Laboratory for Perceptual Robotics – Department of Computer Science

www-robotics.cs.umass.edu/~grupen/503

Overview of Our Course

Embedded Systems

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Embedded Systems

…an integrated computational, electrical, and mechanical system…

hardware (sensors, actuators), software with RT constraints, interfaces

low power, small size, rugged, cheap

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Embedded Systems

Lecture Units:

• analog circuitry• semiconductors• control• actuators• sensors, interface,

signal processing• RT computing

electromechanical mechanism

computation

I/O circuitry

team projects rely on peer instruction

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Laboratory Projects - 2019

Individual • Photovore

Team: Self-Driving Fleet• sensor/motor interface – IMU?, encoder?, ping?,

motor, camera• Communication – blue tooth, WiFi?• option - balancing control (inverted pendulum)• GPS, odometry? – long-term precision challenge• lane following – respecting signage• long-range, multi-agent – traffic challenge

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1953 experiment in “Cybernetics”one motor, 4 state control logiclight and bump sensorsBehavior:

• seek light• obstacle avoidance• recharge

Principles:• parsimony – simple is better• normally active behavior• tropism – positive (attraction) and

negative (repulsion)

Grey Walter’s Tortoise

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Braitenberg�s Vehicles – 1984 simulation study

Valentino Braitenberg, “Vehicles: Experiments in Synthetic Psychology,” MIT Press; Reprint edition (1986) ISBN:0262521121

• sensors map to motors via simple analog logic• apparently complex behavior results from simple control rules

interacting with a complex environment• inhibitory and excitatory signals• uphill analysis and downhill invention –

some systems are easier to invent than to analyze

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Simple Braitenberg�s Vehicles

Coward, Explorer, Lover, and Aggressor8Laboratory for Perceptual Robotics – Department of Computer Science

Project #1 - photovore

see web site for details

Chris VigoritoDirk Ruiken

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Project #1 - project management

A draft project plan is the first step of every project---before the first circuit is prototyped.

The plan enumerates all the tasks required and sets completion times. This level of description makes it clear that all aspects of the project have been considered (nothing has been left out), how tasks depend on one another, and provides reasonable time estimates.

It also should include a description of the products (designs, numerical values) that verify the completion of each task or establish parameters necessary for subsequent tasks.

Inevitably, the plan will need to be modified as it unfolds so it make sense to do it in a way that is easily edit-able. I like the excel spreadsheet for a Gantt chart---you can find templates on-line you can use. Find one that you like..

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Project #1 – Photovore Project Management

1. Design

2. Prototype

3. Implementation (8 hours)4. Demonstration (0.5 hours)5. Report

a) CdS/R2/Rmotor resistances (0.5 hours)b) voltage divider, Vout (light/dark) (1 hour)c) switch logic (1 hour)d) circuit layout (pin-2-pin) (1 hour)e) chassis structure, motor mount, wheels/skid

concept (1.5 hours)

a) circuit breadboard (4 hours)b) logic/performance checkout (0.5 hours)

a) #1 - summary of progress, re-plan, critical evaluation (2 hours)b) #2 – summary of project, demo results, critical evaluation (2 hours)

Task

Task

Task

TaskTask

This is an outline for your reportfill in the result for each subtask

10 hours

12 hours

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project management GANTT chart

Task 1 - Design

Task 2 - Prototype

Task 3 - Implement

Task 4 - Demo

Task 5 - Report

9/9 9/13 9/16 9/20

• evaluate and adapt your schedule, include subtasks (1a, 1b, …) as required• assess risks and plan time and contingencies• creativity is encouraged, but only if it’s on your GANTT chart!

a b c d e

a b

a b

e

report estimate

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project reporting – individual weekly lab report

NO MORE than 2 pages in ONE PDF FILE (LastName-mm-dd-yy.pdf)

Include completed products for the previous week's tasks (drawings, designs, numerical values), note any variations in your plan, and include a revised project plan.

Reports don’t need to be beautifully written, but must be organized to be read.They should be written for your “project manager.”

It's tempting to jump right to a picture of your final concept in week 1, but stick to your plan and work out the results of preliminary subtasks first. The project plan minimizes the chances that you'll waste time and make costly mistakes.

I will review and grade notebooks every week. Grades will reflect the completeness of the design process, critical analyses, experimental evaluation, and weekly project management.

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project reporting – final reports

NO MORE THAN 5 pages in ONE PDF FILE (LastName-mm-dd-yy.pdf)

includes the last (final) revision of the project plan, summarizes all the products at a level of detail adequate to reproduce your results

draw conclusions about the final performance and revisions you would make it you had to do it over again

It should be written using complete sentences and a logically organized sequence of thoughts.

In weeks when you submit final project reports, individual weekly lab reports are not required.