Robotic and Measurement Embedded Systems

Course description

  • Introduction into real time and complex embedded systems 
  • dealing with interrupts 
  • embedded systems' software design 
  • software and hardware synchronization 
  • realtime operation 
  • complex embedded system architecture 
  • (multicore, SoC) 
  • multitasking and exchange of data (ROS – Robot Operating System) 
  • rapid development of time critical embedded systems 
  • development of highly deterministic processes based on FPGA 


Theoretical part is supported by practical examples using hardware based on ARM, and Compact-RIO architectures. 

Course is carried out on study programme

Elektrotehnika 2. stopnja

Objectives and competences

The course is focused at analysis, design and application of complex embedded systems in the field of robotics and measurement systems. Auditor is acquainted with the processes, organization and architecture of embedded systems and with their interaction. Focus is given to different aspects of software architecture and design for embedded systems, to communication of the hardware periphery and specific user interfaces.

Learning and teaching methods

Lectures, preparations for lab practices, individual lab work. Practices in a way, which enables further in-depth individual work.

For specific fields, lectures are given by invited lecturers, which are specialist in their field of work.

Intended learning outcomes

After successful completion of the course, students should be able to:

– explain principles of operation of an embedded system at the level of processor and memory,

– develop a simple microcontroller assembler program,

– conceive the configuration of embedded system software and hardware,

– develop multitasking application at the level of high level programming language in real time with different inputs and outputs,

– develop program application in graphical environment for measurement acquisition and processing in real time,

– explain principles of operation of real-time systems, scheduling, and assurance of reliability in general technical environment.

Reference nosilca

  1. AMBROŽIČ, Luka, GORŠIČ, Maja, GEEROMS, Joost, FLYNN, Louis, LOVA, Molino, KAMNIK, Roman, MUNIH, Marko, VITIELLO, Nicola. Cyberlegs : a user-oriented robotic transfemoral prosthesis with whole-body awareness control. IEEE robotics & automation magazine, Dec. 2014, vol. 21, no. 4, str. 82-93. 
  2. ŠLAJPAH, Sebastjan, KAMNIK, Roman, MUNIH, Marko. Kinematics based sensory fusion for wearable motion assessment in human walking. Computer methods and programs in biomedicine, Sep. 2014, vol. 116, no. 2, str. 131-144. 
  3. GORŠIČ, Maja, KAMNIK, Roman, AMBROŽIČ, Luka, VITIELLO, Nicola, LEFEBER, Dirk, PASQUINI, Guido, MUNIH, Marko. Online phase detection using wearable sensors for walking with a robotic prosthesis. Sensors, Feb. 2014, vol. 14, no. 2, str. 2776-2794. 
  4. AMBROŽ, Miha, PREBIL, Ivan, KAMNIK, Roman, MUNIH, Marko. System for interactive scientific driving simulation with haptic information. Advances in engineering software, Mar. 2012, vol. 45, iss. 1, str. 239-251. 
  5. ČERNE, Tomaž, KAMNIK, Roman, MUNIH, Marko. The measurement setup for real-time biomechanical analysis of rowing on an ergometer. Measurement, Dec. 2011, vol. 44, no. 10, str. 1819-1827. 

Study materials

  1. Tammy Noergaard, Embeded Systems Arhitecture – A Comprehensive Guide for Engineers and Programmers, Elsevier, 2005, ISBN 0-7506-7792-9.
  2. Jonathan W. Valvano, Embeded Microcomputer Systems – Real Time Interfacing, Brooks/Cole, 2000, ISBN 0-534-36642-
  3. A. Burns, A. Welling, Real-Time Systems and Programing Languages, Addison-Wesley, 1997, ISBN-13: 978-0201403657.
  4. Wyatt Newman, A Systematic Approach to Learning Robot Programming with ROS. CRC Press, 2017, ISBN 978-1498777827.
  5. National Instruments, NI LabVIEW for CompactRIO Developer’s Guide,, 2016

Bodi na tekočem

Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana

E: T:  01 4768 411