Using Robots To Teach Complex Real Time Embedded System Concepts

Real Time Embedded Systems, also known as Real Time Operating Systems (RTOS), are operating environments where multiple events compete for precious processor operating time. To ensure that all events complete their tasks, the processor must prioritize tasks depending on system requirements. Such real time operating system concepts and other related advanced embedded system topics are difficult to learn for many students mainly due to their technical complexities. One of the primary reasons contributing to the difficulty of the subject is that it’s hard for students to visualize the intricacies and inter-relationships between different processes of an operating system. In this paper, we present a low-cost, motivational (fun) robotics platform that can significantly enhance the laboratory instruction of advanced real time embedded systems concepts. The robot was co-developed by a team consisting of faculty members, graduate students, undergraduate students, and laboratory technicians for a senior/graduate level electrical and computer engineering course. In this course each twostudent laboratory team is issued a mobile robot for use throughout the course. The students must program basic tasks such as robot movement and maze wall-detection. The complexity of required programming tasks escalates as the semester progresses. Students are required to program the operating system for the robot that must simultaneously handle wall-detection, simulated land mine detection, and information exchange with other robots. These complex scenarios force the students to learn and employ complex real time embedded systems concepts in a motivational atmosphere. This paper will discuss robot hardware and software and their use in a real time embedded systems course. Furthermore, we will also discuss extension of the use of robots to teach other advanced embedded system concepts such as multiple interrupts, fundamentals of fuzzy logic, and structured design techniques.