February (issue #355) Circuit Cellar

Click here for the Circuit Cellar article code archive

p.6: Build a 4-DOF Robotic Arm (Part 2): The Before and After Math, By Raul Alvarez-Torrico

Note: the article code for this article is in the article code archive folder for Part 1 which is the December 2019, 353 issue of Circuit Cellar

References:
[1] JGY370 DC motor
https://www.aliexpress.com/item/32885103266.html?spm=a2g0s.9042311.0.0.27424c4dNXYorf
[2] PDI-6221MG servo motor
https://www.aliexpress.com/item/32836917150.html?spm=a2g0s.9042311.0.0.27424c4d9OUi3n
[3] 6DOF robotic arm kit
https://www.aliexpress.com/item/32414997293.html
[4] https://www.societyofrobots.com/robot_arm_calculator.shtml
[5] http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
[6] https://dspguide.com/ch15.htm

Configuration and Task Spaces
https://robotacademy.net.au/lesson/task-and-configuration-space/

Robot Pose in 3D
https://robotacademy.net.au/lesson/pose-in-3d/

Denavit-Hartenberg Parameters
https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

Denavit-Hartenberg Reference Frame Layout:

Homogeneous Transformation Matrix:

Forward Kinematics
https://en.wikipedia.org/wiki/Forward_kinematics

Jacobian Pseudo-inverse Kinematics
https://homes.cs.washington.edu/~todorov/courses/cseP590/06_JacobianMethods.pdf

p.14: Tunable Spectrum Light Fixture: Intelligent Illumination, By Emmett Milliken

References:
[1] Protothreads by Adam Dunkels: http://dunkels.com/adam/pt
[2] Bruce Land’s modified Protothreads configuration header file, originally authored by Syed Tahmid Mahbub:
http://people.ece.cornell.edu/land/courses/ece4760/PIC32/Target_board/version_1_3_0/config_1_3_0.h
[3] Bruce Land’s Protothreads header file for PIC32:
http://people.ece.cornell.edu/land/courses/ece4760/PIC32/Target_board/version_1_3_0/pt_cornell_1_3_0.h

Bruce Land’s SPI:
http://people.ece.cornell.edu/land/courses/ece4760/PIC32/index_SPI.html

Bruce Land’s UART:
http://people.ece.cornell.edu/land/courses/ece4760/PIC32/index_UART.html

ProtoThreads, headers, example code:
http://people.ece.cornell.edu/land/courses/ece4760/PIC32/index_Protothreads.html

DMX-512A Specification: (Login Required)
http://tsp.esta.org/tsp/documents/docs/ESTA_E1-11_2008R2013-PubRevwDoc.pdf

RS-485:
https://en.wikipedia.org/wiki/RS-485

Saber Z-4 Datasheet:
https://www.luxeonstar.com/assets/downloads/sz-04.pdf

Luxeon Z Datasheet:
https://www.lumileds.com/uploads/404/DS120-pdf

Luxeon Z Color Line Datasheet:
https://www.lumileds.com/uploads/415/DS105-pdf

Luxeon UV U Line Datasheet:
https://www.lumileds.com/uploads/648/DS178-pdf

Kingbright Three Digit Numeric Display Datasheet:
http://www.kingbrightusa.com/images/catalog/SPEC/BA56-12SRWA.pdf

Mean Well Power Supply Datasheet:
https://www.allelectronics.com/mas_assets/media/allelectronics2018/spec/PS-255.pdf

Budget

Name	Part Number	Cost	Quantity	Total Cost	Vendor
PIC32MX250F128B		$5.00	1	$5.00
5V power supply	PS-255	$7.00	1	$7.00	All Electronics
RS-485 transceiver ic	MAX481CPA+-ND	$2.65	1	$2.65	Digi-Key
BCD to seven segment decoder	SN7447AN	$3.15	1	$3.15	Digi-Key
Saber Z4 (red, UV, pc amber, cyan)	SZ-04-H6U7A6H2	$21.70	1	$21.70	Luxeon Star LEDs
Saber Z4 (red-orange, white, lime, blue)	SZ-04-H7K1H9H3	$16.71	1	$16.71	Luxeon Star LEDs
Saber Z4 (deep red, royal blue, amber, green)	SZ-04-H5H4H8H1	$15.44	1	$15.44	Luxeon Star LEDs
Frosted 12° 20mm optic (plus optic holder)	10194 (10432)	$2.60	3	$6.30	Luxeon Star LEDs

p.20: System Controller Manufacturing Test (Part 2): The Software, By Nishant Mittal

References:

[1] Petalinux user guide:
https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_3/ug1144-petalinux-tools-reference-guide.pdf
[2] http://pmbus.org/Assets/Present/Using_The_PMBus_20051012.pdf
[3] TI PMBUS: https://www.silabs.com/documents/public/data-sheets/si570.pdf

Silicon Labs | www.silabs.com
Texas Instruments | www.ti.com
Xilinx | www.xilinx.com

p.26: Programming the Cortex-M4 in Assembly: Flex Your Arm Skills, By David Ludington

Arm | www.arm.com
Arm Keil | www.keil.com
STMicroelectronics | www.st.com
Texas Instruments | www.ti.com

p.38: High Performance on a Small Form Factor: Core-Driven and Compact, By Jürgen Jungbauer
(sponsored content from congatec)

Full article available at: www.circuitcellar.com/congatec2020

Reference:
[1] www.embedded-software-engineering.de/time-sensitive-networking-tsn-was-ist-das-und-wie-geht-das-a-801013/index2.html

congatec | www.congatec.com

p.40: Embedded Vision Systems Adopt AI and IoT Tech: Smarter Machine Vision, By Jeff Child

p.46: Board-Level Solutions Dress for IoT Duty: Ruggedness at the Edge, By Jeff Child

p.50: DATASHEET: A-D Converters: Integration and Innovation, By Jeff Child

Analog Devices     www.analog.com/media/en/technical-documentation/data-sheets/AD4020-4021-4022.pdf
Maxim Integrated     https://datasheets.maximintegrated.com/en/ds/MAX11261.pdf
Microchip Technology     http://ww1.microchip.com/downloads/en/DeviceDoc/MCP3561-1-2-4-Data-Sheet-20006181A.pdf
Renesas Electronics America      www.renesas.com/us/en/www/doc/datasheet/isla214p50.pdf
Texas Instruments      www.ti.com/lit/ds/symlink/adc12dj5200rf.pdf

p.53: THE CONSUMMATE ENGINEER: Semiconductor Fundamentals: (Part 6) High-Power MOSFETs, By George Novacek

Wikipedia https://en.wikipedia.org/wiki/Power_MOSFETz

Electronics Tutorials https://www.electronics-tutorials.ws/transistor/tran_7.html

Power MOSFET Basics
http://www.aosmd.com/res/application_notes/mosfets/Power_MOSFET_Basics.pdf

Electrical Power Converters Part 3, Circuit Cellar Issue 320, March 2017 by George Novacek

Infineon Technologies | www.infineon.com

p.56: THE DARKER SIDE: Group Delay Basics: More Filter Fun, By Robert Lacoste

References:
[1] www.rf-tools.com
[2] Applied Radio Labs http://www.radio-labs.com
“Group delay and phase delay,” Wikipedia
https://en.wikipedia.org/wiki/Group_delay_and_phase_delay
“What is the difference between phase delay and group delay?”
https://dsp.stackexchange.com/questions/206/what-is-the-difference-between-phase-delay-and-group-delay

Group delay, by Christopher J. Struck, CJS Labs
http://www.ziggysono.com/upload/392GroupDelay.pdf

Negative group delay example, by Andor Bariska
http://www-inst.eecs.berkeley.edu/~ee123/sp14/NegativeGroupDelay.pdf

What is group delay: Iowa Hills software
http://www.iowahills.com/B1GroupDelay.html

Group delay 101, by Merlij Van Veen
https://www.merlijnvanveen.nl/en/study-hall/165-group-delay-101

Analog Devices | www.analog.com
Labcenter Electronics | www.labcenter.com

p.64: EMBEDDED IN THIN SLICES: LoRa (Part 3): A Look at MachineQ, By Bob Japenga

References:
[1] https://corporate.comcast.com/news-information/news-feed/machineq-comcasts-enterprise-internet-of-things-service-expanding-to-12-major-us-markets
[2] LoRaWAN Remote Multicast Setup v1.0.0 Specification https://lora-alliance.org/sites/default/files/2018-09/remote_multicast_setup_v1.0.0.pdf
[3] LoRaWAN Fragmented Data Block Transport v1.0.0 Specification https://lora-alliance.org/sites/default/files/2018-09/fragmented_data_block_transport_v1.0.0.pdf
[4] LoRaWAN Application Layer Clock Synchronization v1.0.0 Specification https://lora-alliance.org/sites/default/files/2018-09/application_layer_clock_synchronization_v1.0.0.pdf
[5] Grove Sensors for Arduino https://www.seeedstudio.com/category/Sensor-for-Grove-c-24.html

MachineQ | www.machineq.com

p.68: FROM THE BENCH: Shedding Light on Smart LED Design (Part 2): Cube Puzzle with No Moving Parts, By Jeff Bachiochi

References:
[1] www.rubiks.com

[2]

[3]

Figure 1 http://mastersketchup.com/wp-content/uploads/2013/02/accurate_assembly.jpg

Adafruit | www.adafruit.com
Microchip Technology | www.microchip.com
SparkFun | www.sparkfun.com

p.79: The Future of 3D Development: Tech Advances Raise 3D Modeling to New Level, By Eric Conover

References:
[1]

[2] www.spatial.com/products/3d-interoperability

[3] www.techradar.com/reviews/wearables/microsoft-hololens-1281834/review

Spatial | www.spatial.com

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February (issue #355) Circuit Cellar