Technical Foundations of Embedded Systems: Electronics, System theory, Components and Analysis (Lecture Notes in Electrical Engineering, 732)

Preface
Contents
1 Introduction
	1.1 The Autonomous Forklift Truck as an Example System
	1.2 Structure of the Book
	References
Electrical and Electronic Basics
2 Electrotechnical Basics
	2.1 Electrotechnical Consideration of Embedded Systems
	2.2 Electrical Charge
	2.3 Electric Current
	2.4 Electrical Resistance
	2.5 The Electrical Circuit
	2.6 Ohm's Law
	2.7 Energy and Power
	2.8 Time-Variable Voltages
	References
3 Electrical Networks
	3.1 Transfer Function of Electrical Networks
	3.2 Resistance Networks
		3.2.1 Series Connection of Resistors
		3.2.2 Parallel Connection of Resistors
		3.2.3 Kirchhoff's First Law (Nodal Rule)
		3.2.4 Kirchhoff's Second Law (Mesh Rule)
	3.3 Two-Terminal and Two-Port Components
	3.4 Resistor-Capacitor Networks
		3.4.1 The Capacitor as a Two-Terminal Component
		3.4.2 Parallel Connection of Capacitors
		3.4.3 Series Connection of Capacitors
		3.4.4 Impedance
	3.5 Switching Behavior of RC Elements
		3.5.1 The Electrical Low Pass
		3.5.2 Switching Behavior of a High-Pass Filter
	3.6 Resistor-Capacitor-Inductor Networks
		3.6.1 Inductor
		3.6.2 RLC Circuit
4 Basic Electronic Circuits
	4.1 Foundations of Semiconductor Technology
	4.2 Doping of Semiconductors
	4.3 The pn-Transition
	4.4 Diodes
		4.4.1 Wiring Examples
		4.4.2 Diodes as Switches
		4.4.3 Special Diodes
	4.5 Bipolar Transistor
		4.5.1 Emitter Circuit
		4.5.2 Operating Point
		4.5.3 AC Voltage
	4.6 Field Effect Transistors
		4.6.1 Enhancement Mode MOSFETs
		4.6.2 Depletion Mode MOSFETs
	4.7 Basic Transistor Circuits
		4.7.1 Transistor as an Inverter
		4.7.2 Differential Amplifier
		4.7.3 Operational Amplifier
	4.8 Application of Operational Amplifiers
		4.8.1 Comparator
		4.8.2 Feedback Loop
		4.8.3 Comparator with Hysteresis (Schmitt Trigger)
	4.9 Amplifier Circuits
		4.9.1 Inverting Amplifier
		4.9.2 Non-inverting Amplifier
	4.10 Analog Computation Components
		4.10.1 Analog Adder
		4.10.2 Analog Subtractor
		4.10.3 Integrator
	References
Systems Theory and Control
5 Systems Theory
	5.1 Modeling the Embedded System
	5.2 Signals
		5.2.1 Stochastic and Deterministic Signals
		5.2.2 Continuous and Discrete Signals
		5.2.3 Energy and Power Signals
		5.2.4 Description of Signals in the Time Domain
		5.2.5 Transmission Systems
		5.2.6 Linear, Time-Invariant Systems
	5.3 Convolution
		5.3.1 Graphical Representation of the Convolution
		5.3.2 Discrete-Time Convolution
	5.4 Modeling Dynamic Systems
		5.4.1 Fourier Series and Transformation
		5.4.2 Discrete Fourier Transformation (DFT)
		5.4.3 Laplace Transformation
	References
6 Control Theory
	6.1 Introduction to Control Engineering
		6.1.1 Open-Loop Control
		6.1.2 Closed Loop Control
		6.1.3 Simple Controllers
	6.2 Classical Closed Loop Control
		6.2.1 Target Specification
		6.2.2 System Modeling and Identification
		6.2.3 Identification
		6.2.4 Elementary System Elements
		6.2.5 PID Element
		6.2.6 Controller Selection
		6.2.7 Parameter Determination
		6.2.8 Heuristic Method According to Ziegler–Nichols
	6.3 Fuzzy Control
		6.3.1 Basics of Fuzzy Set Theory
		6.3.2 Structure of a Fuzzy Controller
	References
System Components of Embedded Systems
7 Signal Processing
	7.1 The Measurement and Control Cycle
	7.2 Signal Processing
	7.3 Sampling
		7.3.1 Sampling Theorem
		7.3.2 (Anti-)Aliasing Filter
	7.4 Sample and Hold Circuit
	7.5 A/D Converters
		7.5.1 Successive Approximation Converter
		7.5.2 Parallel Converters
		7.5.3 Priority Decoder
		7.5.4 Dual Slope Method
		7.5.5 Multi-slope Converter
		7.5.6 Charge Balancing Method
		7.5.7 Delta Modulation
		7.5.8 Delta Sigma Converter
	7.6 Reversal Process
	7.7 D/A Conversion
		7.7.1 Parallel Converters
		7.7.2 R-2R Resistor Ladder Network
		7.7.3 Pulse Width Modulation (PWM)
		7.7.4 Delta Sigma Converter
	7.8 Sample and Hold
	7.9 Filters in the Reversal Process
	References
8 Sensor Data Processing
	8.1 Definitions of Sensor Technology
	8.2 Measurement Error
		8.2.1 Error Propagation
	8.3 Transfer Function of Sensors
		8.3.1 Properties of Sensor Transfer Functions
	8.4 Digital Processing
		8.4.1 FIR Filter
		8.4.2 IIR Filter
		8.4.3 Examples of Digital Filters
	8.5 Internal (Intrinsic) Sensors
		8.5.1 Optical Encoders
		8.5.2 Acceleration Sensors
	8.6 External (Extrinsic) Sensors
		8.6.1 Strain Gauges
		8.6.2 Force-Torque Sensors
	References
9 Actuators
	9.1 Actuator Components
	9.2 Power Electronics
	9.3 Electric Drives
		9.3.1 DC Motors
		9.3.2 Stepper Motors
	9.4 Gearboxes
	9.5 Other Actuators
		9.5.1 Rheological Fluids
		9.5.2 Piezoelectric Actuators
		9.5.3 Thermal Actuators
	References
10 Processing Units for Embedded Systems
	10.1 The Role of the Processing Unit
	10.2 Requirements
	10.3 Processing Units—Overview of Types
		10.3.1 Generic, Software-Programmable Processing Units
		10.3.2 Application-Optimized, Software-Programmable Processing Units
		10.3.3 Application-Specific, Hardware-Programmable Processing Units
		10.3.4 Generic, Hardware-Programmable Processing Units
	10.4 Microcontrollers
	10.5 Field-Programmable Gate Arrays (FPGAs)
	References
11 Communication
	11.1 Communication Components of Embedded Systems
	11.2 Requirements for Communication Systems
	11.3 OSI Model
	11.4 Physical Layer
		11.4.1 Bandwidth and Maximum Transmission Frequency
		11.4.2 Interference Suppression
		11.4.3 Clock Recovery
	11.5 Link Layer
		11.5.1 Error Protection
		11.5.2 Media Access Control
	11.6 Examples of Commercial Bus Systems
		11.6.1 Sensor-Actuator Buses
		11.6.2 Fieldbuses
	References
Modeling and Real-Time
12 Software Modeling and Analysis
	12.1 Abstraction of Technical Systems
	12.2 UML
		12.2.1 Activity Diagram
		12.2.2 Timing Diagram
		12.2.3 Interaction (Overview) Diagrams
		12.2.4 Class Diagram
		12.2.5 State Diagram
		12.2.6 Component Diagram
	12.3 SDL
	12.4 Petri Nets
		12.4.1 Analysis of Petri Nets
		12.4.2 Timed Petri Nets
	References
13 Real-Time Systems
	13.1 Real Time in Embedded Systems
	13.2 Allocation
		13.2.1 Allocation as a Graph Problem
	13.3 Processes and Plans
		13.3.1 Sporadic Processes
		13.3.2 Periodic Processes
		13.3.3 Problem Classes
	13.4 Scheduling Approaches
		13.4.1 Plan by Searching
		13.4.2 Earliest Deadline First
		13.4.3 Least Laxity
		13.4.4 Rate-Monotonic Scheduling
	References
Appendix A Physical Units and Quantities
Appendix B Resistance Values, Circuit Symbols and Diode Types
B.1 Specific Resistance
B.2 Color Coding of Resistors
B.3 Circuit Symbols
B.4 Diode Types
Appendix C Fourier and Laplace Tables
C.1 Examples of Fourier Series
C.2 Fourier Transformation Table
C.3 Laplace Transformation Table
	Reference
Index