2015

Chapter-13 L04: "Embedded Systems - Architecture, Programming and Design",

Raj Kamal, Publs.: McGraw-Hill Education

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Design Examples and Case Studies of

Program Modeling and Programming with

RTOS:

Lesson-4

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An artist perception of Robot Orchestra

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Qrio

 An invention of Sony

 Qrio─ Quest for cuRIOsity

 Smoother and faster humanoid robot

than ever before

 7.3 kg, 58 cm and 1 hour battery

 A bipedal robot which could wave

hello and recognize voice

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Qrio

 Could converse, sing, walk uphill,

 Showed emotions by flashing lights

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Qrio

 Three CCD cameras in all,

 One in each eye and one at center.

 Two CCD cameras in eyes recognized

and determined location of objects in

view

 Four Qrios performed a complicated

dance routine in 2003

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Qrios of fourth generation

 In 2006, ten Qrios gave a dance number.

 Conducted entire orchestra.

 Played a unique rendition of Beethoven's

5th symphony (1808)

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Qrio

 Each Qrio had 38 fluid motion flexible

joints controlled by separate motors for

controlled motion, recognized speech

 Memory 64 MB with each

microcontroller

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2. Communication Model for Robot Orchestra

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 Musical note, pitch-bend, control

change, program change and after-

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MIDI Format specifications

 Maximum 16 channels in a system

 MIDI specifies system messages,

manufacturer's system exclusive

exclusive messages (between 0xF0 to

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 A MIDI start from conductor is 0xFA

command

 Always begins playback at very

Beat 0)]

 So when a slave player receives MIDI

Start (0xFA), it automatically resets its

song position = 0

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 Transport of a MIDI file─ Bluetooth,

high Speed Serial, USB or FireWire.

 For robot orchestra, communication

Bluetooth or WLAN 802.11

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Inputs and Outputs to a software module

 k sensor inputs to a module

 q outputs generate to actuators in a

sequence

 p outputs to message boxes (also called

mailboxes in certain OSes or

notifications in certain OSes) in a

sequence

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Orchestrator software module

sensors and generates the messages

and outputs for the actuators, display

and message boxes at the specified

instances and time intervals.

 Message boxes store the notifications,

which initiate the tasks as per the

notifications

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 task_Piconet_Master posts the MIDI

messages to a task_ MIDI_Slave.

 task_ MIDI_Slave posts the messages

the motor movements of the slave

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 Power Dissipation: As required by

mechanical units, music units and

 Performance: Human equivalent of

Orchestra in music

including mechanical actuators

 Manufacturing Cost: US$ 50000

(assumed)

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Test and validation conditions

 All MIDI commands must enable all

orchestral functions correctly

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5. Classes and class diagram for posting

MIDI file data over the Bluetooth

piconet to receiving slaves

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Objects

 task_MIDI,

 task_Piconet_Master,

 task_Piconet_SlaveP1,

 task_ Piconet _SlaveP2,

 task_ Piconet _SlaveP3 ,

 task_MIDI_SlaveP1,

 task_ MIDI_SlaveP2,

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 task_Orchestrator_SlaveP1,

 task_Orchestrator_SlaveP2,

 task_ Orchestrator_SlaveP3

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accepting the messages

 MsgQMidi,

 MsgQBluetooth,

 MsgQMidiP1,

 MsgQBluetoothP2,

 SigPort4.

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 Processors

 ASIPs

 Memory

 Devices

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 Mechanical and electromechanical

units

 Interfacing and mapping of these

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Microcontroller

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9. Software architecture

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Software architecture

 OS

 ISRs for initiating action on user inputs

and GUI notification, for example for

 Orchestrator tasks for master and

staves.

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Queue methods (functions) for system call

to the OS

 OSMsgQAccept, OSMsgQPost,

OSMsgPend

 Synchronize the tasks and there

task_MIDI waits for message for

 ISR_Orchestra_Choice codes signals

and messages to Task_MIDI,

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Queue methods (functions) for system call

to the OS

 task_MIDI waits for NumMsg MIDI

messages from MIDI file for chosen

task_Piconet_Master.

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task_Piconet_Master

 Discovers the slaves and sets up

piconet Bluetooth device network on

first initiation.

 On accepting MsgQMidi messages, it

sends protocol stack outputs through

the port.

 A task_Piconet_SlaveP1 sets up

network with master as the server.

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task_Piconet_Slave

 Receives Bluetooth stack for the

NumMsg messages of MIDI file and

sets up network with master as server.

 The MIDI messages are sorted for the

messages to be directed to track P1 or

P2 or P3 or P4.

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task_Piconet_Slave…

 trackP1 messages post to

task_MIDI_SlaveP1 from

task_Piconet_SlaveP1.

 Then task_MIDI_SlaveP1 posts the

messages to actuators and Orchestrator

task_OrchetratorP1.

 Step similar repeat for other slaves P2,

P3 and P4 tracks in robot orchestra.