Dec09-11Embedded Systems

Design Though Curriculum

Jacqueline BannisterLuke HarveyJacob Holen

Jordan Petersen

Client: Computer Engineering Department Advisors: Akhilesh Tyagi – Jason Boyd

Problem Statement

The Department of Computer Engineering has found that underclassman students are struggling to see the connection between concepts learned within the curriculum and real world applications. Additionally the curriculum of each course tends to be compartmentalized, therefore not providing a birds eye view of the entire field. This Computer Engineering field encompasses the areas of embedded systems, computer architecture and software systems.

Additional Issues:• Little student involvement in clubs related to the program• Students quickly lose interest in the program because of the

difficulty of the curriculum and lack of encountering real world applications or design experiences

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Need Statement

Design an inquiry-based learning module that focuses on the use of course curriculum in the area of embedded systems for the Computer Engineering department. As outlined in the ADEPT proposal this program should:• Motivate students to learn new material• Provide alternate learning methodologies to address

different learning styles• Increase the design experience in the computer

engineering program• Motivate students to create a community of learners

focused around problem solving3

Concept Sketch - ADEPT

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Concept Sketch

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• Knowledge learned during the Freshman and Sophomore years is used as input to the First Term course (CprE 286X)

• Knowledge learned from the Junior, Sophomore and Freshmen years as well as the CprE 286X course is used as input to the second term course (CprE 386X)

System Design - Requirements

• Projects must effectively integrate knowledge expected of students for that given year

• The courses will define checkpoints and milestones for students while still allowing for a design experience

• The proposed modules must engage student interest

• Should accommodate for various levels of skill sets and learning styles

• Should demonstrate area of embedded systems using robotics application

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Student Survey

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Concept 488 Votes 388 Votes Votes Weight

Autonomous Golf Cart 1,1,3 2 5 7

IR Tracker 0 0

Miniature Robotic Arm 2,3 2,3 4 10

Sentry Gun 3 2 2 5

Build Your Own Robot 1,1,2,2,3 1,1 7 9

MP3/Video Player 1,2,2,3,3 1,3 7 15

Robotics Control Competition 1,2,2 3 4 8

Open Source Cell Phone 1,1,1,2,2,3 6 10

FPGA NES or Gaming System 1 1 1

Laser Drawing System 2 1 2

Wii Mote Racing Simulator 3 1 3

Survey Results

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Based on the results from market survey as well as input from the design through curriculum team members and their advisors the team decided to pursue a robotics platform.

Winner:• Build your own robot:

Robotics platform

Runner Up:• Handheld electronics device: Open

source cell phone and MP3 player

Pros ConsEasier to incorporate more curriculum topics

May prove to be too challenging

Hands on experience with building a robot from the ground up, something students do not currently get

Many other embedded systems courses already use a robotics platform

Easier to obtain hardware donations

May be more expensive

Pros ConsMore interesting idea Harder to obtain necessary

hardware

Students may have had something to bring home at the end of the semester

Harder to incorporate topics learned from the CprE curriculum, which is a fundamental requirement from the ADEPT proposal

Idea unique to the CprE department

Involves a lot more risks

Deliverables• Completed robot prototype built from scratch

• Example competition for first semester

• Vision recognition software for the first semester competition

• Example robot control algorithm for the competition

• Recommendation for a platform to be used for the second semester course

• Documentation for students and TAs

– Goal of the 286X course

– Description of the final competition

– How to use and modify the vision recognition software

– Example of how to construct the robot

– How to program the robot using LabVIEW

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Schedule And Workload

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Work BreakdownSchedule

Tasks• Camera and vision recognition• C library• Network variable server• FPGA for sensors and servos• Power distribution board• Create learning modules

Resource Requirements

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ComponentsItem Part Number Price Quantity Total Vex Chassis Kit 276-2232 $200 1 $200

VEX Robotics Wheel Kit

276-2164 $30 1 $30

Servo s HS-422 $17 2 $34

DC Motors GHM-01 $22 4 $88 IR Sensor GP2D120 $13 1 $13 Custom PCB + 12v Battery

CHUN-2420C-4.2Ah

$218 1 $218

Accelerometer S-300-28017 $9 3 $27 Bump Sensors Pack

FRS-V-276-2159

$13 2 $26

Sonar Sensor S-10-EZ4 $30 1 $30 Dry Erase Board - $35 1 $35Wireless Router/Adapter

ASUS WL-330gand WL-520GC

$102 1 $102

Cost Breakdown Various Component Cost

Risks

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Not selecting and approving projects on time

Not being able to acquire necessary tools or hardware depending on project selection

Future changes to the Computer Engineering curriculum

Unforeseen complications with hardware/software

Dissatisfaction of students with designed course

SystemDesign

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Dry-Erase Bot Competition

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• Goal: Autonomously color more squares than opponent in time limit

• Requirements & Restrictions:

– Avoid obstacles, boundary and enemy robot

– Robot design will be each team’s choice using given supplies

– Limited battery supply, forcing efficient design implementation

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Dry-Erase Bot Competition - System Diagram

Process field image and send information to PC

Runs network variable server to package field data and control the competition

Robots use sensor and field data to navigate the field

Software/Hardware Specifications

• NI LabVIEW– Real-time– FPGA– Embedded

• GNU C Tool Chain• NI Vision Builder

• NI Compact Rio 9073– 8 I/O modules– Onboard FPGA– Real Time

processor

• NI Smart Camera• Motors• Sensors• Chassis• Breadboard/Electronics• Battery• Wireless Components

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NI Compact Rio 9073

Test Plan / Success Metrics

• Completion of a prototype robot in one semester

• Unit testing– Vision recognition– FPGA– Power distribution board– Sensor and control

• Department offering 286x– Feedback surveys from students taking 286x– Students successfully build robots for the competition

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Robotics Platform - Deliverables

Custom Power System

• Custom PCB

• 24v, 12v, 5v supplies

• Student-friendly configuration

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Vision Recognition - Deliverables

• VR for first competition• Network variable server to process camera data• Interface for C code to interact with vision data

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Data structure for a robot’s location

Data structure for which robot is winning a given square location

*Bit 7 denotes which robot is winning that square (1 = Black, 0 = Green)

Smart Camera

Vision Recognition - VB Screen Shots

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Original Picture from Smart Camera

Screen Shot of Running Inspection

Dry-Erase Bot Competition - Deliverables

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• Completed course construction

• Created prototype robot and source code

• Competition rules and requirements Completed Whiteboard Grid

-Two 4x8 sheets of melamine

Robotics Platform - Deliverables

FPGA control module Top level control VI

Controls sensors, motors Links FPGA to c module

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ADEPT Planning - Deliverables

Learning modules

• Technical documentation for

future students

Platform recommendation

• Learned from difficulties with

platform

• Recommend changes to

current platform and

recommend an alternative

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Initial Robot Prototype

Platform Complications

• Difficulties setting up software environment

• cRIO-9073 does not allow direct access to VxWorks– OS concepts would need to be presented differently

• cRIO-9073 only allows for C modules to be placed into LabVIEW (C library calls)– Limited algorithm control in c– No interrupts, low level programming– Thread concept only available in LabVIEW blocks

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Future Work

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• 2nd Semester course design and implementation• Should build upon first semester work• Include more advanced topics• Course recommendation: De-Bomb Competition

Platform Recommendation

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Xilinx Spartan-3E Starter Kit

Digilent FX2Interface Board

Platform Recommendation

• Xilinx Spartan-3E Starter Kit - $189– Microblaze Processor– Spartan-3E FPGA– Runs uClinux– Various I/O components (Ethernet, Serial, GPIO, etc)

• Digilent FX2 Interface Board - $20 – Provides 6 PMOD connectors– Used for I/O connection to sensors and control

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Recap

• Designed fully functional robotics platform and course consisting of computer engineering curriculum

• Created learning modules and technical documentation for students.

• Future recommendations for ADEPT

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Dec09-11Embedded Systems

Design Though Curriculum

Jacqueline BannisterLuke HarveyJacob Holen

Jordan Petersen

Client: Computer Engineering Department Advisors: Akhilesh Tyagi – Jason Boyd

Questions?