robotics

1. Embedded System
for Robotics
Dr. Vikas Mahor

2. Contents:
▪ Identify uses of Embedded Systems.
▪ Understand the key differences between
computers and embedded systems.
▪ Identify various embedded systems platforms
for robotic development.
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3. EMBEDDED
SYSTEMS We are surrounded by Embedded
Systems.
Cell Phones
Automatic Washing Machines.
Traffic Signals with Timers.
Automobile Electronics.
Find a system that contains no
electronic system.
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4. EMBEDDED
SYSTEMS
▪ Embedded system means the processor
is embedded into that application.
▪ An embedded product uses a
microprocessor or microcontroller to
do one task only.
▪ In an embedded system, there is only one
application software that is typically
burned into ROM.
▪ Example：
printer, keyboard, video game
player
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5. PROCESS of
EMBEDDED SYSTEMS
INPUT
(You turn on the switch)
PROCESS
(Program Code)
OUTPUT
(The motor will
start to rotate)
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6. APPLICATIONS of
EMBEDDED SYSTEMS
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7. Were the embedded
systems existing earlier ?
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▪ Yes, We have been enjoying the grace of
embedded system quite a long time. But they were
not so popular because in those days most of the
embedded systems were designed around a
microprocessor unlike today’s systems which
were built around a microcontroller.
▪ As we know a microprocessor by itself do not
possess any memory, ports etc. So everything
must be connected externally by using peripherals
like 8255, 8257, 8259 etc. So the embedded
system designed using microprocessor was not
only complicated in design but also large in size.

8. Why a microcontroller for
Embedded systems?
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 A microcontroller is a single silicon chip
with following features:
 Arithmetic and logic unit Memory for
storing
program.
 EEPROM for nonvolatile data storage.
 RAM for storing variables and special
function registers Input/output ports
 Analog to digital converter
 Circuits for reset, power up, serial
programming, debugging

9. Classification of
Embedded Systems
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 Based on functionality and performance
requirements, embedded systems are
classified as :
 Stand-alone Embedded Systems
 Real-time Embedded Systems
 Networked Information Appliances
 Mobile Devices

10. Stand-alone Embedded
Systems
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 As the name implies, stand-alone
systems work in stand-alone mode.
They take inputs, process them and
produce the desired output.
 Embedded systems used in process
control, automobiles, consumer
electronic items etc. fall into this
category.

11. Real time Embedded
Systems
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 Embedded systems in which some
specific work has to be done in a specific
time period are called real-time systems.
 For example, consider a system that has
to open a valve within 30 milliseconds
when the humidity crosses a particular
threshold. If the valve is not opened
within 30 milliseconds, a catastrophe
may occur. Such systems with strict
deadlines are called hard real-time
systems.
 Soft and Hard real time embedded
systems.

12. Network based Embedded
Systems
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 Embedded systems that are provided
with network interfaces and accessed by
networks such as Local Area Network or
the Internet are called networked
information appliances.
 These systems have emerged in recent
years. These systems run the protocol
TCP/IP stack and get connected through
PPP or Ethernet to an network and
communicate with other nodes in the
network.

13. EMBEDDED
SYSTEMS
vs
REGULAR
COMPUTERS
Since embedded systems are
expected to be in every single aspect
of your life, they feature two important
traits: low cost and specific
functionality.
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14. LOW COST
allows you to have a very prolific distribution of embedded system in
sensing the environment or medical equipment
SPECIFIC
FUNCTIONALITY
means that the computer needs to do a small set of tasks really well,
and these tasks are not expected to change much over time
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15. MICROPROCESSOR
▪ General-purpose microprocessor
CPU for Computers
No RAM, ROM, I/O on CPU chip
itself
Example: Intel’s x86, AMD Athelon,
Qualcomm snapdragon.
MICROPROCESSOR
vs
MICROCONTROLLER
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16. MICROPROCESSOR
vs
MICROCONTROLLER
MICROCONTROLLER
▪ A smaller computer On-chip RAM, ROM,
I/O ports...
▪ Example: Motorola’s 6811, Intel’s 8051,
Zilog’s Z8, PIC 16X etc.
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CPU RAM ROM
I/O
Port
Timer Serial
COM
Port

17. DEVELOPMENT
BOARDS
In order to make prototyping with
microcontrollers easier, there are
development boards available. These boards
have a microcontroller with just enough
peripherals to allow you to easily place your
program into the system and try out your
designs without breaking out your soldering
iron.
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18. RASPBERRY PI ▪ The Raspberry Pi is a fully featured
microcomputer squashed onto a circuit
board measuring approximately 9cm x
5.5cm.
▪ The Raspberry Pi has a Broadcom
BCM2835 system on a chip (SoC), which
includes an ARM1176JZF-S 700 MHz
processor.
▪ Video Core IV GPU, originally shipped
with 256 megabytes of RAM, later
upgraded to 512MB.
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19. RASPBERRY PI
 Linux on a bootable SD card
• Fedora
• Raspbian
• Debian
• ArchLinux ARM
 Programming
• By default, supporting Python as the
educational language.
• Any language which will compile for
ARMv6 can be used with the
Raspberry Pi.
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20. ROBOTIC
DEVELOPMENT USING
RASPBERRY PI
 SCORBOT-ER III educational/industrial
robotic arm and industrial IP cameras.
The control system it’s a simple
Raspberry PI, which is the whole control
system for this automated environment.
The robotic arm can hook the object
marked with the green bottle stopper and
place it in the correct recipient, regardless
of its position.
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 Szabó, R., & Gontean, A. (2016, September). Industrial robotic automation with Raspberry PI using image processing. In 2016 International
Conference on Applied Electronics (AE) (pp. 265-268). IEEE.

21. BEAGLEBOARD
 This is another popular ARM-based
development board similar in nature to the
Raspberry Pi, but with the support of
Linux and Android.
 Processor: AM335x 1GHz ARM® Cortex-
A8 • 512MB DD3 RAM • 2GB 8-bit eMMC
on-board flash storage • 3D graphics
accelerator Connectivity • USB client for
power and communications • USB host •
Ethernet • HDMI • 2x46 pin headers
Software Compatibility • Angstrom Linux •
Android
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22. ROBOTIC
DEVELOPMENT USING
BEAGLEBOARD
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 Hannaford, Blake, et al. "Raven-II: an open platform for surgical robotics research." IEEE Transactions on Biomedical Engineering 60.4 (2012): 954-
959.

23. MINNOWBOARD
If you prefer a more PC-like
experience for your embedded systems, the
MinnowBoard is an x86-based platform that
works with the regular PC version of
Microsoft Windows 10, as well as Linux, and
Android. Like the Raspberry Pi and
BeagleBoard, the MinnowBoard has a
section that allows connections of various
sensors and components that can be used
by the running program.
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24. ARDUINO
While many development boards
center around exposing a few connections to
the outside world to a computer, the Arduino
allows for a lot more connections at a lower
price (and performance). Using the AVR
family of microcontrollers, the Arduino boards
and their countless clones, like Genuino, are
an excellent way to bridge the gap between
electronics and programming in order to add
smarts to your projects. Processing power is
very limited, thus there are no operating
systems for the Arduino; you create your own
every time you program one.
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25. ADVANCED ROBOTS DEVLOPED
USING MULTIPLE EMBEDDED
SYSTEMS
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 Advanced Step in Innovative Mobility
(ASIMO).
 Most developed humanoid in the world.

26. Nanorobots (Nanites)
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 Nanites are countless microscopic
artificial machines the size of a virus
found in the air, that are capable of two
commands, absorb electricity and
replicate.
 The nano-machines are capable
of various medical applications such
as the killing of malignant (Cancerous)
cells in human beings. .
 https://revolution.fandom.com/wiki/Nanites
▪ Guang-Zhong Yang et. al.. Combating COVID-19—The role of robotics in managing public health and infectious diseases. Science
Robotics, 2020; 5 (40): eabb5589 DOI: 10.1126/scirobotics.abb5589

27. Conclusion
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 Nanites are countless microscopic
artificial machines the size of a virus
found in the air, that are capable of two
commands, absorb electricity and
replicate.
 The nano-machines are capable
of various medical applications such
as the killing of malignant (Cancerous)
cells in human beings. .

28. End of presentation.
Thank You
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