Course content

• A laboratory based course.

• Learn interfacing thru.hardware projects
– Mobile Robot
– Interfacing techniques
– Advanced interfacing examples
• Very heavy lab. work
• The lecture and tutorial lessons will mainly discuss
the lab. work.
 Autonomous robotics based on simple
sensor inputs.

Abstract
A “robot” is explained as “a device that performs functions normally
ascribed to humans” - Webster.
“Autonomous” means that the robot can work totally independently of
itself, once it has been programmed, and it should be able to function
without interaction from any human influence. Many robots are used
nowadays to work in conditions where it is inaccessible for humans to
work and therefore need to be autonomous.
The aim of this project is to program a robot (shown left) using PIC
(peripheral interface controller) chips, so that it will utilise its infra red
 Laboratory work
• Mobile robot and the use of 8051 (or the ROM-less version
8031)
• free project
– Various robots: robot soccer, legged robots..
– graphic card
– DSO
– temperature control
– legged robot
– windows programming interfaces
– etc.
 Prerequisite
• Computer interfacing: 8255 , 8253
• Analog electronics, op-amp, transistor circuits
• Digital logic concepts
• Hardware prototyping & wire-wrap techniques
 Content of this course
– Learn about microprocessor system development
techniques.
– Learn about real-time software development techniques.
– Learn to build interfaces between real world data and the
computer.
– Learn to process and analyse signal data by a computer.
 Aims
• To teach computer interfacing using real example.
(Sensors and motors)
• To learn micro-controller usage
– parallel IO
– serial IO
– hardware Interrupt
– timer 8253
– operating systems.
 Content of this introduction
• Course outline
• To give a general perspective of our robot.
• To introduce concepts of various interfacing
techniques used.
• Don’t worry about the circuits, they will be
explained in details in future.
 Schedule
• 1/2 term: basic robot building
• 1/2 term: advanced robots or other projects
 Proverb
• Those who work with their hands are laborers,
• those who work with their hands and heads are
craftsmen,
• those who work with their hands and their heads and
their hearts are artists.
 Descriptions of the
Interfacing techniques
• Microprocessors systems
– memory interface
– IO interface
• hardware interfacing
• software control
• signal processing
 How to achieve our goals?
• To build a robot, and why?
• to program the robot
• give intelligence to the robot
 Overview of the robot
• Sensory:
– Sensor 1: ultra-sonic sensors
– Sensor 2: touch sensors
– Sensor 3: range proximity sensors
– Sensor 4: Path following sensors
– Sensor 5: Sound sensors
• Wheels and gear box, Dc motor control
– Speed control by photo interrupters
• Brain: 8031 basic
• Intelligence
• Power supply
 Diagram of the robot
structure
• forward
Touch sensor

ULS radar
on servo motor

Motor Right
Controller wheel
PC 8031CPU
& 8255
Rear wheel
RS232
 Our robot car
•
 Overview of the controlling
bits
• CPU--8255--sensors and effectors bits.

Interacting bits ULS-radar

interface
Out: servo (positional) motor
8255 Servo
Out : Motor on,off (right, left)
motor
Out: Motor direction (right, left)
In: Motor rotation (right, left)
CPU Motor
8031 In: radar input driver &
sensors
 Sensory organs
• Ultra-sonic radar
– Transmitter
– receiver
• touch sensors by switches
• Approximate sensors by infrared red light
• Path following sensors
• Sound sensors
• Don’t worry about the following circuits they will be
explained later.
 Sensors
• Primary
– Infrared beacons
– Infrared range detectors
– Ultrasonic range detectors
• Secondary
– Momentary contact sensors
– Reed switches
– Mercury switches
– Others …
 Accelerometers

adxl202
2-axis
accelerometer

• Mems technology provides precision mechanical electrical devices

• ADXL202 outputs convenient PWM output whose duty cycle is proportional to
acceleration
• Cost about 30$ - easy to interface to PIC
 Accelerometer Uses
• Measure tilt of arm ADXL202EB

ADXL202EB

• Measure Weight
 Tilt
Measurements
Analog Tilt Measurements
• Pass signal through low-pass filter, then to ADC
– Averages signal
– Filter cutoff frequency should be < 0.1 bandwidth

+5V
LM324
0.1µ F
Vi R PIC
ADXL202EB +
Bandwidth = 100 Hz ADC0
C - Vo

Vi
1
≤ 10 Hz Vo
2πRC
t
Digital Tilt Measurements
• Send PWM signal directly to CCP
– Set to measure pulse width
– Uses a valuable microcontroller resource

+5V
0.1µ F
Pic
ADXL202EB
Bandwidth = 100 Vi
Hz CCP

ton 50% duty cycle = 0 accel

ton
accel = 0.5 −
t period tperiod
 Velocity
Measurements
 Analog Velocity Measurements
• Pass acceleration signal through integrator, then to ADC
– Need to compensate for 2.5V offset
– Need to choose RC such that Vo does not saturate
– Need to periodically reset integrator to prevent overflow
R R
+5V
PIC
LM324
R + ADC0
ADXL202EB
Bandwidth
- Vo
Rb

= 1000 Hz + Vi -
C

Vi

Vo
t
 Threshold Measurements
• Pass acceleration signal through comparator, then to
input capture
– Need high signal bandwidth to see pulse
R LM311 comparator
ADXL202EB
Vi
Bandwidth + Vo
= 1000 Hz Rb
C -
PIC
Rpullup
+5V
Vth

Vo

1 Vi
≤ 100 Hz Vth
2πRC
t
Mindstorms
Mindstorms on the Net
• Excellent facility to
overcome any obstacles
that may be encountered
• Common questions
answered
• Program tuition
• Additional products
introduced
Touch and light sensors
• Very easy to
assemble
• Very sensitive to
external stimuli
 Rotation and
temperature sensors
• Temperature
sensor would be
of particular use
in conducting
potentially
dangerous
science
experiments via
robotics
Robotic Command Explorer
• RCX
• program
downloaded via
infra red beam
• 3 output terminal-
used for motors
• 3 in/out terminals
for touch, light,
temperature
sensors
My model
• Lego construction
enjoyable, however the
integration of the motors
seemed a little difficult in
terms of design
• The motors should snap
together
It works
Using both sensors
 RCX as “Find”
Command Simulator
Translating Abstract
Computing Concepts into
Physical Form
(or) the True Story
of………..
When Harry Met
Sally!
 …..Young, successful,
blonde-haired, blue-eyed,
charming I.T. professional
seeks HOT STUFF
Please contact HARRY at
P.O. Box 1591……….
 Scenario I: End of File
(“Face it, Harry, she just aint out there!”)
Starting Point:
Execute “Find” Command
Correct
Record
RECORD 1 not found/
E.O.F.
RECORD 2 =
Program
ends after
RECORD 3
30 Seconds
Incorrect Records
RECORD 4
Correct Record
 Scenario II: Timeout
RCX “Find” Command Simulator
Timeout Scenario
(Only one step short of Heaven….…)
Starting
Starting Point:
Point:
Execute
Execute“Find”
“Find” Command
Command
“Find”Program (30
Seconds’ Duration)
ends without record
RECORD 1 being found
=
RECORD 2 Timeout!

RECORD 3
Incorrect Record
RECORD 4
Correct Record
Scenario III: Successful Record Retrieval
(and their eyes met across a crowded room)
Starting Point:
Execute “Find” Command
“Find” ends
when
RECORD 1 correct Message
record found sent to
RECORD 2 second
RCX
RECORD 3
Incorrect Records
RECORD 4
Correct Record
 How the “Find” Command
Simulator Works
• Running RCX Program as a Metaphor for Execution of “Find”
Command (Search Engine query).

• Physical Environment as Database Table.

• Obstacles Within Environment as Records in Database Table.

• Touch Sensors Locate Incorrect Records

 How the “Find” Command
Simulator Works
4. Light Sensor Locates Correct Record.

5. On Retrieval of Correct Record, “Find” Output Delivered on

Screen via Infra-Red Message to Second RCX
 How the “Find” Command
Simulator Works

6. Motors Off to Signify End of Search.

7. Correct Record Not Found Within 30 Seconds = Search Timeout/

End of File.
Disadvantages/Limitations of
Lego Mindstorms
1
Criticism: Aurally-impaired Users or Users without a Soundcard
excluded from Software Tutorial.
Recommendation: Voice-over should be accompanied by
additional sub-titled Text.

Criticism: No Obvious Means of Skipping Tutorial results in

many Users going through Process each time Software is installed
Recommendation: There should be better Signposting of “Skip
Tutorial” Option.
Disadvantages/Limitations of
Lego Mindstorms
2
Criticism: There is more Emphasis on Mechanical Skills than is
Necessary for our Purpose, although this in itself is not a bad
thing.
Recommendation: For Non-Engineering Students, a Pre-
Assembled Model might be of more Use.

Criticism: If one uses the Software Guide without having IR

transmitter connected to PC, one is forced to exit the Application.
Recommendation: Independence of Software Guide & IR
Transmitter/ RCX.
Disadvantages/Limitations of
Lego Mindstorms
• Criticism: Difficulty in identifying where Process is failing, e.g.,
whether it is Software or Hardware-related
• Recommendation: Debugger tool should be included in Package.

• Criticism: Conflict between Interrupt Handlers means that event-

oriented Program will not run.
• Recommendation: Better Troubleshooting for Programming (as
opposed to Construction).

• Criticism: Built-in Obsolence.

For Example: Rubber-Bands last an average of 5 Minutes,
therefore, after one has run out of the supply included in the kit, it
is no longer possible to test.
Advantages of Lego Mindtools
1

Easy Introduction to Computer Programming.

Opportunity to show abstract Concepts in concrete

Form.

Opportunity for Multi-Faceted Learning, e.g.,

Programming/ Mechanics/ Engineering/ etc.
Advantages of Lego Mindtools
2

Instructions are self-explanatory, logical and intuitive.

Positive Feedback provided throughout Tutorial which is

encouraging for the Beginner.
 Program screenshot

Example of
one Program
that didn’t
work because
of conflict
between
stacks
 Academic Evaluation
• Excellent means of introducing basic
programming concepts such as loops,
nested loops and conditional
statements, in an environment where
effects on an end product can easily
be viewed
• Excellent teaching tool for In/ Out
devices and interfacing
• Robotics is put easily within the grasp
of a teenager
• The integration of both software and
hardware gives a very balanced
education
• The complementary relationship
between hardware and software can
be seen at a glance, as opposed to the
traditional approach of introducing
both as separate disjointed topics in IT
Ultrasound
 Ultrasound

• ~40Khz
• Time of Flight
Small detail hard to resolve
• Depending on sensor,
– return analog waveform
– Return time until first peak
• Hard to resolve small detail
• Multipath

Multipath can fool you!

 Ultrasonic Range Detectors
• Devantech SRF04 Ultrasonic
Rangers
– One per team (more upon request)
• To detect and object
– Modulated (40kHz) ultrasound energy is
emitted from one of the transducers
– The bursts reflect off an object and return
to the second transducer
– The sensor outputs the time of flight
Ultrasonic Range Detectors
6 16

14
5
12
4
Echo Pulse Width (ms)

Echo Pulse Width (ms)

10

3 8

6
2
4
1
2

0 0
0 10 20 30 40 0 2 4 6 8 10
D is tanc e to re f le c te d o b je c t (in) D is tanc e to re fle c te d o b je c t (ft)
Ultrasonic Range Detectors

0.9 4.4 9.0 7.4

1.8 3.8 5.2 7.1

0.2 3.8 5.2 7.1

0.9 9.0 6.0 7.5

1 ft
 Ultrasonic Range Detectors
• Noise
– Relatively stable readings especially between 1ft to 6ft
– Readings for larger distances are less consistent but averaging or
median filtering can help
– Beam spread is significant
• Sampling
– Can reasonably acquire 20-30 samples per second
• Uses
– Long range obstacle mapping
– Distance to target measurements
 Gas Sensor
Application For
Indoor Monitoring
Background
System Construction
The Gas Sensor
The Robot
Research Background
Today, many dangerous chemicals are produced and
transported. There is a need to detect the emission of
these chemicals in case of chemical accidents or fires.

Hence, a gas sensor system for detection of these

hazardous compounds has been developed.
System Construction
① D/A ② Amplifier
Converter Circuit

③
⑤ ④ ⑥
A/D
Gas Sensor Robot
Converter
Construction Introduction
D/A Converter
PCI-3343A is used in our system. It’s hardware
Specification is shown as below.
Output Current: 5mA (max)
Number of Channels: 4 channels
Output range: ±10Vdc
Resolution: 12 bit
Error: ±0.4% (max) ( 0 to 50 °)
Relative accuracy: ±1 LSB (max) ( 0 to 25 °)
Settling time: 10μs*¹ ( per channel)
Amplifier Circuit

Use this circuit we can

get constant current:
I = Vin / R

The input Vin is the

output of D/A converter

The circuit is to provide power

for the heater of TGS 2610
 The Gas Sensor
Combustible gas Sensors (CGS) are used for the system. TGS
2610 is designed for the detection of Combustible Gases and will
be selected in our experiment. The following will introduce it in
detail.

TGS 2610
 Gas Sensor Features
General purpose sensor with sensitivity to wide
variety of combustible gas
Low power consumption
High sensitivity to methane, propane, and butane

Applications
Domestic gas leak detectors and alarms
Portable gas detectors
Combustible gas and vapor detection
Gas Sensor
Specifications
Basic Measuring Circuit:

Ps = (Vc - VRL)² / Rs
Rs = (Vc - VRL) RL / VRL
The value of VRL should be
chosen to keep Ps <=15mW
Sesnor1: Ultra-sonic radar (USR)
• Echo reflection: Distance= tdelay*Velocitysound/2
• Velocitysound=330m/s

Ultra-sonic Transmitter

Robot

Ultra-sonic Receiver Top view

 Ultra-sonic Transmitter circuit
Board USR-01a
•

On/off
control
time

Ultra-
or
sonic
40KHz 555 oscillator 4001 speaker
or 3x CMOS 4049B/4001
to enhance
40KHz Crystal oscillator
power
 Ultra-sonic Receiver circuit Board
USR-01b
•

TTL
level
output

Rec. AC Level Amplifier Comparator to

amplifier shifting & LED remove noise
swing low indicator
about 2.5V side=0.7V driver
 Ultra-sonic analog interface circuit
Output
Receiver amplifier 5V

Level
shifter

RX
mic
GND

Tx
Mic.
GND Tx mic.
40KHz oscillator
driver
Suggested Ultra-sonic radar design
bit 0 1 2 3 4 5 6 7 bit 0 1 2 3 4 5 6 7
R0 SUS . . . . R2 DT[0,1,2,3] VUS

40KHz 40KHz
2.5KHz
packet
RDY R0: SUS Tx
R2:DT,VUS Rx

• When R0(0) [SUS]=1 DT[0,1,2,3] will be cleared and starts to count at

2.5KHz clock ticks, and RDY output and VUS (bit 4 of R2) will be reset to 0.
• Then an ultrasonic packet of 2 to 3 pulses would be sent out through the TX
output pin.
• After received the first reflected pulse at RX input, RDY output and VUS
register bit will be set to 1; DT[0,1,2,3] stops counting, and is ready for
reading.
 Sensor 2: Touch sensors (The bumper)
May store the two bits in R2
• When the bumper bangs the wall, a negative pulse is
detected at the output.
5V Keyboard switches Bumper stick

10KΩ

switch
output robot front
0.1µ F

Top view
 Sensor 3: Infra-red (880nm wavelength)
proximity sensor to detect nearby obstacles

• IR detector GP1U52X is tuned at 40KH on/off rate.

Infrared LED emitter

Light covers

IR detector
GP1U52X

Top view
 Infra-red Proximity detector circuit
from Mobile Robots by Jones,AK Peters
•

LED1

LED2

LED1 and LED2 can be controlled independently

by IO pins PD2 and PD3 respectively
 Range measure using reflected Infrared
(IR) light
• using an analog-to-digital ADC converter

IR
LED

8255 of IR
ADC
8031 sensor
micro-
controller Output code & level
depend on D Distance D
 Sensor 4: Path following sensor
use the same Infrared Proximity detector circuit

• LED1 on --> detect strip

• LED2 on --> detect strip Make decision to
turn direction

wheel
IR LED1 White
IR detector strip
on black
tail ground
IR LED2
head

wheel Top view

Sensor 5: Sound sensor/recording

• Response to sounds or hand clapping

Aanlog-to-digital
converter

Condenser Amplifier
microphone To 8255
of 8031
micro-
controller
The Motor System
Feedback control
 Motion control
• Power the wheels
– Power method 1: Mechanical relay
– Power method 2: Single direction Power Transistor
– Power method 3: Dual direction H-bridge circuits
• Speed control
– Speed control 1: pulse code modulation
– Speed control 2: by photo interrupters and Feedback
– Optic isolation
• legged robot by servo motors
Power method1: Direct Current DC (1A)
motors by mechanical relay
•

Current
driver DC motor
8255
e.g.
ULA2001A

Mechanical relay
TPIC2701 or ULN2001A from Texas instrument
http://www.ti.com/sc/docs/psheets/abstract/datasht/slis019a.htm
Power method 2: Direct Current DC(1A)motors by
transistor (one direction)

• Using a single power transistor

5V

High power
560Ω , 1W resistor
From 8255 5 Ω , 5W
output Current TIP3055
driver +
or optical DC motor
isolator -
Power method 3: Direct Current DC
motors by H-bridge transistor circuit
(Two-direction)
5V

motor
A
• JP11 -> Motor
• Forward : A=1, B=0
• Backward:A=0,B=1
• Stop :A=B B

GND
 Speed control 1:Approximate speed
control by Pulse Width Modulation
E.g. 2.5KHz
Off time
Mark (motor on)

Space (motor off) time

On-time
• By switching the motor on/off at a fixed frequency
(e.g. 2.5KHz) with different mark/space ration,
• The power transmitted to the motor depends on the
mark/space (on/off time) ratio.
 Speed control 2: Precise speed control by
Infra-red (IR) photo interrupter feedback

• The disk chops the IR light

• on and off as the wheel rotates

IR receiver output
A metal disk

Motor rotates holes

wheel
Motor
gear box
IR
IR
transmitter
receiver
 Our robot car
•
 IR photo interrupter circuit
• 5V

indicator

output
GND
 Registers for motor control
• L=left, R=right
0 1 2 3 4 5 6 7
• M=motor,

RME
RMD
LME
LMD
R0
• E=enable,
• D=direction
R1 RCT(0,1,2,3) LCT(0,1,2,3)
• RCT, right counter
• LCT, left counter

VRM
VLM
R2
• VRM, valid right turns
• VLM, valid left turns
Precise speed control by feedback
• Set RCT(0,1,2,3) ,LCT(0,1,2,3) to specify the number of
turns of the wheels.
• Set RME, LME to start move motors; directions depend on
RMD, LMD
• VRM,VLM will be reset to 0.
• The photo interrupters signals from the left/eight wheels
will increment the internal wheel counters.
• When the wheels make the correct number of turns
specified by RCT(0,1,2,3) and LCT(0,1,2,3), VRM, VLM
will be set to 1 respectively.
 Optical isolation
• The motor system draws large current, it make
induce power surge at the power supply.
• To separate electrically the motor system and the
digital system, we use optical isolators.

100Ω
Digital To power control system
input light
Positional control: Servo motors:
e.g. Futaba FP-S148 RC
Pulse width modulation control pulses
for R/C servo motors

• Regular pulse train applied to maintain the position.

∀ ∆ T ≈ 1.5ms, at neutral position ø=0,

ø
∀ ∆ T = 1.5ms -> 2 ms, ø ≈ 0o -> 75o
∀ ∆ T = 0.5ms -> 1.5 ms, ø ≈ 0o -> - 75o
Top view
∆ T

Fixed Period=16ms, freq.≈ 60Hz

 The brain
• 8031 system and the Basic Language
– 8031, memory and io interfaces
– LCD display
– counter and serial link
– Infrared red light serial link
• Other micro-controller and application languages
• Lego Mindstorms http://www.legomindstorms.com/
 Intelligence and open
questions
• Seeing
• Thinking
• path finding
• Environment representations
• Automatic recharge of battery
 Power supply

• Use of established power supply system

• E.g. 7805 for supper isolation to reduce interference
1 2 Fixed at 5V,
7805
7V or above
3 200uF current limit 500mA

• Variable power supply design and usage, e.g. step down 5V --> 3V.

TIP3055
Input power R1
Output=V1[R2/(R1+R2)]
V1 R2
 Use of 7805 power stabilizer and power
isolation
• 7.2V or 8031
7805
above
Power 7805 Xilinx
supply
Optical Low power
Electrically Isolated
isolators
High power
3 Volts Current Left/Right
battery driver motors
circuit
 conclusion
• We will build a mobile robot and learn interfacing
techniques along the way
• We will build intelligence software for the robot to
learn more about machine intelligence
 Happy Hollow
Elementary School
HHES Team
Spring 2000
 Accomplishments
• 5 Deliverables this semester

Lightening Detector
Complete Web Page
Optical Sensor
Digital Editing CD-ROM/Demo
Water Garden
Weather Station
Accomplishments and Plans
 Lightning Sensor

• Features
- Detects common cloud-to-ground and in cloud
lightning
- Simple circuit offered design opportunities

•Specifications
- Full bandwidth from 500Hz to 1MHz (wideband)
- Highest efficiency from 5KHz to 500KHz
- 80 mile detection range
- 0.14 RF V/M sensitivity
 Lightning Sensor
Operation:
• Stripline antenna detects EM radiation
• Induced current excites base of transistor
• Current from 9V battery is allowed to flow through IR emitter
• IR detector (diode) passes lightning detection to serial port

Ω
100µ F
Ω

Ω
 Lightning Sensor

• Interfaced to a PC by a serial port by:

- an Infra Red emitter/detector.
- a high level programming language such as C
- Data collection in a file.
 Lightning Sensor

Serial Communications Interface:

• why Serial Interface?
- longer cables can be used (50 V voltage swing!)
Logic “1” = -3 to -25 V.
Logic “0” = +3 to +25 V.
- less number of wires.
- Infra Red (IR) interface capability.
 Lightning Sensor
• Serial Communications Interface:
Software Design:
- proposed an efficient interface algorithm in C
language for “carrier=lightning” detection.
- tested for desired port signals.
 Optical Sensor Goals
 Educate children about the components of
visible light
 Detect relative levels of red, blue, and green
light
 Develop a future UV sensor from this
design for invisible light
 Optical Sensor Description
 A plastic box coated with silver chrome
spraypaint
 Each detector opening covered with a
bandpass color filter
 Level of color indicated by LED array (0
least – 10 most)
Visible Spectrum
Emission Spectrum of Sunlight
 Technology
 Circuit Diagram for each sensor
Actual Circuits on Inside
Rain Forest Room
Accomplishments and Plans
 WATER GARDEN
• Project Goal:
This project is a continuation from last semester in
which the goal is to create a sound-pleasing
environment for the Rainforest Room by
constructing a running waterfall
 Project Approach
• Meet with project partner
– Discuss goals, guidelines, funding, deadlines, etc…
• Visit HHES rainforest room
• Brainstorm ideas
– Pond shape and size, waterfall height, fountain
possibilities
 Project Approach, Cont.
• Initial sketches drawn in design notebooks

• Complete, detailed drawing, including bill of

materials, presented to project partner for approval
Rendered Drawing
 Water Garden Construction
• Building began with frame construction using
aluminum studs
• Fountain was enclosed with plywood as a medium
to attach cedar shakes
• Top was water-sealed, plastic pond was inserted,
and top fountain was placed
 Construction, cont…
• Rocks, Live Plants, and Decorations Were Added
for a Realistic Touch to the Rainforest theme

• Construction is Complete!!!
 Project Finalization
• Water Garden Dedication at HHES with Parents,
Students, and Faculty
• Introduction of Aquatic Life
• Final Meeting with Project Partner to give
instructions for the future
Watergarden
 TV Station
Accomplishments and Plans
 TV Accomplishments
• Create compilation of Digital Video Editing
information
• Research different DVE hardware and software
packages
• Demonstrate possible use of target package
 DVE Information
• Basics of Digital Video: Key terms and technologies:
– Codec
– Bandwidth
– Compression
– Keyframe, etc.
• Why are these important?
• What systems engineering implications do they hold?
 TV Accomplishments
• Create compilation of Digital Video Editing
information
• Research different DVE hardware and software
packages
• Demonstrate possible use of target package
 DVE Packages
• Presented alternatives based on price, ease of use,
and system compatibility.
• Components:
• CPU Recommendations
• Minimum RAM
• Hard Drive Storage considerations
• Digitizing Card
• Distribution and Archiving
 DVE Packages
• Sample Hardware:
• RealMagic Digital Video Recorder (MPEG 2), $999
» Allows native MPEG 2 compression and editing
» High quality, but high price*
• Pinnacle Studio DC10 Plus, $178
» Lower price, but lower quality
» System requirements eased
• Pinnacle miroVideo DC30 Pro, $589
» Middle-of-the road performance
» Good Price-to-Quality ratio
• Units differ primarily in compression and bandwidth.

*
Low-end professional suites cost approx. $15,000
Distribution and Archiving
• Tape
• Still most universal way of watching a video tape.
• Most cards allow output from computer to tape.

• CD-ROM (650 MB)

• Store as data files
• Store as MPEG 1 Video CDs (VCD)

• DVD (5.2 GB)

• DVD-RAM
• DVD-R
 DVE Software
• Adobe Premiere
• “The Standard”
• Strong collection of very powerful tools
• Avid Cinema
• Basic tools
• Lack of flexibility and user power
 Recommended System
• Pinnacle miroVideo DC30 Pro
• Adobe Premiere
• CD-ROM / Video Tape
 TV Accomplishments
• Create compilation of Digital Video Editing
information
• Research different DVE hardware and software
packages
• Demonstrate possible use of target package
 Demonstration of
Technologies

• Produced, in collaboration with Rainforest Room

Team to document the construction of the water
garden
• Captured and edited using recommended platform
(in EPICS Software Lab)
• Allowed demonstration of package’s capabilities
 Other Sensors
• Other sensors we have:
– Momentary contact sensors - Bump sensors
• Other possibly useful sensors:
– Mercury switches - Tilt of see-saw robot
– IR Beam - Detect presence of target
– Whiskers, bumpers …
 Sources
Stuart Dodds
copyright 2002: Sean Pieper, Bob Grabowski, Howie Choset
Smith, University of Sterling

Edwin Olson
• Msepanta GMU
 Team Members

• Professor Nyenhuis • RainForest Room

• TA: Saba Anvery – William Gockley
– Rachel Lehman
– Corey Manley
• Web Page Team
– Shane Ryckeart
– Andrew Offenbacher
• TV station
– Tim Halligan
– Bryan Choong
– Imad Hussain
– Rusty Papsdorf
– Amir Hossein Sayah-
Sina – Pranesh Thirukkonda
– Wei Bin Teah – Ming Hin Yap
 CEG3430
CSC3430
Robot 1
Advanced Microprocessor systems
and applications
kh wong
khwong@cse.cuhk.edu.hk
www.cse.cuhk.edu.hk/~khwong/ceg3430/
 sprainis

Ceg/Csc 3430
Microprocessor systems
and applications
Purdue Engineering Student Council

Robot 1
Using mobile robots as examples to
Introduction
demonstrate hardware interface
techniques
 Cousins
• Rug warrior (most popular) at
http://www.tiac.net/users/akpeters/Rug-warrior.html
• MIT Autonomous Robot with a set of course notes
(very detailed) http://web.mit.edu/6.270/www/notes.html
• Lego mindstorms (very new) at
http://www.legomindstorms.com/
• http://www.RobotStore.com/lego_mindstorms_rcx_notes.html
 References
• The 80x86 IBM PC and Compatible computers (Volume II),
Mazidi, Prentice Hall
• One of the 80x86 books by Brey, Prentice Hall
• Other reference
– Get a book on 8051 (Chinese or English) such as
– 8051 Microcontroller, The: Hardware, Software, and Interfacing
by James W. Stewart, Kai X. Miao,Prentice Hall; ISBN:
013531948X
– C and the 8051 : Hardware, Modular Programming, and
Multitasking by Thomas W. Schultz, Prentice Hall; ISBN:
0137548397