Embedded Systems Project presentation of Aritra Sarkar at Indian Institute of Space Science and Technology

1. DuinOS controlled Rover
with MATLAB 2009 and
Android GingerBread
Embedded Systems Project by:
Arindam Nath
Aritra Sarkar
Saragadam Vibhusha

2. Project Attributes
• Remotely controlled Rover over Bluetooth Link
• Android Application maps keyboard inputs for Matlab
• Matlab interface communicating with Arduino Board
• Arduino Board running on Duin OS
• Arduino Processing program to interface Matlab and
RtOS

3. Software Resources
• Android Gingerbread to transmit keyboard commands
over bluetooth
• MATLAB to achieve Arduino Control
• Arduino software using ‘Processing’ Language (derived
from C) is coded to relay the MATLAB commands
received via. USB to the remote robot
• Duin OS to schedule the commands for execution

4. Hardware Resources
• Tested in Robotics Laboratory, IIST
• Samsung GT-B7510 Android Gingerbread (2.3.6)
• Arduino Duemilanove - Free Duino,
Embeddedmarkets.com
• Alpha bot.

5. Why ATmega?
• Open source development software
• Better HLL IDE available

6. System Block Diagram

7. Android App Details
• Control entire windows computer with the android device.
• Client app on device and server app on the computer.

8. • Centralized Processing/Control System
• HP Pavilion DV6 Notebook
• Interfacing Unit
• Free-Duino (Indian low-cost Arduino clone) or Arduino
Duemilanove “2009”
• ATmega 328, 16 MHz clock speed
• 14 digital I/O pins, 6 analog inputs
• 16KB flash memory
• On board programmer

9. Hardware Specifications
ATmega 328

10. Arduino Duemilanove

12. Rovers
• Dimension : 17 cm × 15 cm × 7 cm
• Light weight and made out of readily available materials
• Powered through Arduino motor shield

13. • Motors used : DC geared motors with 48:1 90 degree
shaft for front wheels
• Working voltage 3V-5V, 320 rpm
• Plastic tracked wheel 6cm dia. 2cm wide
Rovers…

14. Future Applications
• Planetary rover for exploration and mapping
• Coordinated task completion – construction works
• Mining activities, explorations
• Architecture modeling for fire exit planning

15. Possible Improvements
• Wireless communication – e.g. Zigbee, WiFi (frequency
collisions)
• Some other information to/from robots – e.g. gripper,
pressure sensor (power restrictions)
• All terrain robots (RHex)

16. Requirements
• Purpose : To remotely guide a vehicle using RTOS
• Inputs : Commands from Android Remote Control
Application
• Signals Events and Notifications :
1. Android sends keyboard press information via
Bluetooth link.
2. Matlab accepts keyboard input and gives command to
Arduino.

17. 3. Arduino running Duin OS executes the commands by
giving voltage output to corresponding motors,
connected to specific pins of Atmega 328.
• Outputs : Motor movement as directed through mobile.
• Design Metrics :
performance - Can change motor direction in 0.001s

18. Can move motor in 4 directions
Process deadlines – Duin OS waits for a maximum of 5
seconds otherwise exits
User Interface – Ginger bread 2.3.6 touch user interface
(GT-B7510)
Engineering cost –> 900 +300

19. • Test and validation conditions :
Arduino connection to laptop should be over a specific
COM port ( COM 2)
Mobile should be within 10m (Bluetooth 2.1)
Rover movement should be restricted within radius of
1.5m from base station

20. Design form (flow chart)

21. • Arduino is running on Duin OS
• Duin OS is an operating system with
preemptive multitasking for Arduino and
AVR based board.
• Duin OS is based on Free RTOS kernel

22. Free RTOS
• Real time operating system developed to
fit on very small Embedded systems
• Basic handling of tasks and Memory
Management
• No network communication, drivers for
external system, and access to file
systems

23. Features of Free RTOS
• Preemptive tasks
• Allows unlimited number of tasks as long
as hardware and memory can handle
• Task in Free RTOS

24. Features cont…
Scheduling :
• Task priorities assigned to tasks when they
are created
• Task priorities for multi task scheduling
• No limitation concerning number of priorities
• Task management allows implementation of
rate monotonic for task scheduling
• No mechanism for task starvation

25. Queue management :
Queue’s are an underlying mechanism beyond all task
communication’s and synchronizations in Free RTOS
environment.
main functions creating, reading, and writing in a queue
Resource management :
Using Binary Semaphores
Mutexes
Counting Semaphores

26. Handling Interrupts :
Free RTOS kernel methods give only the methods to
handle a given interrupt.
Specialized functions are provided by the Free RTOS for
interrupt handler function.
Managing interrupts using semaphores
Memory management

27. • Currently we are not using the multi
tasking feature of the Free RTOS. There
are no Multi tasks involved.
• Memory required onboard = 15kb

28. Thank You