2022

Robotics Applications
Developments

Asanka Amarasinghe
NIBM
3/19/2022
In this module we are going to discuss embedded
systems and robotic systems.
we will start our discussion by looking at a structure of a
computer system that you have already learned
computer architecture module. a computer can be
considered as a system with two main components
known as hardware and software. As you know three
main subsystems of a computer. they are,
1. processor subsystem
2. memory subsystem
3. input output subsystem
What is an EMBEDDED SYSTEM?
An Embedded System is a system that has computer
hardware with software embedded in it as one of its
important components.
Examples for embedded systems:
Microwave Oven, Washing machine, Smartwatch,
smartphone, air conditioner, modern cars
Memory
There are two main types of memories in an embedded
system.
1. ROM – program memory
2. RAM – data memory
Certain Embedded processors/microcontrollers contain
built in program memory and data memory and this
memory is known as on-chip memory. Otherwise,
external memory need to be used which is known as off-
chip memory.
Example: In arduino Uno board, ATmega328P
Program memory is 32 kB, data memory is 2 kB

Program Storage Memory:

• Stores the program instructions
• Retains its contents even after the power to it is
turned off. (Non-volatile)
• Depending on the fabrication, erasing, and
programming techniques they are classified into
o ROM
o PROM
o EPROM
o EEPROM
o Flash Memory
o NVRAM
Data Memory:
• Data memory for holding variables and temporary
data during task execution.
• Volatile
 • Depending on the fabrication, erasing and
programming techniques they are classified into
o DRAM
o SRAM
Note: if the on-chip memory is not sufficient then
external memory must be added.
Sensors & Actuators:
• Embedded system is constantly interaction with the
real world
Sensors:
• A device which converts energy from one form real
world measurement to electrical signal
• Sensors acts as input device
• Examples:
o Light Sensors
o IR Sensors
o Humidity, PIR(passive infra red) , ultrasonic ,
piezoelectric , smoke sensors
Block diagram
• There are many ways to categorize sensors
o Active or passive:
require an external power supply (active)
require no external power supply (passive).
o Invasive or non-invasive: sensor is part of the
environment it is measuring
(invasive/implant) or external to it (non-
invasive/wearable).
o Contact or no-contact
o Absolute or relative:
o Area of application
o How sensors measure: for example,
thermoelectric, electrochemical,
piezoresistive, optic, electric, fluid mechanic,
photo elastic.
o What sensors measure: Sensors can be
categorized based on their applications or
o what physical variables they measure.
o Digital and Analog.
Sensor Types
Sensors in a Smart Phone
Actuators
Actuators are natural complements to sensors.

Actuators receive some type of control signal (commonly

an electric signal or digital command) that triggers a
physical effect, usually some type of motion, force, and
so on.
Some common ways that they can be classified include
the following:
• Type of motion: for example, linear, rotary,
one/two/three-axes
• Power: for example, high power, low power, micro
power
• Binary or continuous:
• Area of application
• Type of energy
Actuator Classification by Energy Type
Oscillators
• Responsible for generating the clock signal to
operate.
• The Uno board features a crystal oscillator which
oscillates at 16 MHz.
Real Time Clock (RTC) is a device responsible for tracking
of time.
Watchdog timer is a hardware unit used avoid infinite
loops for longer time.
Ctrl+Alt+Del