MEC302 Embedded Computer Systems
Introduction
Dr. Sanghyuk Lee
Email: Dept. Mechatronics and Robotics
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Assignments and Final Exam
• Allocation of Time:
• Assessment: Assignment 10%
2-hour Final exam 80%
Lab/Practice
Private Study
Mon 9 -10:30 am W1 -4 online W5-14 EE101
W6, 12 Tuesday 11 am – 12 pm EB138
W8 Mon 3-5:30 pm W8 Tue 9-11:30 pm SD319/SD546/SC375
No opportunity for Resit exam
No opportunity for Resit exam
• Introduction to embedded systems • Modelling on the system
• Sensor and actuator
• Programming examples
• Embedded processors
• Memory architectures
• Input and output mechanism
Learning outcomes
• Discuss what is meant by an Embedded Computer System. • Describe different types of embedded processors and their
applications.
• Understand how parallelism relates to Embedded systems (timing, pipelines and parallel resources).
• Explain Memory Architectures and their importance in Embedded system design.
• Be able to understand the design issues facing an Embedded system
References
Why is it important?
• The most visible use of computers and software is processing information for human consumption – write books, search, communicate etc.
• Most computers is use are much less visible – run engine, command robots
➢ Less visible computers are called embedded systems ➢ The software they run is called embedded software
• Design of Cyber-Physical Systems(CPS)s requires understanding the
joint dynamics of computers, software, networks, and physical
joint dynamics of computers, software, networks, and physical
• Heart Surgery; surgical tools can robotically controlled sothat they move with the motion of the heart, a stereoscopic video system can present to the surgeon a video illusion of a still heart
• City Traffic system; traffic light and cars cooperate to ensure efficient flow of traffic
• Flight refuse to crash; Soft wall by Lee(2001) track the location on the aircraft on which it is installed and prevent it from flying into obstacles such as mountain and building
• Heart Surgery; surgical tools can robotically controlled sothat they move with the motion of the heart, a stereoscopic video system can present to the surgeon a video illusion of a still heart
• City Traffic system; traffic light and cars cooperate to ensure efficient flow of traffic
• Flight refuse to crash; Soft wall by Lee(2001) track the location on the aircraft on which it is installed and prevent it from flying into obstacles such as mountain and building
Two networked platforms each with its own sensors and/or actuators.
• The action taken by the actuators affects the data provided by the sensors through the physical plant.
• Platform 2 controls the physical plant via Actuator 1. It measures the processes in the physical plant using Sensor 2.
• Computation 2 implements a control law, which determines based on the sensor data what commands to issue to the
actuator. Such a loop is called a feedback control loop.
• Platform 1 makes additional measurements using Sensor 1, and sends messages to Platform 2 via the network fabric.
• Computation 3 realizes an additional control law, which is merged with that of Computation 2, possibly preempting
Embedded Systems Construction
• Modelling
Continuous System/Discrete System/Hybrid system/State
Machine/Concurrent Models of Computation
Sensor and Actuator/Embedded Processor/Memory
Architecture/ Input and Output/ Multitasking/Scheduling
• Analysis
Invariant and Temporal Logic/Equivalent and Refinement/ Reachability Analysis/Quantative Analysis/ Security and Privacy
• Focusing on this Module; Design Analysis with Lab
Stanford testbed of autonomous rotorcraft for multi agent control(STARMAC)
At the left and bottom of the figure are a number of sensors used by the vehicle to determine where it is (localization) and what is around it.
In the middle are three boxes showing three distinct microprocessors. The Robostix is an Atmel AVR 8-bit microcontroller that runs with no operating system and performs the low-level control algorithms to keep the craft flying. The other two processors perform higher-level tasks with the help of an operating system. Both processors include wireless links that can be used by cooperating vehicles and ground controllers.
Sensors and Actuators considers sensors and actuators, including the IMU and rangers shown
Embedded Processors considers processor architectures, offering some basis for comparing the relative advantages of one
architecture or another.
Memory Architectures considers the design of memory systems, emphasizing the impact that they can have on overall
system behavior.
Input and Output considers the interfacing of processors with sensors and actuators.
Multitasking and Scheduling focus on software architecture, with particular emphasis on how to orchestrate multiple real-
time tasks.
Invariants and Temporal Logic to specify key safety requirements for operation of the vehicles.
Equivalence and Refinement, Reachability Analysis and Model Checking to verify that these safety properties are satisfied by implementations of the software.
Quantitative Analysis would be used to determine whether real-time constraints are met by the software.
Stanford testbed of autonomous rotorcraft for multi agent control(STARMAC)
STARMAC quadrotor aircraft Architecture
Characteristics of Embedded Systems
• Concurrent
Composed of multi-tasking and/or distributed processes
• Communicating
Specialized processes communicate in order to achieve some overall system
• Real-time
Timing requirements are established by the environment
• Resource-constrained
Limited resources: processing, memory, peripherals, power, etc….
See you in the next class (Feb 28th)
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