universal data

Chapter 462 Atmel MCU

465 chapter

Although latency and consistency issues are the most basic issues in the development of intelligent robots, they cannot be ignored.

Nebula's intelligent robot can be controlled within about 10 milliseconds from the time the command is issued to the execution of the command.

But this is not enough, not far enough!

Currently the top level in the industry, the delay cannot exceed 5 milliseconds.

Ordinary users may not be able to perceive the difference between 10 milliseconds delay and 5 milliseconds delay, but this is not the reason why Nebula Technology does not pursue improvement.

After all, if their company can really control the delay within 5 milliseconds, it can be used as another publicity point.

Let alone consistency.

The so-called consistency control is to design a suitable controller to coordinate and control individual agents, and can continuously adjust and update its own state with the help of state information of neighboring agents, and ultimately make the states of all agents in the system converge.

To put it simply, each component of the intelligent robot completes a unified specified action at the same time.

There is a necessary connection between the delay problem and the consistency control problem.

Formally due to the existence of time delay, it leads to the inability to reach agreement among the various systems of the intelligent robot.

But this does not mean that solving the delay problem solves the consistency problem.

To achieve consistency control, it is not enough to just reduce latency.

"Mr. Laney, can I have a look at the process parameters of these intelligent robots in your company?" Cheng Nuo turned to Mr. Lanny.

Mr. Lanney hesitated for a moment, but then nodded affirmatively, "Okay, I'll have someone pull out the data right away."

Ten minutes later, a researcher in a white coat walks in with a stack of forms.

"President Lanny, this is the data you asked me to print."

"Well, take it directly to this gentleman."

Cheng Nuo took the form and scanned the lines at a glance.

Nebula currently produces 15 types of intelligent robots. Due to the difference in shape and function, there is a large gap in the process parameters of each intelligent robot.

But the components are basically similar.

The mechanical body, controller, sensor, and driver are four parts in total.

For example, the simplest intelligent sweeping robot is composed of a disc-shaped mechanical appearance, a collision sensor, a continuous ranging infrared sensor, an Atmel microcontroller, and a harmonic gear drive.

Cheng Nuo simply flipped through the form and found that among the 15 types of intelligent robots, the only part of the four parts that are the same is the controller part.

都是使用Atmel单片机，拥有4k字节在系统编程(ISP) Flash闪速存储器、三级程序加密锁、128X8字节内部RAM、32个可编程I/0口线、2个16位定时/计数器。

This kind of single-chip microcomputer could be said to be good a few years ago, but it can only be said to be so-so today.

Since the root cause of the problem was to be solved, Cheng Nuo thought that the controller was the key.

"Does your company have the idea of ​​replacing the controller inside the intelligent robot with a single-chip microcomputer? For example... Motorola single-chip microcomputer?"

In Cheng Nuo's view, problems that can be solved with money should be solved with money as much as possible.

Mr. Lanney smiled bitterly, "Professor Cheng, I'm afraid you don't know the price of the Motorola single-chip microcomputer. This single-chip microcomputer alone may be higher than the total cost of the other three components."

"In this case, we basically have no profit at all."

"Okay." Cheng Nuo shrugged and said indifferently, "If that's the case, then I can only come by myself."

"Professor Cheng, what do you mean?"

"Since the Atmel MCU can't meet your requirements, and the reality doesn't allow you to buy higher-quality controllers, the only way is to build your own MCU." Cheng Nuo answered quite naturally.

But Mr. Lanney heard the thunder.

He swallowed hard, "Build a single-chip microcomputer, us?"

Cheng Nuo smiled calmly and pointed to himself, "No, it's me, myself."

Cheng Nuo raised his hand and kept smiling, "Mr. Lanni, don't be surprised. Of course I don't mean to create a new microcontroller. That is basically impossible, even with your company's scientific researchers. do it."

"What are you referring to?" Mr. Lanny suppressed his surging mood.

"Reform on the basis of the Atmel single-chip microcomputer." Cheng Nuo replied, "With its performance parameters unchanged, the purpose of consistent control of the intelligent system can be achieved by changing the transmission mode of the internal structure."

"This should be difficult, right?" Mr. Lanney is not a scientific researcher, so he doesn't know much about it.

Cheng Nuo nodded approvingly, "Well, it's really difficult."

"How long will it take?" Mr. Laney asked eagerly.

Time is money, and those big consortiums are currently sharpening their knives, and they can't tell when they will put the butcher knives on the necks of their group of fattened fat pigs.

In Mr. Laney’s opinion, it would take at least one to two weeks to improve a microcontroller!
Unexpectedly, Cheng Nuo said casually, "A long time."

puff-!

Mr. Lanney almost spat out a mouthful of old blood.

long time!

Mr. Lanney's eyes widened, and he looked like, are you fucking kidding me?

Then, he spoke in a hoarse voice, "Really?"

Cheng Nuo nodded innocently, "It's conservatively estimated that it will take half a day. In fact, if everything goes well, two hours will be enough."

Mr. Lanney: "..."

If he hadn't known the reality of Cheng Nuo in advance, he would have suspected that he had spent money to invite a liar back.

But out of awe of Cheng Nuo, he still chose to trust Cheng Nuo, "Then I'll prepare what you need right away."

"A computer, a quiet room, scratch paper and pen, and by the way, bring over an Atmel microcontroller."

Cheng Nuo was not polite either.

Soon, everything will be arranged.

Cheng Nuo glanced at the time. It was 9:34. If he went quickly, he could still make it in time for lunch.

For the improvement of Atmel single-chip microcomputer, Cheng Nuo already had a plan.

In fact, simplifying the consistency problem and expressing it in mathematical language is a very common network topology problem.

Using the generalized Nyquist criterion and the Gerachgorin disk theorem in the frequency domain control theory, a dynamic model can be established through the description of the directed graph.

At Cheng Nuo's current level, although it can't be said that solving such problems is easy, it is still not a big problem.

[...If the system λi(G(e^jω) is in the unit circular area λi(G(e^jω)∈{θ:θ∈C, |θ-(c+jd)|<|c+jd|} The necessary and sufficient condition for n, the inner non-circling point (-1, j0) is that for ∨ω∈|-π, π|, c>1/2 is established.]

[For discrete multi-agent system 2, if for ∨i∈I, τ<1(1-Td)/(2-α)π^[-]Td, then the discrete multi-agent system is asymptotically stable and reaches consistency, then... ...]

(End of this chapter)