Griffith, Austin T., HDL Verilog Embedded Design Feasibility Study, M.S., Department of
Electrical and Computer Engineering, August, 2006.
Abstract
The current HDL Verilog course, EE4490, is based solely on software simulations and not actual hardware implementations. This is a disadvantage to the educational process because students are limited to software results instead of real world, physical interaction.
On the other hand, we currently have a separate microprocessors course that is using robots to autonomously navigate a maze and avoid walls. If possible, we would like to have the HDL students working with the same robots. In doing this, we not only accomplish the goal of physical results, but we also create a great basis for a third course which requires both HDL Verilog and microprocessors concepts. To accomplish this task, I used a Xilinx XCR Plus development board to control the robot. I wrote a real time operating system in HDL Verilog that processes the robot's vision and, in turn, controls its movement. I then wrote a step-by-step guide to walk through the process of programing and controlling each subsystem of the robot. Finally, I compiled a list of implementation suggestions on integrating this educational program into the current curriculum.
Read the paper:
PDF Format
Defense Presentation:
PPT Format
Appendix A (T.A. Guide):
1_FirstProject.doc
2_MotorControl.doc
Movie: On Switch Right
3_FullMotorControl.doc
4_LevelTesting.doc
5_SimpleRobot.doc
Movie: Hard Left
Movie: Nudge Left
Movie: Nudge Right
Movie: Stuck in the hallway
6_FinalRobot.doc
Movie: Turn Around Fixed
Appendix B (Student Guide):
1_FirstProject_Student.doc
Picture: Board Test
2_MotorControl_Student.doc
Picture: Motor Control Wiring
3_FullMotorControl_Student.doc
Picture: Full Motor Control Wiring
4_LevelTesting_Student.doc
Picture: Level Testing
Picture: Wall (off)
Picture: Wall (on)
Picture: Sensor Resistor (off)
Picture: Sensor Resistor (on)
5_SimpleRobot_Student.doc
Picture: Simple Robot RTOS UML
6_FinalRobot_Student.doc
Picture: Final Robot
Picture: Advanced Robot RTOS UML
Appendix C (XCR Plus Reference Manual):
XCRP_ReferenceManual.pdf
Appendix D (PROFBOT Robot Owners Manual):
Robot_Owners_Manual.doc