Course

Module 1: Actuators (electrical) – DC motors, BLDC servo motors; PMAC Motors, Induction Motors, Motor characteristics, Basics of power electronic converters, PWM operation, Motor Control structure; Selection of Motors and Controllers ? operating regions, operating duty.Module 2: Sensors and controls: Sensors for measuring position, speed, force, torque etc. review of sensors and transducers, signal conditioning- operational amplifier, filtering, pulse modulation, analog and digital signals, actuation systems- mechanical, pneumatic, hydraulic, and electrical actuation.Module 3: Microprocessor building blocks, combinational and sequential logic elements, memory, timing, and instruction execution fundamentals with an example of primitive microprocessor, Introduction to Embedded Processors. ARM Architecture ? Programmer?s Model, Pipelined data path design. Memory system design- Cache Memory, Memory Management unit, Virtual Memory. Overview of 8-bit and 16-bit microcontrollers. Introduction to ARM-based Microcontrollers ? Architecture, Peripherals – Input/output ports, Timers, ADC, DAC, PWM, Quadrature Encoder, Advanced communication interfaces.

Suggested Lab Sessions:

·         Familiarization with IDE, simulator, development boards, and kits,

·         Embedded C Program to configure and use Input/output ports & Timers, ADC and DAC, PWM, UART, SPI, I2C, components.

·         Speed control of DC Motor (Setup / DIY kit)

·         Experimentation with different types of motors and actuators

·         Simulation of Sensors/Microcontrollers in TinkerCAD / Equivalent

·         Design and Testing of Circuits using the components covered in the course on physical hardware kits.

·         Development of a robotic system as a cumulative outcome of the course.

Course Outcomes:

CO1: Understand the basics of the embedded system design approach and the components involved.

CO2: Develop mathematical models for sensors, actuators, and understand their input/output characteristics.

CO3: Describe the detailed architecture, internal modules, and addressing modes of ARM-based processors and interfacing with sensors & actuators.

CO4: Develop assembly and high-level language programs for various robotics applications.

Textbooks / References:

1.      Saurabh Chandrakar Nilesh Bhaskarrao Bahadure, “Microcontrollers and Embedded System Design”, First Edition, Dreamtech Press, 2019.

2.      Thomas Bräunl, “Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems”, Third Edition, Springer-Verlag Berlin Heidelberg, 2008.

3.      William Hohl and Christopher Hinds, “ARM Assembly Language: Fundamentals and Techniques”, Second Edition, CRC Press, 2016.

4.      Rob Toulson and Tim Wilmshurst, “Fast and Effective Embedded Systems Design: Applying the ARM mbed”, Newnes, 2012.

5.      Steve Furber, “ARM System-on-Chip Architecture”, Pearson India, 2015.