Κατά τη διάρκεια των δύο τελευταίων δεκαετιών, στο χώρο της τεχνολογίας έχουν αναπτυχθεί δίαφορα ενσωματωμένα συστήματα λήψης σημάτων φυσιολογίας, ικανά να καταγράφουν σύνθετα σήματα για πάνω απο 48 ώρες. Η εξέλιξη αυτή βοήθησε ιδιαίτερα τον τομέα της βιοϊατρικής. Τέτοια ενσωματωμένα συστήματα χρησιμοποιούνται στις μελέτες ηλεκτροκαρδιογραφίας (ECG ή EKG) για τον εντοπισμό σποραδικών αρρυθμιών ή ανωμαλιών στη καρδιακή λειτουργία.Σήμερα τα καρδιακά σήματα καταγράφονται σε κάρτες μνήμης και μπορούν εύκολα να μεταφερθούν για ανάλυση και επεξεργασία. Η εξέλιξη της τεχνολογίας επιφέρει συνεχως αλλαγές και βελτιώσεις στις συσκευές καταγραφής ΗΚΓ, περιορίζοντας συνεχώς το μέγεθός τους και την κατανάλωσή τους σε ενέργεια. Στην εργασία αυτή θα παρουσιαστούν ενσωματωμένα συστήματα καταγραφής, αποθήκευσης και επεξεργασίας ηλεκτροκαρδιογραφικών σημάτων.Η εργασία αυτή χωρίζεται ουσιαστικά σε πέντε κομμάτια. Το πρώτο τμήμα ασχολείται με τη φυσιολογία της καρδιάς, με τη δομή ενός ηλεκτροκαρδιογράφου και τους τρόπους με τους οποίους μπορούμε να το λάβουμε από τα διάφορα σημεία του ανθρώπινου σώματος.Το επόμενο τμήμα αφορά τη χρήση και τις δυνατότητες των ενσωματωμένων συστημάτων και μικροελεγκτών δίνοντας μεγαλύτερη έμφαση στην παρουσίαση του μικροελεγκτή ADUC7026 και των περιφερειακών του. Επιπλέον συνοψίζονται κάποιες βασικές λειτουργίες προγραμματισμού και δυνατότητες που παρουσιάζει ο ADUC7026 της Analog Devices και παρουσιάζονται κάποιες βασικές εφαρμογές του.Το τρίτο τμήμα επικεντρώνεται στην ανάλυση κάποιων τεχνικών κατασκευής ψηφιακών συσκευών παρακολούθησης καρδιακού παλμού με τη χρήση πυκνωτικών ηλεκτροδίων. Η ανάλυση περιλαμβάνει, τα υλικά από τα οποία αποτελούνται, τα χαρακτηριστικά τους, την αποδοτικότητά τους στην αντιμετώπιση του θορύβου και μια γενικότερη αξιολόγησή τους.Το τέταρτο τμήμα ασχολείται με μια πιο προηγμένη τεχνική καταγραφής σήματος που πραγματοποιείται ασύρματα. Αναλύεται τόσο ο τρόπος κατασκεής ασύρματων συσκευών μέτρησης ΗΚΓ όσο και ο τρόπος χρήσης τους. Στη συνέχεια αυτού του κεφαλαίο δίνεται βάση στην ανάλυση του μικροελεγκτή MSP430FG439 της Olimex και στη χρήση του στη μέτρηση ΗΚΓ.Στο τελευταίο τμήμα δίνεται ο κώδικας προγραμματισμού του μικροελεγκτή MSP430 για την καταγραφή ηλεκτροκαρδιογραφήματος και μία σχετική επεξήγηση της λειτουργίας του. / During the last two decades there have been developed embedded systems, for the receive of physiology signals, that are able to record composite signals for more than 48 hours. This evolution plays a very important role in the field of biomedics. These embedded systems are used at research on electrocardiography (ECG) for the locating of sporadic cardiac arrhythmias, or abnormal heart function.Nowadays, cardiac signals are recorded on memory cards and can easily be transferred for analysis and processing. The technological evolution brings a lot of changes and improvements on the recording devices of ECG, reducing their size and the power they consume. At this thesis, embedded systems for recording, saving and processing ECG signals are presented. The thesis is divided into five sections. The first part deals with the physiology of the heart, the structure of the electrocardiograph and how we can receive it from different parts of the human body. The next section covers the use and potential of embedded systems and microcontrollers emphasizing on presentation of the microcontroller ADUC7026 and its peripherals. In addition, some basic programming functions are summarized and three basic applications of ADUC7026 of Analog Devices are presented. The third section focuses on analyzing methods of constructing digital devices for heartbeat monitoring with the use of capacitive electrodes. Constructive materials, features, efficiency in dealing with noise and a more general evaluation, are included in the analysis.The fourth section refers to a more advanced method of recording signals that has wireless function. The method of constructing wireless ECG recording devices and their usage are also analyzed here. In this section, microcontroller MSP430FG439 of Olimex is presented and there is a description about its use on ECG measurements.At the last section there is the programming code of MSP430 for ECG recording and a brief explanation of its function and purpose.

Η εξέλιξη των ενσωματωμένων συστημάτων οδήγησε στη δημιουργία μικροϋπολογιστικών συστημάτων χαμηλού κόστους τα οποία είναι ικανά να καταγράφουν, να αποθηκεύουν και να επεξεργάζονται σήματα Ακουστικής Εκπομπής. Η μέθοδος Ακουστικής Εκπομπής είναι μία από τις μεθόδους Μη Καταστροφικού Ελέγχου με την οποία μπορεί να ελεγχθεί η κατάσταση ενός αντικειµένου, ενός υλικού ή ενός συστήµατος χωρίς να βλάπτεται η κατασκευαστική του αρτιότητα και η µελλοντική του χρησιµότητα και χωρίς να πραγµατοποιείται διακοπή ή βλάβη της δυνατότητας παροχής υπηρεσιών τους. Όταν σε οποιοδήποτε υλικό δηµιουργούνται µηχανικές ταλαντώσεις, χωρίς εξωτερική διέγερση, λόγω αστοχίας του υλικού, το παραγόµενο κύµα τάσης διαδίδεται και είναι δυνατόν να ανιχνευτεί µέσω της χρήσης κατάλληλων αισθητήρων. Το κύµα στον αισθητήρα µετατρέπεται σε ηλεκτρικό σήµα, το οποίο ψηφιοποιείται και οδηγείται σε κατάλληλα διαµορφωµένο σύστηµα καταγραφής και ανάλυσης δεδοµένων. Η μαθηματική επεξεργασία του σήματος αυτόυ προκειμένου να μετρηθεί, να φιλτραριστεί, να ψηφιοποιηθεί και να μπορούν να παραχθούν συμπεράσματα για την κατάσταση του υλικού, τη φύση και τη θέση της ενδεχόμενης βλαβης λέγεται Ψηφιακή Επεξεργασία Σήματος. Οι αλγόριθμοι για την ψηφιακή επεξεργασία των σημάτων τρέχουν σε ενσωματωμένα συστήματα, όπως ο μικροελεγκτής ADuC 7020 με τον οποίο πραγματοποίθηκε η παρούσα διπλωματική εργασία. Ο κατάλληλος προγραμματισμός του μικροελεγκτή για τη συγκεκριμένη λειτουργία είναι το κύριο κομμάτι που μας απασχόλησε. Η εν λόγω εργασία χωρίζεται σε 4 κεφάλαια. Το πρώτο κεφάλαιο περιλαμβάνει μία γενική επισκόπηση των μεθόδων μη καταστροφικού ελέγχου και μία πιο αναλυτική περιγραφή της μεθόδου της Ακουστικής Εκπομής, του συστήματος καταγραφής τέτοιων δεδομένων και των σήµατα Ακουστικής Εκποµπής. Το δεύτερο κεφάλαιο αποσαφηνίζονται οι βασικές έννοιες των μικροεπεξεργαστών, των μικροϋπολογιστών, των μικροελεγκτών και των Ενσωματωμένων Συστήμάτων. Επίσης γίνεται μία βασική περιγραφή του υλικού πού χρησιμοποιήθηκε για την εκπόνηση της εργασίας: της οικογένειας μικροεπεξεργαστών ARΜ και του ARM7TDMI, της οικογένεια μικροελεγκτών ADuC702X και του ADuC7020 και της αναπτυξιακή συσκευή της Olimex για τον Aduc7020 της ADUC-MT7020. Επιπλέον, γίνεται και ανάλυση των στοιχειωδών χαρακτηριστικών του περιβάλλοντος μVision της Keil που μας επιτρέπει να προγραμματίσουμε το υλικό μας, αλλά και να κάνουμε προσομοιώσεις χωρίς το υλικό και τα προβλήματα του πραγματικού κόσμου. Το τρίτο κεφάλαιο αφορά την Ψηφιακή Επεξεργασία Σήματος και ότι αυτή περιλαμβάνει, δηλαδή την αναλογική σε ψηφιακή μετατροπή, την επεξεργασία με ψηφιακά φίλτρα, την επεξεργασία στο πεδίο της συχνότητας, τους αντίστοιχους αλγόριθμους και τον αλγόριθμο GOERTZEL ο οποίος εν προκειμένω χρησιμοποιήθηκε. Το τέταρτο κεφάλαιο πραγματεύεται την επεξεργασία σημάτων με τον ADuC7020, τον προγραμματισμό του καθώς και τον προγραμματισμό των περιφερειακών του. Δίνονται παραδείγματα εφαρμογών με αλγόριθμους κατάλληλους για την μέθοδο της ακουστικής εκπομπής μαζί με τα αντίστοιχα αποτελέσματα πειραματικών μετρήσεων σε υλικό και στον προσομοιωτή και τα αντίστοιχα συμπεράσματα. Τέλος δίνονται ολόκληρα τα προγράμματα των εφαρμογών στο παράρτημα. Σημειώνουμε εδώ πως ο προγραμματισμός του μικροελεγκτή και των περιφερειακών του έγινε σε γλώσσα προγραμματισμού C. / The evolution of embedded systems has led to the creation of low cost microcomputer systems which are able to record, store and process acoustic emission signals. The Acoustic Emission method is one of the non-destructive testing methods by which we can control the state of an object, material or system without damaging the constructional integrity and future usefulness and without interrupt or damage their ability to provide services. When in any material mechanical vibrations are generated without external stimulation, due to failure of the material, the output tension wave propagates and can be detected through the use of appropriate sensors. The wave of the sensor is converted into an electrical signal, which is digitized and driven in an appropriately configured system for recording and analyzing data. The mathematical processing of those signals to be measured, filtered, digitized and be able to give us conclusions about the state of the material, the nature and location of any damage called Digital Signal Processing. The algorithms for digital signal processing are running in embedded systems like the microcontroller ADuC 7020 which we used in this thesis. Proper programming of microcontroller for this function is the main piece that occupied us. This paper is divided into 4 chapters. The first chapter provides an overview of the methods of non-destructive testing and a more detailed description of the method of Acoustic Emission, the recording system such data and the Acoustic Emission signals. The second chapter clarifies the basic concepts of microprocessors, microcomputers, microcontrollers and embedded systems. Also is a basic description of the hardware we used for our work: family of microprocessor ARM and ARM7TDMI, family of microcontrollers ADuC702X and ADuC7020 and development device for Olimex Aduc7020, the ADUC-MT7020. Moreover, there is an analysis of the elementary characteristics of the Keil environment μVision wich allows us to programme our material, but also to do simulations without the hardware and the problems of the real world. The third chapter deals with the Digital Signal Processing and that this includes, that is the analog to digital conversion, processing with digital filters, processing in the frequency domain, the corresponding algorithms and algorithm GOERTZEL which in this case was used. The fourth chapter deals with the processing of signals in the ADuC7020, its programming and the programming of peripherals. Examples are given of applications with suitable algorithms for the method of acoustic emission accompanied by the corresponding results of experimental measurements in hardware and in the simulator and the corresponding conclusions. Finally the whole application programs are given in the annex. We note here that the programming of microcontroller and peripherals became in programming language C.

Made available in DSpace on 2014-06-11T19:22:35Z (GMT). No. of bitstreams: 0 Previous issue date: 2006-05-19Bitstream added on 2014-06-13T20:29:09Z : No. of bitstreams: 1 dezani_h_me_ilha.pdf: 383103 bytes, checksum: 4d2db649fe811e74784845f2d0b245b4 (MD5) / Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Neste trabalho descreve-se um programa de geração automática de código para o microcontrolador 8051 da Intel, a partir de uma rede de Petri, com o objetivo de minimizar o tempo gasto na codificação do programa e automatizar completamente este processo de transformação. Definiu-se o uso da rede de Petri Lugar/Transição como modelo de entrada pois, mesmo tendo um modelo mais compacto, a rede de Petri Colorida, quando transformada em código Assembly é consideravelmente maior que o código Assembly gerado para a rede de Petri Lugar/Transição. Conclui-se que o código gerado pelo programa corresponde, exatamente, ao modelo da rede e pode ser executado pela arquitetura-alvo sem a necessidade de alterações no código. / This dissertation describes a program for the automatic generation of microcontroller code. The program takes a Petri net as input and outputs the corresponding assembly code for the Intel's 8051. The goal of this work is to speed up the coding process as well as to completely automate such a transformation. We use place/transition nets because even colored Petri nets resulting in quite compact models the assembly codes produced from them are much larger than those produced from place/transition nets. Also the code generated by the program described here exactly matches the net model, and can be directly executed on the target architecture without the need for further tuning.

Orientador: Norian Marranghello / Banca: Rogéria Cristiane Gratão de Souza / Banca: Carlos Magnus Carlson Filho / Resumo: Neste trabalho descreve-se um programa de geração automática de código para o microcontrolador 8051 da Intel, a partir de uma rede de Petri, com o objetivo de minimizar o tempo gasto na codificação do programa e automatizar completamente este processo de transformação. Definiu-se o uso da rede de Petri Lugar/Transição como modelo de entrada pois, mesmo tendo um modelo mais compacto, a rede de Petri Colorida, quando transformada em código Assembly é consideravelmente maior que o código Assembly gerado para a rede de Petri Lugar/Transição. Conclui-se que o código gerado pelo programa corresponde, exatamente, ao modelo da rede e pode ser executado pela arquitetura-alvo sem a necessidade de alterações no código. / Abstract: This dissertation describes a program for the automatic generation of microcontroller code. The program takes a Petri net as input and outputs the corresponding assembly code for the Intel's 8051. The goal of this work is to speed up the coding process as well as to completely automate such a transformation. We use place/transition nets because even colored Petri nets resulting in quite compact models the assembly codes produced from them are much larger than those produced from place/transition nets. Also the code generated by the program described here exactly matches the net model, and can be directly executed on the target architecture without the need for further tuning. / Mestre

Orientador: Marconi Kolm Madrid / Dissertação (mestrado) - Unversidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação / Made available in DSpace on 2018-08-17T22:30:04Z (GMT). No. of bitstreams: 1 Miyadaira_AlbertoNoboru_M.pdf: 4061096 bytes, checksum: d94eea78c872e2328bd1dd9780329b0a (MD5) Previous issue date: 2011 / Resumo: O objetivo deste trabalho foi desenvolver, construir e controlar um robô bípede dotado de oito Graus de Liberdade (GDL), sendo três GDL para cada perna e dois para o tronco. As características desta estrutura permitiram realizar uma marcha dinâmica no plano sagital, cuja trajetória das pernas foi definida por um modelo matemático baseado na geometria da estrutura. Além disso, foi utilizado um acelerômetro para informar a inclinação da pelve durante a movimentação da estrutura através de uma interface serial de comunicação (RS-232) entre o microcontrolador e o programa de monitoramento desenvolvido em LabVIEW. Os resultados deste trabalho demonstram ser possível realizar uma marcha dinamicamente estável utilizando a estrutura proposta. Aplicando-se o conceito de ZMP (em português: Ponto de Momento Zero, em inglês: Zero Moment Point) como parâmetro de estabilidade, também constatou-se que o microcontrolador LPC2138 de arquitetura ARM7, com frequência de clock igual a 60MHz, foi eficaz no controle da posição angular dos oito servomotores, além de fornecer a inclinação da pelve quando solicitada / Abstract: The subject of this work was to develop, build and control a biped robot equipped with eight degrees of freedom (DOF), three DOF for each leg and two for the trunk. The features of this structure allowed to accomplish a dynamic walk in the sagittal plane, whose the legs trajectory was defined by a mathematical model based on the structure geometry. An accelerometer was used as tilt sensor, which allow you to check the tilt of the pelvis during structure movement through a serial interface (RS-232) between the microcontroller and the monitoring program developed in LabVIEW. The results of this work demonstrated that it is possible to achieve a dynamically stable gait using the proposed structure. Applying the concept of ZMP (Zero Moment Point) as criterion of stability, it was checked that the LPC2138 microcontroller, with ARM architecture running at 60MHz, was effective in controlling the angular position of the eight actuators and sending information about the pelvis tilt when requested / Mestrado / Automação / Mestre em Engenharia Elétrica

The complexity of mobile robots increases as more parts are added to the system. Introducing microcontrollers into a mobile robot abstracts and modularises the system architecture, creating a demand for seamless microcontroller integration. The Robot Operating System (ROS) used by ABB’s new mobile robot, the mobile YuMi prototype (mYuMi), allows standardised robot software libraries and packages to simplify robotic creations. As ABB is porting over from ROS1 to ROS2, the ROS2 compatible Microcontroller Robot Operating System (micro-ROS) will be incorporated into the system to smoothly integrate microcontrollers into mYuMi. In order to display the validity of micro-ROS, this project used tracing and latency measurements with external applications to test the remote communication between mYuMi using ROS2 and microcontrollers using micro-ROS, with three different microcontrollers tested. The communication was evaluated in different scenarios with a test bench, using ping pong communication to get the round-trip time. A reinforcement of the test results was presented by demonstrating the use of micro-ROS live in a prototype developed, where mYuMi controlled a 1D rangefinder and an RC servo motor by utilising two microcontrollers. The results concluded that the micro-ROS delay could be analysed in theory with external applications, equivalent micro-ROS functionality should apply to most microcontrollers, and the test results and prototype displayed the potential of micro-ROS matching ROS2 in terms of delay and stability.

Η εργασία αυτή ερευνά την σχεδίαση ενός σύγχρονου μικροϋπολογιστικού συστήματος βασισμένο σε επεξεργαστή ARM COrtex-M3. Στα πλαίσια αυτής της σχεδίασης έγινε μελέτη των συσκευών που είναι απαραίτητες για την λειτουργία ενός παλμογράφου, και σχεδιάστηκε λογισμικό προσέγγισης της λειτουργίας των βασικών περιφερειακών του. Επιπλέον, γίνεται μια ανάλυση ενός συστήματος απεικόνισης γραφικών, χωρίς την χρήση του μικροελεγκτή, και ποιοτικός σχεδιασμός του συστήματος αυτού. Τέλος, εξάγονται συμπεράσματα για πολυπλοκότητα του σχεδίου και σχολιάζονται οι συμβιβασμοί που είναι απαραίτητοι για την υλοποίηση ενός συστήματος πραγματικού χρόνου. / This thesis analyzes the design of a modern microprocessing system based on an ARM Cortex-M3 microcontroller. For the implemantation of the design thorough research on the necessary peripherals of an oscilloscope is presented and several applications simulating the behavior of its basic functions via its peripherals. Furthermore, a qualitative design is created on a potential graphical processing system, able to fulfill all of the tasks needed to depict on-screen, without burdening the central processor. Conclusions are drawn on the complexity of the design and the tradeoffs of designing a realtime system.

Neste trabalho descrevemos a arquitetura e um protocolo de transmissão de dados para instrumentação dedicada ao monitoramento de parâmetros climáticos em silos e secadores de grãos. A arquitetura usa processamento distribuído e instrumentação inteligente baseada no microcontrolador 80535. O protocolo é baseado no padrão de comunicação serial multiponto RS 485 e no protocolo ISO.OSI. Atualmente. aproximadamente 20% da produção brasileira de grãos é perdida durante os processos de transporte e armazenamento. O uso de tal sistema permite medições e modelamento de silos e secadores. / In this work we describes an architecture and a digital data transmission protocol for an instrumentation dedicated to the monitoring of climatic parameters of grain bins and dryers. The architecture uses distributed processing and intelligent instrumentation based on the 80535 microcontroller. The protocol is based on both the RS 485 multipoint serial communication standard and the ISO.OSI protocol. Presently, approximately 20% of the Brazilian production of grains is lost during the processes of transportation and storaging. The use of this system allows measurements and modelling for bins and dryers.

Este trabalho apresenta o desenvolvimento de dois equipamentos orientados a microprocessador para aquisição e armazenamento automatizado de variáveis físico-químicas da água. Os equipamentos desenvolvidos operam conjuntamente com uma sonda de medidas que fornece dados relativos as variáveis medidas de temperatura, pH, oxigênio dissolvido, condutividade, turbidez e profundidade. Outro estudante de mestrado Ronaldo Bruno desenvolveu a sonda de medidas em trabalho anterior. O primeiro equipamento desenvolvido neste trabalho, denominado UMAM, é uma unidade de visualização; este coleta dados da sonda e realiza o processamento destes para mostrar as medidas de uma maneira apropriada. Este equipamento também permite a realização de algumas calibrações de suas leituras. O segundo equipamento, denominado UA, opera conectado a UMAM, armazenando as variáveis medidas em um dispositivo de memória de cartão removível (PC CARD). A UA, também permite transferir os valores armazenados a um computador pessoal para manipulação destes dados e a produção de relatórios. Ambos os equipamentos desenvolvidos utilizam microcontroladores da família MCS-51. Estes microcontroladores são responsáveis pelas tarefas de processamento dos dados e controle dos processos. Os equipamentos foram avaliados qualitativamente e quantitativamente em laboratório, utilizando-se de amostras de água com características físico e químicas bem conhecidas, demonstrando um bom desempenho e adequação para utilização em campo. / This work presents the development of two microprocessor-based equipment for automatic data acquisition and storage of water physical and chemical variables. The developed equipment works together with a measuring probe which supplies data related to the measured variables, namely temperature, pH, dissolved oxygen, conductivity, turbidity and depth. Another MSc student Ronald Bruno in his mastering work previously developed the measuring probe. The first equipment developed, called UMAM, is a visualization unit; it collects the data from the probe and performs the processing to show the data in an appropriate manner, it allows also performing some calibrations. The second equipment, called UA, operated connected to the UMAM, storing the measured variables in to a removable card memory device (PC CARD). The UA, allows also to transfer the stored values to a personal computer for data manipulation and to produce reports. Both developed equipment used microcontrollers of the MCS-51 family. The microcontrollers are responsible for data processing and process control tasks. The equipments have been evaluated qualitatively and quantitatively in the lab using water samples of well-known physical and chemical characteristics, demonstrating to have good performance and to be adequate for use in the field.

Este trabalho descreve um instrumento microprocessado para a avaliação de clorofila em plantas com a possibilidade da armazenagem de dados até 64 kbytes de 32 posições com tamanho de pixel de 1 a 16 cm2. O instrumento encontra várias aplicações na agricultura, principalmente onde o monitoramento é requerido. As principais aplicações estão em operações de fertilização e irrigação, onde o manejo de eventos são controlados pelas condições críticas como a disponibilidade de nitrogênio no solo. Resultados mostram que a operação individual ou em grupo dos sensores garantem uma adequada acurácia e resolução para aplicações agrícolas. O instrumento possibilita a fazendeiros, pesquisadores ou consultores a oportunidade do manejo localizado para sistemas de tomada de decisão. O instrumento é baseado em uma arquitetura dedicada baseada no microcontrolador 80535 e sua utilização proporciona redução de custos de processos agrícolas e redução de contaminação ambiental. / This work describes a microprocessed instrument for evaluation of chlorophyll in plants, and recording of data up to 64 kbytes at thirty-two positions with pixel size from 2 to 1.420 mm2. The instrument meets different applications in the agricultural science area, where monitoring is required. Also would apply to operations of fertilization and irrigation, where the management of events can be triggered by critical conditions such as soil nitrogen contents. Results have shown that characterization of the instrument and its individual sensors guaranteeing an adequate accuracy and resolution for agricultural application. It provides the farmer or consultant the opportunity to establish localized management rules for decision support systems. The instrument is based on complementary metal oxide semiconductor devices as well as the 80535 microcontroller. It may be operated in automatic or non-automatic mode.