ame 3623: embedded real-time systems
TRANSCRIPT
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AME 3623: Embedded Real-Time Systems
Andrew H. FaggSymbiotic Computing Laboratory
School of Computer ScienceUniversity of Oklahoma
Teaching Assistant: Gareth Basset
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What is an Embedded System?
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What is an Embedded System?
• Computing system with a non-standard interface (often no keyboard or screen)
• Often involved in sensing and control (and may not even talk to a human)
• Typically a custom system for a very specific application
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What is an Embedded System?(cont)
• Limited processing capabilities:– Can be extremely small– Can require a small amount of power
• Can have significant real-time constraints– Act on inputs very quickly– Generate high-frequency outputs
• Often a higher expectation of reliability
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Examples of Embedded Systems
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Robotics
Mark TildenLos Alamos
National Labs and Wowwee
picture from Robosapiens
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Humanoid Robotics
NASA/JSC Robonaut UMass Torso
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Real-Time Robotic Control
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Dual-Limb Coordination
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Personal Satellite Assistants
NASA Ames Research Center
picture from Robosapiens
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Wearable Computing
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Intelligent Prosthetics
Hugh Herr MIT Leg Lab
picture from Robosapiens
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Andrew Ng (Stanford)
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RC Heli Example
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RC Heli Example II
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Sensor Networks
1000 sensor nodes
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Embedded Systems Challenges
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Embedded Systems Challenges
• Sensing the environment:– Sensors are typically far from ideal (noise,
nonlinearities, etc.)– Sensors fail– Hard to get a ‘complete’ view of the
environment• Affecting the environment through
“actuators”– Application can require fast, precise
responses
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Embedded Systems Challenges(cont)
• Testing/debugging can be very difficult: – Hard to identify and replicate all possible situations– Often involves the interaction of many different
components– Often no standard user interface– Limited on-board resources with which to record
system state
• Competing requirements of cost, complexity, design time, size, power…
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Embedded Systems Challenges(cont)
• Lack of reliability can be a killer ….. literally
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My Assumptions About You
• Circuits and sensors class (or equivalent): basic analog circuits
• Some background in programming– We will be using C for all four projects
• Everyone has a laptop that can be used for the projects
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Course Goals
• Gain an understanding of:– Basics of computer architecture– Theory of embedded system design– Practical issues in embedded system
implementation• Gain hands-on experience with embedded
systems• Learn communication and team-oriented
skills within and outside of your field
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Sources of Information• Required textbooks:
– Designing Embedded Hardware, John Catsoulis, O'Reilly, 2005, 2nd Edition, ISBN: 0-596-00755-8
– Embedded C Programming and the Atmel AVR, Richard H. Barnett, Sarah Cox, Larry O'Cull (2006), 2nd Edition, Thomson/Delmar Learning, ISBN: 1418039594
• Class web page: www.cs.ou.edu/~fagg/classes/ame3623_s07/
• Desire2Learn: learn.ou.edu
You are responsible for making sure that you have access to all of these resources
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Class Schedule
www.cs.ou.edu/~fagg/classes/ame3623_s07/schedule.html
• Lecture plans• Required reading
As changes are made, they will be posted here
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Channels of Communication
• Lecture• Class email list: time-critical messages to
the class• Desire2Learn announcements• Desire2Learn discussion group: you may
post questions (and answers) • Private email or office hours for non-public
questions/discussions
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Grading
• Components of your grade:– Midterm exam: 10%– Final exam: 20%– Five homework assignments and several pop
quizzes: 30%– Four projects: 35%– In-class participation: 5%
• Grades will be posted on the Desire2Learn
• Final grades will be computed on a curve
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Exams
• Closed book/closed notes– Exception: you are allowed 1 page of your own notes
• Assigned seating
• No electronic devices
• Grading questions must be addressed before the returned exams leave the classroom
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Homework Assignments
• Individual work• Hand-in:
– Through the digital dropbox of Desire2Learn or hardcopy
– By 5:00 on the due date (no exceptions)
• Grading questions must be addressed within one week of being returned
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Group Projects• Four group projects will focus on sensor
processing and design of robot control circuits– Control of an X-UFO
• Project Topics:– Inter-processor communication – Finite-state machines and microcontrollers– Sensor interface and processing
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Group Projects (cont)
• Groups will be of size ~4 and will be assigned• Be ready to demonstrate project by the due date• Projects require more than a day to complete• Project reports in pdf or postscript format• Projects may be late:
– 0-24 hrs: 10% penalty– 24-48 hrs: 20% penalty– 48+ hrs: 100% penalty
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Laboratory Details
• Location: EL 124• Times: both myself and the TA will hold
our office hours in the lab– Once projects are assigned, we will have the
lab open for 26 hrs/week
• Laboratory policies are discussed in the syllabus
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Academic Conduct/Misconduct
Homework assignments:• All work must be your own: no looking at
or copying solutions from other students or from the net
• General discussion is OK (e.g., the fundamental skills that we are learning)
• When in doubt: ask
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Academic Conduct/Misconduct
Projects:• All work must be that of your group: no
looking at or copying solutions from other groups or from the net
• General discussion is (again) OK
Secure your data
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Next Time
• Analog circuits review• Readings: Designing Embedded Hardware
(DEH) – pp. 65-86 (through RC circuits)– pp. 90-93 (Diodes)