01 Introduction and Basic Electronics PDF

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ELEC 1100: Introduction to Electro-Robot Design...

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COURSE DESCRIPTION  ELEC1100 is designed to provide the fundamental knowledge on the basic electrical engineering, components design and skills needed for the design, implementation and evaluation of a robot and its subsystems.

ELEC 1100: Introduction to Electro-Robot Design Lecture 1: Course Introduction and Basic Electronics

 It will cover the basic electronic engineering principle and techniques.  Hands-on laboratory sessions, complemented with lectures and tutorials, are provided to allow students to have a systematic view of the electronic engineering principles.  Students will apply the knowledge and principles learnt to design and build a functional robot by themselves.

Z. Fan, A. Bermak, K. O. Sin, Dept. of ECE, HKUST

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INTENDED LEARNING OUTCOME

TEACHING METHODOLOGY

 Through hands-on labs and term project, complemented with lectures and tutorials, you will be able to:

 Problem with conventional teaching:

 Analyze and design simple analog circuits, combinatorial and sequential logic circuits, and design and implement simple feedback control strategies.  Build and debug real engineering system following a hierarchical design principle.

 Current education system was developed in the industrial revolution and does not evolve to the information era  Teaching knowledge, but not how to apply the knowledge  School never tells students that the taught knowledge may become obsolete upon graduation

 Work in a team environment: learn and practice effective project and time management

 Question to think about:  One month after taking a class, how much material can you still recall?

 Execute a complete project from problem formulation, design/implementation, up to verification and documentation.

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REVERSE ENGINEERING APPROACH  Conventional approach:  Mathematics  Physics  Engineering

 Reverse engineering approach:

WHAT IS THIS CLASS ABOUT?

Tell me and I forget. Teach me and I remember. Involve me and I learn.

 It is NOT a LEGO robot programming class  We start from the most basic and construct a robot from the primary components

 Engineering  Physics  Mathematics  Many things can be learned, but not taught  Learning requires an objective, which is usually from needs and experience

 You will learn the following  managing power supply  driving motors  reading sensor output  logic control and decision making

 You will construct an autonomous “robot” to finish a task 5

CLASS SCHEDULE

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TEXT AND REFERENCE BOOKS Course website: http://lmes2.ust.hk/ Lift advisor: http://pathadvisor.ust.hk/

 Lectures:  L1: Mon/Wed

09:00-10:00 at LTK by Prof. Amine Bermak

 Major Text: No major text, mainly use hand-outs provided by the instructors

 L2: Tue/Thu

12:00-13:00 at Room 2465 by Prof. Johnny Sin

 Major Reference:

 L3: Tue/Thu

12:00-13:00 at Room 4334 by Prof. Zhiyong Fan

 L. Richard Carley and Pradeep Khosla, “Introduction to Electrical and Computer Engineering- taught in Context”, The McGraw-Hill Companies, Inc.

 Labs [Room 2133 and 2134]:  LA1: Fri 09:00-12:00

LA2: Wed 15:00-18:00

LA3: Mon 15:00-18:00

 Tutorials:  T1: Fri

 D. V. Kerns and J.D. Irwin, “Essentials of Electrical and Computer Engineering”, Pearson, 2004

18:00-18:50 at Room 2464 by Allie Luo

 T2: Thu

09:30-10:30 at Room 2407 by Alvin Lo

 T3: Tue

11:00-12:00 at Room 2502 by Alvin Lo

 G. Rizzoni “Principles and Applications of Electrical Engineering,” 5th edition, McGraw Hill, 2007

 M. M. Mano, C.R. Kime, “Logic and Computer Design fundamentals”, 3rd edition, Prentice-hall, 2004 7

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COURSE GRADING

TENTATIVE COURSE SCHEDULE

 Exams: 1 written (20%) and lab (15%) mid-term; no final exam

Check the Full Schedule in LMES Week

Start

Lecture 1 (Mon/Tue)

 Quiz: a few pop-up in-class quizzes (open book) (8% total)

1 2

08-Sep ^Holiday: Mid-Autumn

 Labs: 7 lab assignments (22% total, 3% for Labs 1-6, 4% for Lab 7; minimum 6 weeks’ attendance to get a ticket for final project demo

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15-Sep AC sources

 Go to the lab on time (Bonus mark will be given for finishing the lab within 2 hours)

 Final project: 35% total with 30% demo, 5% project report

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TEACHING TEAM (I)

Lab No Lab

01-Sep Course Introduction

No Lab

Lecture 2 (Wed/Thu) Basic components, V&I

Tutorial Tut 1: Lab 1

Energy, Power

*Tut 2: Lab 2

Lab 1: Equipment

^DC Regulation

*Tut 3: Lab 3

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22-Sep Pulses

Lab 2: Regulator

Motor Basics

*Tut 4: Lab 4

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29-Sep PWM Control

#Lab

Holiday: National Day

*Holiday

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06-Oct Transistor and Diode

Lab 4: PWM control

Transistor and H-bridge

Tut 5: Lab 5

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13-Oct KVL, KCL (1)

Lab 5: Transistor

KVL, KCL (2)

Tut 6: Lab 6

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20-Oct Sensor Basics

Lab 6: Sensor

Midterm Review

Tut 7: Review

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27-Oct Robot's brain: logic

Lab Midterm

Boolean algebra , Comb logic Tut 8: Lab 7

3: Pulse generation

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03-Nov Arithmetic Unit (1)

Lab 7: Logic

Arithmetic Unit (2)

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10-Nov Sequential Logic (1)

Project Period

Sequential logic (2)

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17-Nov Finite State Machine (1) Project Period

Finite State Machine (2)

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24-Nov Robot control

Amplifier, Review

Project Period

*Since 9 Sep is holiday, Tuts 2-4 for T2 (Tue) will be held on 16, 23, 30 Sep respectively. #Since 1 Oct is holiday, make-up lab for LA2 (Wed) on 4 Oct (Sat). ^Class on 8 Sep, no class on 17 Sep.

Tut 9: Project

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TEACHING TEAM (II)

 Instructors

 Instructors

 Prof. Amine Bermak  Office: Room 2537

 Prof. Zhiyong Fan  Office: Room 2446

 Tel: 2358-8592  E-mail: [email protected]

 Tel: 2358-8027  E-mail: [email protected]

 Office hour: By appointment

 Office hour: By appointment

 Instructors  Prof. Johnny K. O. Sin  Office: Room 2428  Tel: 2358-7052  E-mail: [email protected]  Office hour: By appointment 11

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TEACHING TEAM (III)

TEACHING TEAM (IV)  Technical Officer:

 Instructional Assistant (Administrative matters, T2&3)

 Technical Officer:

 Allen NG

 Joseph CHENG  Office: Room 3130

 Office: Room 3113  Tel: 2358-8842

 Ming Yam LO (Alvin)  Office: Room 2466  Tel: 2358-7037

 Tel: 2358-7086  E-mail: [email protected]

 E-mail: [email protected]

 E-mail: [email protected]

 Teaching Assistants:

 Instructional Assistant (Administrative matters, T1)  Allie LUO  Office: Room 2396  Tel: 3469-2281  E-mail:

 LI Xianbo (xlibc)

GAO Yuan (ygaoah)

 TIAN Yang (ytianah)

LIN Ka Sing (kslin)

LEE Ho Man (hmleeaa) TAVAKOLI M. (mmtavakoli)

 WONG Ho Yin (hywongah)

MENG Xiaodong (xmeng)

TSUI Kwong Hoi (eekhtsui)

 ZHU Ying (yzhuar)

YIP Pak San (psyip)

XIONG Lei (lxiong)

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CLASS EXPECTATION

CHEATING POLICY

 Attend lectures/labs/tutorials on time

 Cheating is guilty when you are being caught

 Be active during lectures: ask questions  Bring a copy of the lecture notes

 Following the honor code

 Form teams for the labs and the final project (2 students per group)  Allow switching partners until start of Lab 3  Enjoy the experience and have a good time!

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WHAT IS A ROBOT?

ORIGIN OF ROBOTS  The word “robot” was first introduced in Czech playwriter Karel Capek’s play R.U.R. (Rossum’s Universal Robots) in 1921.  The word “robotic” was first used in Runaround, a short story published by Issac Asimov in 1942.  These were way before modern ECE technologies, such as computer, IC, transistors, and AI, became welldeveloped and impacted on our daily life. Robots in the Movies 17

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FEATURES OF A ROBOT

THE THREE LAWS OF ROBOTIC (1950)

 It is artificially created and programmable

 Defined by Isaac Asimov in 1950

 Q: are animals robots?

 It can sense its environment, and manipulate or interact with things in it  Q: is a motorcycle a robot?

 It has some abilities to make choice based on the environment, often using automatic control or preprogrammed sequence

 A robot may not injure a human being or, through inaction, allow a human being to come to harm.  A robot must obey any orders given to it by human beings, except where such orders would conflict with the First Law.  A robot must protect its own existence

 It moves without direct human interaction

as long as such protection does not conflict with the First or Second Laws.

 Q: is a helicopter a robot?

 Can you list some other features? 19

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MORE RECENT DEFINITIONS OF ROBOTS

FIRST REAL ROBOT

 According to the Robot Institute of America (1979), a robot is: “A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks”  A more inspiring definition can be found in Webster: “An automatic device that performs functions normally ascribed to humans or a machine in the form of a human”

 Inspired by Issac Asimov’s, Joseph F. Engelberger (also known as the father of robotics) started working on real robot in 1956 with G. C. Deveol.  In 1961, first commercial robot “Unimate” was deployed in GM car manufacturing plant to work with heated die-casting machines.  From then onwards, more robotics were being designed and developed with the help of micro-electronics.

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ANALOGUE OF ROBOT WITH HUMAN BODY Human

Robot

Sensing

eyes, ears, nose, tongue, skin

light sensor, microphone, temperature sensor, chemical sensor, motion detector

Structure

head, body, arm leg …

motion parts, joints

Motion

muscles, bones

motors, actuators, relays

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TYPE OF ROBOTS

Fuel

food, oxygen

battery, natural gases, solar cells

Control

brain

logic unit, micro-controller

Internal communication

nerve

wires, optical links

External communication

speech, actions

signal lines, sensor signals, wireless

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MANIPULATORS

MOBILE ROBOTS

 Sensing

 Sensing

 Vision, Force/ Torque

 Vision, Sonar, GPS, Gyro Compass

 Controller

 Controller

 Signal Processing, Trajectory, Logic, Control Algorithm

 Signal processing, map in memory, planned motion command, control algorithm

 Power  AC Power for servo motor

 Power

 DC Power for analog & digital circuits and sensors

 DC Power for analog & digital circuits

 Mechanical motion  Joints/ links, open & closed chain Arc welding

Assembly

Clean room

Coating/ dispensing

 Solar and portable energy source

 Mechanical motion Material cutting

Material removal

Material handling

Surgery

 Wheels/ axles, structures 26

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MOBILE MANIPULATORS

HUMANOID

 Sensing

 Sensing

 Vision, Sonar, GPS, Gyro Compass

 Vision, Sonar, Gyro, microphone, pressure, temperature, chemical etc.

 Controller

 Controller

 Signal processing, map in memory, planned motion command, control algorithm

 Signal processing, control algorithm, motion pattern generation

 Power

 Power

 DC Power for analog & digital circuits

 DC Power for analog & digital circuits  Solar and portable energy source

 Solar and portable energy source

 Mechanical motion

 Mechanical motion

 Motors and structure  Head, arm, body, legs

 Wheels/ axles, structures, manipulator 27

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SUMMARY

HIERARCHICAL DESIGN

 Robots can be classified into 4 main types:    

 Complex systems (e.g. robot) are usually composed of numerous subsystems

Manipulators Mobile manipulators Mobile robot Humanoid

 To make the design more manageable, we usually use a “divide-and-conquer” approach for designing complex system

 Robot has some basic components:    

Power subsystem Sensors Controller Mechanical motion system

 The divide-and-conquer approach is also used in the sub-system design  We call this hierarchical decomposition of designs 29

MARS ROVER Control Team

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JOB OF SUBTEAM Communication Team

Signal Processing

Obstacle avoidance

Speed control Mechanical Team

Rocket Team

Control Team

Landing control

…

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THE NAVIDROID VEHICLE

FURTHER DECOMPOSITION OF ELECTRONIC SUBSYSTEMS

Inputs

Inputs

Actions Robot System

Electronic sub-system

Control processor

Inputs

Electronic sub-system

Motor drive

To mechanical sub-system

Actions

Mechanical sub-system

Inputs

………….. Other sub-sub-systems

Actions

Other sub-sub-systems

Sensor/ Other Input Logic Power Supply

Memory

Control Logic

Motor Power Supply Power Amplifier

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To mechanical sub-system

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ELEC1100 ROADMAP

THIS WEEK’S ARRANGEMENT Inputs

Actions

 Labs on Week 3

Robot System

 Tutorials start this week (Lab 1 briefing) Inputs

Inputs

Electronic sub-system Analog + Digital

Actions

Mechanical Sub-system

Wk4: Motor Basic

Sensor Sub-system

Sensor Basics: Wk8: Sensor Basic: Sensor/Line/ADC

Control Logic Combinational/Sequential Logic: Wk9: Robot Brain: Logic Gate/Logic Operation/Combinational Logic Wk10-11: Combinational Logic and Sequential Logic Wk12: Sequential Logic & FSM Wk13: Sequential Logic & Robot Control

Power Sub-system Basic electronics:

 Prelab  Read the lab manual before the lab  Do the prelab and check your answers at the end; this will help you finish the lab early and gain the bonus

Wk1-2: Basic Electronics: Charge/Current/Voltage/Resistor/Energy/Power Wk3-4: AC, DC Sources and Pulse Signal

Motor Power Supply: Wk4-5: Motor and PWM Control: Wk6: Transistor and H-Bridge Wk7: Circuit Laws: KCL/KVL

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