B.Tech Industrial Training Presentation onEMBEDDED SYSTEM AND ROBOTICS

Presented

PALLAVI BHARTI

20130549

E&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 systems

Non-real time embeddedsystem: no deadline

• Security systems

• Mobile phones

• Alarm system

• Digital camera

Real time embeddedsystem: 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

SYSTEMS

Security system, Cell phone, Automobile system,

Memory storage device, Calculators , Printer ,

Mouse , Alarm system

MICROCONTROLLER

• Programmable digital processor withnecessary peripherals.

• It is complex sequential digital circuitmeant to carry out the job accordingto the program.

Classification• Embedded (self-contained) 8-bit

microcontroller

• 16 to 32 bit microcontroller

• Digital signal processor

Features:• Built in monitor

program

• Built in programmemory

• Facility to interfaceexternal 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)

Communication

Communications 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 able

Non mask able

Hardware

Overflow

Compare 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

energy

Motors 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 ICLM358 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.com

Google images

• http://www.embeddedsystem.com/

• http://robotics.nasa.gov/

• www.cmosexod.com

• www.best-microcontrollerprojects.com

• Handouts given by the organization

Thank You