Lecture 1 - Introduction to embedded system and Robotics
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The document outlines the PST 41203 Robotics course, detailing its content, credit hours, and evaluation methods, focusing on topics such as analog and digital circuits, microcontrollers, mechatronics, and automation. It explains embedded systems and programming, highlighting the significance and components of microcontrollers, particularly PIC microcontrollers. The course emphasizes the integration of mechanics, electronics, and software in mechatronics, offering hands-on experience with practical applications.
Lecture 1 - Introduction to embedded system and Robotics
- 1. Robotics
- 2. Who am I?
- 3. What is this course? Course code? PST 41203 Number of credits? 2 Number of Lecture hours? 30 hours Practical or theory? Or both? Lab facility? Compulsory or optional?
- 4. Contents of this course (Robotics) ●Analog and Digital Circuits for Control Applications ●Electronic Devices used in Robotics ●Microprocessor/ Microcontroller & Interfacing ●DC and Stepper Motors ●Design of Mechatronics Systems ●Sensors and Signal Processing ●Power Electronics ●Two wheel Driven Autonomous Robot Applications
- 5. Contents of Embedded Systems • Modeling Dynamic Behaviors, Composition of State Machines, Concurrent Models of Computation, Memory Architectures, Input and Output, Multitasking, Scheduling, Analysis and Verification, Equivalence and Refinement, Reachability, Analysis and Model Checking, Quantitative Analysis
- 6. Contents of Automation Intelligent Controllers, Programmable Logic Control, Automation Elements, Hardware Components for Automation and Process Control, Logical Design for Automation, Electro Pneumatic Automation. Industrial Networks (RS232, RS485/422, SPI, I2C, CAN, MODBUS, PROFIBUS), Basic Programming in PLC and the PID at the Industry SCADA Systems and Software
- 7. How to evaluate? Continuous mark = ? End Exam = ? Or Using a big project?
- 8. What is your level? • Embedded system knowledge? • C programming? • Assembly language? • Basic electronics? • Mathematics?
- 9. My plan • Basics of Embedded systems and Robotics • Applications • PIC architecture overview • Introduction to Assembler • PIC I/O port programming • PIC programming in C • Timer programming • Interrupt programming • ADC, DAC and sensor interfacing • Motor Control
- 10. References • PIC Microcontroller and Embedded Systems By Muhammad Ali Mazidi • Embedded Systems Design, Steve Heath • Practical electronic for inventors, Paul Scherz
- 11. List of tools Proteus Mikro C PIC Kit MPLABX
- 12. Definition of Embedded Systems Embedded system: is a system whose principal function is not computational, but which is controlled by a computer embedded within it. 12
- 16. Examples: Derbot Autonomous Guided Vehicle 16
- 17. Examples: Derbot Autonomous Guided Vehicle 17
- 19. Computer Essentials Instruction Sets • CISC: Complex Instruction Set Computer • RISC: Reduced Instruction Set Computer Memory Types • Volatile: Random Access Memory (RAM) • Non-volatile: Read Only Memory (ROM) 19
- 20. Von Neumann and Harvard Computers 20
- 21. Microprocessors and Microcontrollers The microprocessor is a processor on one silicon chip. The microcontrollers are used in embedded computing. The microcontroller is a microprocessor with added circuitry. 21
- 24. Microcontroller Packaging and Appearance 24 From left to right: PIC 12F508, PIC 16F84A, PIC 16C72, Motorola 68HC05B16, PIC 16F877, Motorola 68000
- 25. PIC Microcontrollers Peripheral Interface Controller (PIC) was originally designed by General Instruments In the late 1970s, GI introduced PIC® 1650 and 1655 – RISC with 30 instructions. PIC was sold to Microchip Features: low-cost, self-contained, 8-bit, Harvard structure, pipelined, RISC, single accumulator, with fixed reset and interrupt vectors. 25
- 26. PIC Families PIC Family Stack Size Instruction Word Size No of Instructions Interrupt Vectors 12CX/12FX 2 12- or 14-bit 33 None 16C5X/16F5X 2 12-bit 33 None 16CX/16FX 8 14-bit 35 1 17CX 16 16-bit 58 4 18CX/18FX 32 16-bit 75 2 26 ‘C’ implies CMOS technology; Complementary Metal Oxide Semiconductor ‘F’ insert indicates incorporation of Flash memory technology Example: 16C84 was the first of its kind. It was later reissued as the 16F84, incorporating Flash memory technology. It was then reissued as 16F84A.
- 27. 12 Series PIC 27 The small 12F508
- 28. PIC 12F508/509 pin connection diagram 28
- 30. Choosing a microcontroller Five major 8-bit microcontrollers: • Freescale semiconductors (Motorola) • Intel’s 8051 • Atmel’s AVR • Zilog’s Z8 • PIC
- 31. Choosing a microcontroller Three criteria in choosing a microcontroller: 1. Meeting the computing needs of the task at hand efficiently and cost effectively. 2. Availability of software and hardware development tools (Compilers, assemblers, debuggers and emulators). 3. Wide availability and reliable sources of the microcontroller.
- 32. Mechatronics and microcontrollers Many technical processes and products in the are of mechanical and electrical engineering show an increasing integration of mechanics with electronic and information processing. Mechatronic = hardware + software
- 33. Summary