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| en:safeav:curriculum:hw-b [2025/11/03 09:54] – raivo.sell | en:safeav:curriculum:hw-b [2025/11/05 08:57] (current) – airi |
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| ^ **ECTS credits** | 1 ECTS | | ^ **ECTS credits** | 1 ECTS | |
| ^ **Study forms** | Hybrid or fully online | | ^ **Study forms** | Hybrid or fully online | |
| ^ **Module aims** | Provide a practical foundation in embedded protocols, sensing hardware, and navigation/positioning for autonomous systems. Students will learn how sensors (IMU, GNSS, LiDAR/camera), actuators and power systems connect to embedded computing units via standard buses (I²C, SPI, UART, CAN/CAN-FD, Ethernet/DDS), how data moves deterministically across the system, and how to calibrate, time-synchronise and validate multi-sensor setups. Emphasis is placed on interface compatibility, thermal/power constraints, EMC considerations and the integration lifecycle (from requirements to HIL testing) that turns components into a reliable platform. | | ^ **Module aims** | The aim of the module is to provide a practical foundation in sensing hardware, embedded communication and navigation/positioning for autonomous systems. The course develops students’ ability to design, integrate and validate multi-sensor and actuator setups on embedded platforms, taking into account interface compatibility, timing, power and electromagnetic constraints to build reliable autonomy-ready platforms.| |
| ^ **Pre-requirements** | Basic electronics (Ohm’s law, signals, voltage/current levels), programming fundamentals (preferably C/C++ or Python), and introductory control/linear algebra (vectors, matrices). Ability to use a Linux-based toolchain and Git is beneficial. Prior exposure to microcontrollers or SBCs (e.g., STM32, Arduino, Raspberry Pi, Jetson) is helpful but not mandatory. | | ^ **Pre-requirements** | Basic knowledge of electronics and programming, as well as introductory control and linear algebra. Ability to work with Linux-based tools and version control is beneficial, while prior experience with microcontrollers or single-board computers is recommended but not mandatory. | |
| ^ **Learning outcomes** | Knowledge:\\ • Explain operating principles and specs of common sensors (IMU, GNSS, range and vision sensors) and actuators.\\ • Describe embedded communication protocols (I²C, SPI, UART, CAN/CAN-FD, Ethernet, DDS) and timing/synchronisation concepts.\\ • Outline the hardware integration lifecycle, calibration methods, environmental/EMC testing, and safety/quality standards.\\ Skills:\\ • Select appropriate sensors/computing units for a given task and justify trade-offs of accuracy, latency, power and cost.\\ • Configure and bring up device buses, log and interpret sensor data, and perform basic multi-sensor calibration.\\ • Build a minimal HIL test to validate a perception/control loop and document results.\\ Understanding/Attitudes:\\ • Recognize integration risks (interface incompatibility, EMI, thermal/power limits) and propose mitigations.\\ • Appreciate supply chain constraints and obsolescence planning when choosing components.\\ • Work safely, ethically and reproducibly, documenting configurations and changes. | | ^ **Learning outcomes** | **Knowledge**\\ • Explain operating principles and specs of common sensors and actuators.\\ • Describe embedded communication protocols and timing/synchronisation concepts.\\ • Outline the hardware integration lifecycle, calibration methods, environmental/EMC testing, and safety/quality standards.\\ **Skills**\\ • Select appropriate sensors/computing units for a given task and justify trade-offs of accuracy, latency, power and cost.\\ • Configure and bring up device buses, log and interpret sensor data, and perform basic multi-sensor calibration.\\ • Build a minimal HIL test to validate a perception/control loop and document results.\\ **Understanding**\\ • Recognize integration risks and propose mitigations.\\ • Appreciate supply chain constraints and obsolescence planning when choosing components.\\ • Work safely, ethically and reproducibly, documenting configurations and changes. | |
| ^ **Topics** | Sensors, Computing Units, and Navigation Systems:\\ • Sensor taxonomy and specs (IMU, GNSS, magnetometer, LiDAR, depth, camera); calibration (extrinsics/IMU alignment).\\ • Embedded computing: MCUs vs. SoCs (CPU/GPU/accelerators), power/thermal design, memory and I/O.\\ • Navigation and positioning: GNSS/IMU basics, odometry, sensor fusion concepts.\\ Embedded Protocols and Communication Backbones:\\ • I²C/SPI/UART fundamentals; CAN/CAN-FD; Ethernet, TSN concepts; DDS/ROS 2 communications.\\ Integration Lifecycle and Reliability:\\ • Requirements → interface design → assembly → HIL/SIL → environmental & EMC testing; timing/synchronisation; redundancy.\\ Supply Chain & Lifecycle Considerations:\\ • Component availability, quality/traceability, cybersecurity (SBOM/firmware signing), and obsolescence planning. | | ^ **Topics** | 1. Sensors, Computing Units, and Navigation Systems:\\ — Sensor taxonomy and specs (IMU, GNSS, magnetometer, LiDAR, depth, camera); calibration (extrinsics/IMU alignment).\\ — Embedded computing: MCUs vs. SoCs (CPU/GPU/accelerators), power/thermal design, memory and I/O.\\ — Navigation and positioning: GNSS/IMU basics, odometry, sensor fusion concepts.\\ 2. Embedded Protocols and Communication Backbones:\\ — I²C/SPI/UART fundamentals; CAN/CAN-FD; Ethernet, TSN concepts; DDS/ROS2 communications.\\ 3. Integration Lifecycle and Reliability:\\ — Requirements → interface design → assembly → HIL/SIL → environmental & EMC testing; timing/synchronisation; redundancy.\\ 4. Supply Chain & Lifecycle Considerations:\\ — Component availability, quality/traceability, cybersecurity (SBOM/firmware signing), and obsolescence planning. | |
| ^ **Type of assessment** | The prerequisite of a positive grade is a positive evaluation of module topics and presentation of practical work results with required documentation | | ^ **Type of assessment** | The prerequisite of a positive grade is a positive evaluation of module topics and presentation of practical work results with required documentation | |
| ^ **Learning methods** | Lecture: Concept overviews with worked hardware schematics and bus timing examples.\\ Lab works: Hands-on bring-up of sensors and a microcontroller/SBC, bus sniffing, timestamping and calibration; mini HIL demo.\\ Individual assignments: Short design/calculation tasks (component selection, interface budgets) with a brief technical note.\\ Self-learning: Curated readings and datasheets; recommended MOOC videos to reinforce embedded and navigation concepts. | | ^ **Learning methods** | **Lecture** — Concept overviews with worked hardware schematics and bus timing examples.\\ **Lab works** — Hands-on bring-up of sensors and a microcontroller/SBC, bus sniffing, timestamping and calibration; mini HIL demo.\\ **Individual assignments** — Short design/calculation tasks (component selection, interface budgets) with a brief technical note.\\ **Self-learning** — Curated readings and datasheets; recommended MOOC videos to reinforce embedded and navigation concepts. | |
| ^ **AI involvement** | Assisted code scaffolding and debugging, log summarisation, data analysis/visualisation and literature search support. Students must verify outputs, cite use of AI tools, and avoid uploading proprietary or assessment-sensitive data. | | ^ **AI involvement** | Assisted code scaffolding and debugging, log summarisation, data analysis/visualisation and literature search support. Students must verify outputs, cite use of AI tools, and avoid uploading proprietary or assessment-sensitive data. | |
| ^ **Recommended tools and environments** | | | ^ **Recommended tools and environments** | STM32 or similar MCU development boards, Raspberry Pi / NVIDIA Jetson, typical sensors (IMU, GNSS, LiDAR, camera), CAN bus and logic analyzers, ROS2-based logging | |
| ^ **Verification and Validation focus** | | | ^ **Verification and Validation focus** | | |
| ^ **Relevant standards and regulatory frameworks** | | | ^ **Relevant standards and regulatory frameworks** | ISO 26262, ISO 11452 / CISPR 25 / ISO 7637, ISO 16750, CAN | |
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