Embedded Systems

Lec_02

Modeling Dynamic Systems

&
Sensors and Actuators
 Objectives
• Modeling of common dynamic systems
• Application of Sensors and Actuators

2
 Newtonian Mechanics
• The dynamics of Physical systems are in
general expressed [Modeled] using classical
mechanics
• Motion of of mechanical parts are
expressed using differential equations or
integral equations

3
 Newtonian Mechanics
• Motion in space of physical systems can be
represented with six degrees of freedom

4
 Newtonian Mechanics
• Differential Expressions

In General:
Input = Force or Torque
Output= Position, Orientation
Velocity or
Rotational Velocity

5
 Actor Models
• A continuous-time-system can be modeled
by a box with and input and output port
• Computerized, visual and powerful
• Simulink, LabView

6
 Actor Models

It is assumed that the actor model captures everything of interest

about the system!
7
 Properties of Systems
• Casual Systems

8
 Properties of Systems
Memory less Systems

• A system has memory if the input depends

not only on the current input but also on the
previous inputs
• Consider:

9
 Properties of Systems
Linearity and Time Invariance
• Linearity and Time Invariance are very attractive
terms (conditions) in every engineering problem,
LTI systems
• LTI systems have nice mathematical properties
• Much of the theory of control systems depends on
these properties

10
 Properties of Systems
Stability
• A system is said to be bounded input
bounded output stable (BIBO Stable) if the
output is bounded stable for all inputs that
are bounded

11
 Feedback Control
• A system with feedback has directed cycles
where an output from an actor is fed back to
affect an input of the same actor
• Most control systems use feedback

12
 In General…

• The fidelity of a model (how well it approximates

the system being modelled) is a strong factor in
the success or failure of any engineering effect!

13
 Sensors and Actuators

Physical World Cyber World

(Nature) (Digital Processing
& Networks)

Physical World Cyber World

(Nature) (Digital Processing
& Networks)

14
 Sensors and Actuators
• A sensor is a device that measures a physical
quantity and an actuator is a device that alters a
physical quantity
• What are digital sensors and actuators?
• Today sensors and actuators are integrated with
microprocessors and network interfaces
• Basically IoT sensors

15
Models of Sensors and Actuators
• Linear and Affine Models

16
Models of Sensors and Actuators
• Range
• The range of a sensor is the set of values of a
physical quantity that it can measure, same works
for an actuator
• It is always limited
• Eg: a thermometer designed for a weather
monitoring, range, -40 to 50 0C

17
Models of Sensors and Actuators
• Dynamic Range
• The ability to distinguish between two closely-
spaced values of a physical quantity
• The precision of a sensor is the smallest absolute
difference between two values of a physical
quantity whose sensor readings are distinguishable

18
Models of Sensors and Actuators
• Quantization
• A digital sensor represents a physical quantity
using an n-bit number
• Such a sensor can produce only 2n distinct
measurements
• The higher the bits the more precise the
measurement is.

19
Models of Sensors and Actuators
• Noise
• Like any other electrical signal sensors also suffer
from noise, the unwanted signal

20
Models of Sensors and Actuators
• Sampling
• A physical quantity is a function of time
• A digital sensor will sample the physical quantity
at particular points in time to create a discrete
signal
• In uniform sampling there a constant time interval
T, calling sampling interval

21
Models of Sensors and Actuators
• Sampling
• A physical quantity is a function of time
• A digital sensor will sample the physical quantity
at particular points in time to create a discrete
signal

A 9kHz signal being sampled at 8,000 sample/second

22
Models of Sensors and Actuators
• Harmonic Distortion
• Non linear effect
• Depends on the derivatives of the signal
• Its effect varies depending on the application

23
 Common Sensors
• Measuring Tilt and acceleration

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 Common Sensors
• Measuring Tilt and acceleration
• Measuring Position and velocity
• Measuring Rotation
• Measuring Sound

25
 Actuators
 Like that of sensors, there are enormous
number of actuators in varies industries
 Two examples
– Light Emitting diodes
– Motor Control

26
 Actuators
 Light Emitting diodes
– Provide a visual indication of some activity

27
 Actuators
 Motor Control
– A motor applies a Torque proportional to the
current in the motor windings
– Thus apply a voltage to the motor proportional
to the load

28
 Actuators
 Motor Control

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 Thus…
 Current Perception of Sensors…

30
 IoT Devices

03/04/21 Introduction History & Evolution of 31

IoT
 IoT Sensors

03/04/21 Introduction History & Evolution of 32

IoT
 IoT Devices

 At the bottom Layer of

the IoT System
(The Cyber-Physical
system)
 Purpose: collect data
from the surrounding
environment

03/04/21 Introduction History & Evolution of 33

IoT
 Industrial Sensors
 Description & Characteristics
 First Generation & Advanced Generation
 Integrated IoT Sensors
 Sensors Swarm

03/04/21 Introduction History & Evolution of 34

IoT
 Description & Characteristics

03/04/21 Introduction History & Evolution of 35

IoT
 Description & Characteristics

Source: Yole Report 2014

03/04/21 Introduction History & Evolution of 36
IoT
 Description & Characteristics
 Three features of a good sensor:
– It should be sensitive to the phenomenon that it
measures
– It should not be sensitive to other physical
phenomena
– It should not modify the measured phenomenon
during the measurement process

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IoT
 Description & Characteristics
 Important properties of a sensor
– Range: The maximum and minimum values of
the phenomenon that the sensor can measure.
– Sensitivity: The minimum change of the
measured parameter that causes a detectable
change in output signal.
– Resolution: The minimum change in the
phenomenon that the sensor can detect.

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IoT
 Description & Characteristics
 Classification
– Passive or Active.
– Method used to detect and measure the property
(mechanical, chemical, etc.)
– Analog and Digital, (Continuous signal or
discrete)

03/04/21 Introduction History & Evolution of 39

IoT
 Description & Characteristics
 Different Types

03/04/21 Introduction History & Evolution of 40

IoT
 Evolution
 Traditionally a sensor is a simple devices
that convert physical variables into
electrical signals or changes in electrical
properties
 This is not the case now, ‘Smart’ sensors of
an IoT system are expected to have much
more features

03/04/21 Introduction History & Evolution of 41

IoT
Integrated IoT sensors/Smart sensors

03/04/21 Introduction History & Evolution of 42

IoT
Expected properties of smart sensors
 Low cost, so they can be economically deployed in
large numbers
 Physically small, to “disappear” unobtrusively into
any environment
 Wireless, as a wired connection is typically not
possible
 Self-identification and self-validation
 Very low power, so it can survive for years without
a battery change, or manage with energy harvesting

03/04/21 Introduction History & Evolution of 43

IoT
Expected properties of smart sensors
 Robust, to minimize or eliminate maintenance
 Self-diagnostic and self-healing
 Self-calibrating, or accepts calibration commands
via wireless link
 Data pre-processing, to reduce load on gateways,
PLCs, and cloud resources

03/04/21 Introduction History & Evolution of 44

IoT
 Example: Smart Fault Indicator

mart fault indicator for electric power distribution networks, By Texas Instr
03/04/21 Introduction History & Evolution of 45
IoT
 Example: Smart Fault Indicator
 Providing information
about a failed section of
the network.
 Thus, reduce operating
costs and service
interruptions
 Reducing the need for
hazardous fault-diagnostic
procedures.
 Thus, increases safety and
reduces equipment damage

mart fault indicator for electric power distribution networks, By Texas Instr
03/04/21 Introduction History & Evolution of 46
IoT
 Example: Smart Fault Indicator
 Send measurement data
about the temperature and
current in power
transmission lines
wirelessly to the
concentrator/terminal units
mounted on the poles.
 The concentrators use a
GSM modem to pass the
data to the cellular
network to relay realtime
information to the main
station. Plus, an access
from main station is also
possible
mart fault indicator for electric power distribution networks, By Texas Instr
03/04/21 Introduction History & Evolution of 47
IoT
 Sensor Swarm

03/04/21 Introduction History & Evolution of 48

IoT