Embedded Systems PDF

EMBEDDED - including something with anything for a reason. - something which is integrated or attached to another thing SYSTEM - is a set of interrelated parts/components which are designed/developed to perform common tasks or to do some specific work for which it has been created. Embe...

EMBEDDED - including something with anything for a reason. - something which is integrated or attached to another thing SYSTEM - is a set of interrelated parts/components which are designed/developed to perform common tasks or to do some specific work for which it has been created. Embedded system - is an integrated system that is formed as a combination of computer hardware and software for a specific function. - Is a specialized computing system that performs dedicated functions or is embedded as part of a larger device. - are the backbone of modern robotics, controlling sensors, processing data, and driving actuators to perform tasks. Three main components of embedded systems: 1. Hardware 2. Software 3. Firmware Important characteristics of an embedded system - Performs specific task: Embedded systems perform some specific function or tasks. - Time Specific: It performs the tasks within a certain time frame. - High Efficiency: The efficiency level of embedded systems is so high. - Low Cost: The price of an embedded system is not so expensive. - Low Power: Embedded Systems don’t require much power to operate. - Minimal User interface: These systems require less user interface and are easy to use. - Less Human intervention: Embedded systems require no human intervention or very less human intervention. - Highly Stable: Embedded systems do not change frequently, mostly fixed maintaining stability. - High Reliability: Embedded systems are reliable and perform tasks consistently well.  - Use microprocessors or microcontrollers: Embedded systems use microprocessors or microcontrollers to design and use limited memory. - Manufacturable: Most embedded systems are compact and affordable to manufacture. They are based on the size and low complexity of the hardware. Block structure diagram of embedded system Advantages Small size. Enhanced real-time performance. Easily customizable for a specific application. Disadvantages High development cost. Time-consuming design process. As it is application-specific less market available. Top Embedded Programming Languages: Embedded C Embedded C++ Embedded Java Embedded Python KEY COMPONENTS OF EMBEDDED SYSTEMS Microcontroller/Microprocessor: The brain of the embedded system, responsible for executing instructions. Memory: Stores the system's firmware and user data. Input/Output Interfaces: Allows the system to interact with other devices or the environment. Power Supply: Provides the necessary power for operation Robotics - It is an interdisciplinary field involving the design, construction, operation, and use of robots. - The interdisciplinary branch of engineering and science that includes mechanical engineering, electrical engineering, computer science, and others, focusing on the design, construction, and use of robots. Robot - It is an automated machine that can perform tasks typically done by humans, often in environments that are too dangerous or repetitive for humans. - A machine capable of carrying out complex tasks automatically, especially those programmed by a computer. Mechanical Structure: The physical form or frame of the robot, which could range from robotic arms to humanoid robots. Sensors: Devices that allow the robot to perceive its environment, such as cameras, accelerometers, gyroscopes, and touch sensors. Actuators: Components that enable movement, such as motors and servos. Control Systems: The embedded systems or algorithms that dictate how the robot behaves, often involving real-time decision-making. Power Supply: Powers the robot’s functions, typically via batteries or electrical connections. In robotics, embedded systems allow for real-time processing, making it possible for robots to react swiftly to changes in their environment. REAL-WORLD APPLICATIONS Manufacturing: Robots with embedded systems automate assembly lines, performing tasks like welding, painting, and packaging with precision. Healthcare: Robots assist in surgeries, rehabilitation, and patient care, often relying on real-time processing from embedded systems to ensure safety and accuracy. Home Automation: Embedded systems power smart home devices like robotic vacuum cleaners, which navigate spaces and avoid obstacles autonomously. IMPORTANCE OF ROBOTICS IN MODERN SOCIETY EFFICIENCY SAFETY INNOVATION AUTONOMOUS ROBOT A robot that can perform tasks without human intervention, making decisions based on sensory input. ARTIFICIAL INTELLIGENCE (AI) The simulation of human intelligence in machines designed to think and learn like humans. HISTORY OF ROBOTICS The ancient Greeks conceptualized early ideas of automatons, mechanical devices resembling humans, like Talos, a mythological giant made of bronze. First Industrial Robot: In 1961, General Motors introduced the first industrial robot, Unimate, which performed tasks like welding and assembly on the production line. Advances in AI and Robotics: In the late 20th century, advancements in AI led to more sophisticated robots, such as IBM's Deep Blue defeating the world chess champion Garry Kasparov in 1997. Modern Robotics: Today, robots are used in various fields, including medicine (surgical robots like Da Vinci), space exploration (NASA’s Mars rovers), and domestic life (vacuum robots like Roomba). Asimov’s Three Laws of Robotics: First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. Second Law: A robot must obey the orders given to it by human beings, except where such orders would conflict with the First Law. Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Implications of the Laws: Ethical Considerations: These laws raise important questions about the ethical use of robots and AI, such as how to program robots to prioritize human safety. Challenges in Modern Robotics: The complexity of real-world situations often makes it difficult to strictly apply these laws. Humanoid Robot: - A robot designed to resemble and mimic human movements and interactions. Applications: Healthcare: Humanoid robots like Pepper are used to assist elderly patients, offering companionship and performing basic tasks. Service Industry: Robots like Sophia, developed by Hanson Robotics, interact with people in customer service roles. Entertainment: Humanoid robots are used in theme parks and as actors in films to create more lifelike characters. Challenges: Complexity: Developing humanoid robots is challenging due to the need for advanced AI, sensor systems, and mechanical design to replicate human behavior. Ethical Concerns: There are ongoing debates about the ethical implications of creating robots that closely resemble humans, particularly in terms of identity, privacy, and social interactions. Industrial robots - These are automated, programmable machines designed to perform tasks in manufacturing and other industrial settings. - They are known for their precision, reliability, and ability to operate in hazardous environments. - They enhance productivity, improve quality, reduce waste, and can work continuously without fatigue. - They are crucial in modern manufacturing processes, especially in high-volume production environments. CARTESIAN ROBOTS Structure: - Cartesian robots operate on three linear axes (X, Y, Z) and move in straight lines. The robot's arm is positioned along these three perpendicular axes, resembling a 3D grid. Working Principles: - The movement is controlled by motors or actuators along the X, Y, and Z axes, allowing the robot to position tools or objects accurately in 3D space. Applications: - Cartesian robots are commonly used in pick-and-place operations, CNC machines, and 3D printing, where precision and repeatability are crucial. SCARA ROBOTS Structure: - SCARA (Selective Compliance Articulated Robot Arm) robots have a rigid structure in the vertical axis and flexible horizontal movement, making them ideal for lateral movements. Working Principles: - The SCARA robot's arm can move in a circular motion, with the vertical axis providing stability and the horizontal movement offering flexibility and speed. Applications: - SCARA robots are used in assembly lines, particularly for tasks that require fast, repetitive movements, such as inserting screws or placing parts. CYLINDRICAL ROBOTS Structure: - Cylindrical robots have a rotary base and a prismatic joint that moves along the vertical axis. This structure allows the robot to reach areas within a cylindrical space. Working Principles: - The robot can rotate around its base and extend its arm up and down along the vertical axis, making it ideal for tasks within a cylindrical workspace. Applications: - Common in tasks like assembly, handling at various heights, and machine tending, especially where the workspace is cylindrical. DELTA ROBOTS Structure: - Delta robots have a triangular structure with three arms connected to a common base, allowing for fast and precise movements in a small area. Working Principles: - The robot's arms move in parallel, driven by motors at the base, enabling rapid and accurate positioning of the end effector. Applications: - Ideal for tasks requiring high-speed, repetitive movements such as sorting, packaging, and material handling in food processing and pharmaceuticals. POLAR(SPHERICAL) ROBOTS Structure: - Polar robots have a spherical work envelope and are composed of a rotational base, a vertical joint, and a telescopic arm that can extend and rotate. Working Principles: - The combination of rotational and linear movements allows the robot to cover a large spherical area, making it ideal for tasks requiring broad reach. Applications: - Used in applications like welding, material handling, and assembly in areas requiring a wide range of motion. VERTICALLY ARTICULATED ROBOTS Structure: - Vertically articulated robots have multiple rotary joints that allow them to mimic the movement of a human arm, making them highly flexible. Working Principles: - These robots can move in multiple directions, offering a wide range of motion and flexibility, making them suitable for complex tasks. Applications: - Common in tasks that require dexterity and precision, such as welding, painting, assembly, and material handling in manufacturing. Industrial robots come in various forms, each designed for specific tasks and environments. Understanding the structure, working principles, and applications of these robots is crucial for their effective deployment in industrial settings. Encourage students to explore real-world examples and case studies to see how these robots are applied in different industries. Axis: - It is a straight line around which an object rotates or is oriented. In robotics, axes refer to the directions in which a robot can move or rotate. Six Degrees of Freedom (6DoF): - Refers to the freedom of movement in three-dimensional space. A robot or object with 6DoF can move along three axes (X, Y, Z) and rotate around these three axes (roll, pitch, yaw). Working Envelope: - The range of space within which a robot or object can operate. It is defined by the robot's degrees of freedom and physical constraints. Roll: Rotation around the X-axis. It tilts the front of the robot left or right. Pitch: Rotation around the Y-axis. It tilts the robot up or down. Yaw: Rotation around the Z-axis. It turns the robot left or right.