your reportfill in the result for each subtask
10 hours
12 hours
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project management GANTT chart
Task 1 - Design
Task 2 - Prototype
Task 3 - Implement
Task 4 - Demo
Task 5 - Report
9/9 9/13 9/16 9/20
• evaluate and adapt your schedule, include subtasks (1a, 1b, …) as required• assess risks and plan time and contingencies• creativity is encouraged, but only if it’s on your GANTT chart!
a b c d e
a b
a b
e
report estimate
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project reporting – individual weekly lab report
NO MORE than 2 pages in ONE PDF FILE (LastName-mm-dd-yy.pdf)
Include completed products for the previous week's tasks (drawings, designs, numerical values), note any variations in your plan, and include a revised project plan.
Reports don’t need to be beautifully written, but must be organized to be read.They should be written for your “project manager.”
It's tempting to jump right to a picture of your final concept in week 1, but stick to your plan and work out the results of preliminary subtasks first. The project plan minimizes the chances that you'll waste time and make costly mistakes.
I will review and grade notebooks every week. Grades will reflect the completeness of the design process, critical analyses, experimental evaluation, and weekly project management.
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project reporting – final reports
NO MORE THAN 5 pages in ONE PDF FILE (LastName-mm-dd-yy.pdf)
includes the last (final) revision of the project plan, summarizes all the products at a level of detail adequate to reproduce your results
draw conclusions about the final performance and revisions you would make it you had to do it over again
It should be written using complete sentences and a logically organized sequence of thoughts.
In weeks when you submit final project reports, individual weekly lab reports are not required.