UNIVERSITY OF MASSACHUSETTS Computer Science Department
CMPSCI 503(591C)	Embedded Systems	Fall 2001
	Rod Grupen

Fall 2001 Schedule

Each team will maintain a web site documenting their design decisions, the assignment of duties, and the status of the implementation. These sites will be used to grade the contribution of every team member every weekend starting the weekend of September 29 . Every team will review and approve the reports submitted on this website as to accuracy and content by Friday of each week.

All 20 people in the class will participate in the system design which includes concept, schematic, and parts lists. Much of the componentry will be available in the lab, however, the class is responsible for designating any additional parts and materials required, identifying vendors to supply said parts, and initiating any additional purchases deemed feasible by the class instructor. We will have a very small budget available for these purchases. It is anticipated (but not required) that every team will construct identical robots.

The class period will be where the design process plays out and the lab will be where each team accomplishes their specific role in the implementation. This class is as much about collaboration and teamwork as it is about lecture and lab. There will be a mixture of mechanical and electrical engineers and computer scientists so structure your teams to be capable in each of these areas.

The lecture material will be delivered so as to complement the design process and is therefore organized into the modules listed below. There is a nominal order to the presentation, but the class may choose to request that the order of presentation be altered to complement the design process .

• Introduction
  • course overview
• Compute Hardware
  • Overview of the Handy Board (MR Chapter 3)
  • Handy Board Technical Reference (postscript)
• Circuits
  • Basic Concepts in Electricity
    time, current, voltage, energy, power, Kirchoff's laws, resistors, voltage dividers
    (MR Chapter 1 and 2)(H&H Chapter 1, 1.01-1.12)
  • Capacitors and RC circuits (H&H Chapter 1, 1.12-1.24)
  • More RC circuits and Inductors differentiators, integrators, transformers, switches, relays
  • Batteries, Regulators, Optical Isolation (MR Chapter 8)
  • Transistors (MR 195-210)(H&H Chapter 2)
  • Operational Amplifiers
  • Interfacing Digital and Analog Circuits (MR 191-224) (H&H Chapter 9)
• Actuators
  • actuators, DC motors, electrodynamics (MR Chapter 7, p. 161-195) ( CASS 6.6)
  • gearboxes, motor drivers, inductive loads
• Transducers
  • interface/drivers, light, force, sound (MR p. 93-117)
  • position, proprioception, vision (MR p.117-136)
  • Signal Processing - sampling, aliasing, filtering ( CASS 7.4)
• Control
  • Linear Systems and the Laplace Transform ( CASS 6.3)
  • Stability Lyapunov's Direct method, root locus ( CASS Chapter 5)
  • Control Theory - closed-loop transfer function, digital controllers ( CASS 6.1, 6.5)
• Real-Time Systems
  • Introduction to Real-Time Systems
  • Real-Time Programming
  • Scheduling priorities, inheritance, inversion, schedulability, rate monotonic and other scheduling algorithms
  • Issues in Real-Time Control
    
  • Programming Sensor-Based Systems - Sequential Control Decisions
    

Important Dates - Fall 2001

9/13	no class
10/8	Columbus Day Holiday
10/29	MID-SEMESTER
11/12	Veterans Day Holiday
11/22	Thanksgiving break
12/14	Last Day of Classes