Dec09-11
Embedded Systems
Design Though Curriculum
Jacqueline Bannister
Luke Harvey
Jacob Holen
Jordan Petersen
Client: Computer Engineering Department
Advisors: Akhilesh Tyagi – Jason Boyd
Problem Statement
The Department of Computer Engineering has found that
underclassman students are struggling to see the connection
between concepts learned within the curriculum and real
world applications. Additionally the curriculum of each course
tends to be compartmentalized, therefore not providing a
birds eye view of the entire field. This Computer Engineering
field encompasses the areas of embedded systems, computer
architecture and software systems.
Additional Issues:
• Little student involvement in clubs related to the program
• Students quickly lose interest in the program because of
the difficulty of the curriculum and lack of encountering
real world applications or design experiences
2
Need Statement
Design an inquiry-based learning module that focuses
on the use of course curriculum in the area of embedded
systems for the Computer Engineering department.
As outlined in the ADEPT proposal this program should:
• Motivate students to learn new material
• Provide alternate learning methodologies to address
different learning styles
• Increase the design experience in the computer
engineering program
• Motivate students to create a community of learners
focused around problem solving
3
Concept Sketch - ADEPT
4
Concept Sketch
• Knowledge learned during
the Freshman and
Sophomore years is used as
input to the First Term
course (CprE 286X)
• Knowledge learned from
the Junior, Sophomore and
Freshmen years as well as
the CprE 286X course is
used as input to the second
term course (CprE 386X)
5
System Design - Requirements
• Projects must effectively integrate knowledge expected of
students for that given year
• The courses will define checkpoints and milestones for
students while still allowing for a design experience
• The proposed modules must engage student interest
• Should accommodate for various levels of skill sets and
learning styles
• Should demonstrate area of embedded systems using
robotics application
6
Platform And Project Ideas
Autonomous Vehicle
Wii-Motes
Build your own robot
Wireless Sensor Networks
Cell phone
Etching System
MP3/Video Player
Autonomous Sentry Gun
Lego Mindstorm
Robotic Arm
Robotic Competitions
IR Tracker
7
Student Survey
-Gave survey to computer
engineering students
currently taking
embedded systems
courses (CprE 388 and
CprE 488)
Concept
Autonomous Golf Cart
388 Votes
1,1,3
2
IR Tracker
Miniature Robotic Arm
Votes Weight
5
7
0
0
2,3
2,3
4
10
3
2
2
5
Build Your Own Robot
1,1,2,2,3
1,1
7
9
MP3/Video Player
1,2,2,3,3
1,3
7
15
1,2,2
3
4
8
6
10
1
1
1
1
2
3
Sentry Gun
Robotics Control Competition
-Asked them to “Please
pick three projects below
that you find the most
interesting and exciting.
Rank 1-3, with 1 being
the most interested.”
488 Votes
Open Source Cell Phone
1,1,1,2,2,3
FPGA NES or Gaming System
Laser Drawing System
Wii Mote Racing Simulator
1
2
3
8
Survey Results
Based on the results from market survey as well as input from the design
through curriculum team members and their advisors the team decided to
pursue a robotics platform.
Winner:
•Build your own robot:
Robotics platform
Runner Up:
•Handheld electronics device: Open
source cell phone and MP3 player
Pros
Cons
Pros
Cons
Easier to incorporate
more curriculum topics
May prove to be too
challenging
More interesting idea
Harder to obtain necessary
hardware
Hands on experience
with building a robot
from the ground up,
something students do
not currently get
Many other embedded
systems courses already
use a robotics platform
Students may have had
something to bring home
at the end of the semester
Harder to incorporate
topics learned from the
CprE curriculum, which is a
fundamental requirement
from the ADEPT proposal
Easier to obtain
hardware donations
May be more expensive
Idea unique to the CprE
department
Involves a lot more risks
9
Deliverables
• Completed robot prototype built from scratch
• Example competition for first semester
• Vision recognition software for the first semester competition
• Example robot control algorithm for the competition
• Recommendation for a platform to be used for the second semester course
• Documentation for students and TAs
– Goal of the 286X course
– Description of the final competition
– How to use and modify the vision recognition software
– Example of how to construct the robot
– How to program the robot using LabVIEW
10
Schedule And Workload
Schedule
Work Breakdown
Tasks
Camera and vision recognition
C library
11
Resource Requirements
Cost Breakdown
Various Component Cost
Components
Item
Vex Chassis Kit
Part Number
276-2232
Price
Quantity
Total
$200
1 $200
VEX Robotics
Wheel Kit
276-2164
$30
1
$30
Servo s
HS-422
$17
2
$34
DC Motors
IR Sensor
GHM-01
GP2D120
$22
$13
4
1
$88
$13
Custom PCB + 12v
Battery
CHUN-2420C4.2Ah
$218
1
$218
Accelerometer
Bump Sensors
Pack
S-300-28017
FRS-V-2762159
$9
$13
3
2
$27
$26
Sonar Sensor
Dry Erase Board
Wireless
Router/Adapter
S-10-EZ4
ASUS WL-330g
and WL-520GC
$30
$35
$102
1
1
1
$30
$35
$102
12
Risks
Not selecting and approving projects on time
Not being able to acquire necessary tools or hardware
depending on project selection
Future changes to the Computer Engineering curriculum
Platform Issues
Dissatisfaction of students with designed course
13
System
Design
14
Dry-Erase Bot Competition
• Goal: Autonomously color more squares than opponent in time limit
• Requirements & Restrictions:
– Avoid obstacles, boundary and
enemy robot
– Robot design will be each team’s
choice using given supplies
– Limited battery supply, forcing
efficient design implementation
– Robots start outside course,
therefore must locate entrance
to course
15
Dry-Erase Bot Competition - System Diagram
Runs network variable
server to package field data
and control the competition
Process field image and
send information to PC
Robots use sensor and field
data to navigate the field
16
Hardware Platform
• NI Compact Rio 9073
– Up to 8 I/O modules
– Onboard FPGA
– Heavy Duty
– Real Time
processor
17
Software/Hardware Platforms
• NI LabVIEW
– Real-time
– FPGA
– Embedded
• C Compiler
• NI Vision Builder
• NI Smart Camera
– Image Recognition
•
•
•
•
•
•
•
Servos/Linear Actuators
IR Sensor
Sonar
Chassis (body, wheels, etc)
Breadboard/Electronics
Battery
Wireless Components
18
Test Plan / Success Metrics
• Completion of a prototype robot in one
semester
• Department offering 286x
• Feedback surveys from students taking 286x
19
Robotics Platform - Deliverables
Custom Power System
• Custom PCB
• 24v, 12v, 5v supplies
• Student-friendly configuration
20
Robotics Platform - Deliverables
FPGA control module
Top level control VI
Controls sensors, motors
Links FPGA to c module
21
Vision Recognition - Deliverables
• Created VR for first competition
• Created interface for C code to interact with vision data
Data structure for a robot’s location
Data structure for which robot is winning a given square location
Smart Camera
*Bit 7 denotes which robot is winning that square (1 = Black, 0 = Green)
22
Vision Recognition - VB Screen Shots
Original Picture from Smart
Camera
Screen Shot of Running Inspection
23
Dry-Erase Bot Competition - Deliverables
• Completed course
construction
• Created prototype robot
• Competition rules and
requirements
Completed Whiteboard Grid
-Two 4x8 sheets of melamine
24
ADEPT Planning - Deliverables
Learning modules
•
Technical documentation for
future students
Platform recommendation
•
Learned from difficulties with
platform
•
Recommend changes to
current platform and
recommend an alternative
Initial Robot Prototype
25
Platform Complications
• Software complications
• cRIO platform does not allow direct access to VxWorks
– No operating systems concepts
• cRIO only allows for c modules to be placed into
LabVIEW
– Limited algorithm control in c
– No interrupts, low level programming
– Thread concept only available in LabVIEW blocks
26
Future Work
•
•
•
•
2nd Semester course design and implementation
Should build upon first semester work
Include more advanced topics
Course recommendation: De-Bomb Competition
27
Platform Recommendation
Xilinx Spartan-3E Starter Kit
Digilent FX2
Interface Board
28
Platform Recommendation
• Xilinx Spartan-3E Starter Kit - $189
–
–
–
–
Microblaze Processor
Spartan-3E FPGA
Runs uClinux
Various I/O components (Ethernet, Serial, GPIO, etc)
• Digilent FX2 Interface Board - $20
– Provides 6 PMOD connectors
– Used for I/O connection to sensors and control
29
Recap
• Designed fully functional robotics platform
and course consisting of computer
engineering curriculum
• Created learning modules and technical
documentation for students.
• Future recommendations for ADEPT
30
Dec09-11
Embedded Systems
Design Though Curriculum
Questions?
Jacqueline Bannister
Luke Harvey
Jacob Holen
Jordan Petersen
Client: Computer Engineering Department
Advisors: Akhilesh Tyagi – Jason Boyd