Chapter 465: Atmel MCU

Chapter 465
Delay and consistency issues are the most basic issues in the development of intelligent robots, but they cannot be ignored.
From the command to the command execution, the intelligent robot of Nebulas Technology can be controlled in about 10 milliseconds.
But this is not enough, not enough!
The current industry's top level, the delay cannot exceed 5 milliseconds.
Perhaps ordinary users cannot perceive the difference between a 10 millisecond delay and a 5 millisecond delay, but this is not the reason why Nebulas does not pursue improvement.
After all, if their company can really control the delay within 5 milliseconds, it can be used as another promotional point.
Let's talk about consistency.
The so-called consistency control is to design a suitable controller to coordinate and control the individual agent, which can continuously adjust and update its own state with the help of neighboring agent state information, and finally make the state of all agents in the system converge.
To put it simply, each component of the intelligent robot completes a unified designated action at the same time.
There is a necessary link between the latency issue and the consistency control issue.
Formally, the existence of time delay has led to the inability to reach agreement among intelligent robot systems.
But this does not mean that the consistency problem is solved by solving the delay problem.
To achieve consistency control, it is not enough to reduce the delay.
"Mr. Lanney, can I look at the process parameters of these intelligent robots in your company?" Cheng Nuo turned to Mr. Lanney.
Mr. Lanney hesitated for a while, but nodded affirmatively, "Okay, I'll let someone call up the data right away."
Ten minutes later, a researcher in a white coat walked in with a stack of forms.
"President Lanney, this is the data you asked me to print."
"Well, just take it to this gentleman."
Cheng Nuo took the form and glanced at the ten lines.
Nebulas currently produces 15 types of intelligent robots. Due to the difference in form and function, there is a large gap in the process parameters of each type of intelligent robot.
But the components are basically similar.
The machine body, controller, sensor and driver have four parts.
For example, the simplest intelligent sweeping robot is composed of a disk-shaped mechanical appearance, a collision sensor, a continuous ranging infrared sensor, a single-chip microcomputer, and a harmonic gear drive.
Cheng Nuo briefly flipped through the table and found that among the 15 types of intelligent robots, the only component of the four parts that is the same is the controller part.
They all use a single-chip microcomputer, with 4k bytes of in-system programming (ISP) flash memory, three-level program encryption lock, 128X8 bytes of internal RAM, 32 programmable I/0 ports, and 2 16-bit timer/counters.
This kind of microcontroller was pretty good a few years ago, but today it can only be said to be so-so.
Since it is necessary to solve the problem from the root cause, Cheng Nuo believes that this controller is the key.
"Does your company have an idea to change the controller inside the intelligent robot to a single-chip microcomputer? For example... a single-chip microcomputer?"
In Cheng Nuo's concept, problems that can be solved with money should be solved with money as much as possible.
Mr. Lanney smiled bitterly, "Professor Cheng, you probably don't know the price of the single-chip microcomputer. The total cost of this single-chip microcomputer is probably 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, "In this case, I can only come by myself."
"Cheng...Professor Cheng, what do you mean?"
"Since the single-chip microcomputer cannot meet your requirements, and the reality does not allow the purchase of higher-quality controllers, the only way is to build a single-chip microcomputer by yourself." Cheng Nuo answered quite naturally.
But Mr. Lanney was trembling with thunder.
He swallowed fiercely, "Building a single-chip microcomputer, we?"
Cheng Nuo smiled calmly and pointed to himself, "No, it's me, myself."
Cheng Nuo raised his hand and kept smiling, "Mr. Lanney, don't be surprised. Of course, I don't mean to create a new type of microcontroller. It is basically impossible, even if you add your company’s scientific research personnel. It's done."
"Then what do you mean?" Mr. Lanney pressured his surging mood.
"The transformation is based on the single-chip microcomputer." Cheng Nuo replied, "Under the condition that its performance parameters remain unchanged, by changing the internal structure transmission mode, the purpose of intelligent system consistency control is achieved."
"This should be difficult, right?" Mr. Lanney is not a scientific researcher and doesn't know much about it.
Cheng Nuo nodded in agreement, "Well, it is indeed difficult."
"How long will it take?" Mr. Lanney asked eagerly.
Time is money. At present, the big consortiums are sharpening their knives, and they are not sure when they will put their butcher knife on the necks of their fattened pigs.
In Mr. Lanney's concept, it takes at least one to two weeks to improve a single-chip microcomputer!
Unexpectedly, Cheng Nuo said casually, "For a long time."
puff-!
Mr. Lanney almost spat out a mouthful of old blood.
long time!
Mr. Laney's eyes widened, and he looked at whether you were making me funny.
Then, he said in a hoarse voice, "Really?"
Cheng Nuo nodded innocently, "A conservative estimate for a long time. In fact, if everything goes well, two hours will be enough."
Mr. Lanney: "..."
If he didn't know the actual process of Nuo in advance~EbookFREE.me~, he would doubt whether he suspected that he had paid a liar back.
But out of awe of Cheng Nuo, he still chose to believe in Cheng Nuo, "Then what do you need, I will prepare immediately."
"A computer, a quiet room, draft paper and pens. By the way, bring a single-chip microcomputer."
Cheng Nuo is also welcome.
Soon, everything was arranged.
Cheng Nuo glanced at the time, at 9:34, if it was soon, he would be in time for lunch.
For the improvement of the single-chip microcomputer, Cheng Nuo has long been involved.
In fact, simplifying the problem of consistency and expressing it in mathematical language is a fairly common network topology problem.
Adopt the generalized Nyquist criterion and Gerachgorin disc theorem in frequency domain control theory, and establish a dynamic model through the description of the directed graph.
At Cheng Nuo's current level, although solving this type of problem cannot be described by hand, there is still no 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
} n, the necessary and sufficient condition for not surrounding the point (-1, j0) is that for ∨ω∈
-π, π
, c>1/2 holds.]
[For discrete multi-agent system three, if for ∨i∈I, there is τ<2(1-Td)/(1-α)π^2Td, then the discrete multi-agent system is asymptotically stable to reach consistency, then... …】
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