4. System Description
HAL – (H)euristically Programmed
(AL)gorithmic Computer (Robot Hall of Fame, 2003)
Brain of the Space Ship Discovery in 2001: A
Space Odyssey (Robot Hall of Fame, 2003)
Robot that Controls/Uses Mechanical,
Sensing, and Information Systems of the
Spaceship (Robot Hall of Fame, 2003)
Capabilities (Robot Hall of Fame, 2003):
Controls/Communicates with All Systems onboard
Spaceship Discovery
Speech Output and Speech Recognition
Natural Language Understanding
Lip reading
Thinking Faster and Better than Humans
4
5. Primary Input / Output
Requirements
Inputs Outputs
Auditory EM Waves Capable of Life-Like Human Speech
(Allows Speech Recognition)
Visual EM Waves Visual Identification / Recognition
(Allows Visual Recognition and Lip of Crew / Discovery’s Systems and
Reading) Exterior Objects.
Uses: Red Camera Eye
Discovery’s Interior (Environmental) Controls all of Discovery’s
Conditions Environmental and Life Support
Systems
Discovery’s Exterior (Space-Time) Can Control all Mechanical
Conditions Systems/Vehicles that are part of
Discovery
Discovery’s System Outputs Controls All of Spaceship
Discovery’s Functions to Include
Electronics and Navigation
5
6. Performance Requirements
Ensure Mission’s Success At Any Cost
Perform Advanced Artificial Intelligence (AI)
Functions (Such as Decision Making and
Emotional Awareness)
Operate in a Variety of Environments
Process Information at High Speeds
Control all Interior/Exterior Spaceship Functions
6
7. Test Procedures / System Responses
Set Up
Scenario-Based Testing at System Level – Mission
Success Defined
Component Level
○ Power and Grounding Requirements, Electro-Static
Discharge (ESD) Protection
○ Lab Environment with Extreme Temperatures (space)
○ Durability – Shake, Rattle and Roll (Launch Simulation)
Action
System Level – Reaction to Anomalous Situations
(asteroid belt)
Component Level - Switch Control Signals and
Evaluate
7
8. Test Procedures / System Responses
Reaction
System Level - Response to All Inputs from Spacecraft & Humans
Component Level - Correct Outputs Based on Inputs
Pass/Fail Criteria
System – Supportive of Humans and Their Directions
Clock Speed Measurements – Response Times to Inputs
Operating Region Evaluation – Controlled/Non-Controlled
Environment
Environmental Testing – Entire Range of Launch and Space
Environment
Failure Modes and Effects – Triple Redundancy for Human Space
Flight
Power Usage Evaluation – Total vs. Allocated per Component
Use of Allocated Space and Weight on Discovery Spacecraft
8
12. DC Analysis – Output Slope
Using
Slope =-1
Points
CMOS
Vin(low) = 1.364 V
Vin(high) = 2.078 V
BiCMOS
Vin(low) = 1.922 V
Vin(high) = 2.494 V
TTL
Vin(low) = 606 mV
Vin(high) = 1.437 V
12
13. DC Analysis – Threshold Voltage
Using
Slope =1 (line)
CMOS
VThreshold = 1.854 V
BiCMOS
VThreshold = 2.316 V
TTL
VThreshold = 1.393 V
13
14. DC Analysis – Noise Margins
Noise Margins
Results
CMOS
NMH = 2.759 V
NML = 1.018 V
BiCMOS
NMH = 1.734 V
NML = 990 mV
TTL
NMH = 3.305 V
NML = 583 mV
14
15. DC Analysis – Power Used
Power Used
Results
CMOS
At Vin=0V: 25 pW
At Vin=5V: 25 pW
At Vin=1.88V: 216 uW
BiCMOS
At Vin=0V: 453 pW
At Vin=5V: 453 pW
At Vin=2.34V: 17.5 mW
TTL
At Vin=0V: 5.38 mW
At Vin=5V: 16.8 mW
At Vin=1.43V: 165 mW
15
16. Frequency Analysis
Corner Frequency
Results (f3dB)
CMOS
6.09 kHz
BiCMOS
68.55 kHz
TTL
5.86 MHz
16
17. Propagation & Time Delays
CMOS
Propagation Delays
tPLH = t3-t1 = 1.232 us
tPHL = t7-t5 = 230 ns
tP = tPLH + tPHL = 1.462 us
Rise & Fall Times
tR = t4-t2 = 2.869 us
tF = t8-t6 = 565 ns
Max Frequency
Fmax = 1/(TR+TF) =
291.2 kHz
17
20. Comparison of CMOS, BiCMOS, TTL
Evaluation Ideal CMOS BiCMOS Lab 2d
Parameter
Procedure Inverter Inverter Inverter TTL
Transfer
VThreshold 2.5 V 1.854 V 2.316 V 1.393 V
Characteristic
NMH 2.5 V 2.759 V 1.734 V 3.305 V
Noise Margins
NML 2.5 V 1.018 V 990 mV 582 mV
P @ Vin = 0 V 0W 25 pW 453 pW 5.38 mW
Power Used P @ Vin = 5 V 0W 25 pW 453 pW 16.8 mW
PMax 0W 216 uW 17.5 mW 165 mW
tPDHL 0s 230 ns 23 ns 3 ns
Propagation
tPDLH 0s 1.232 us 74 ns 268 ns
Delays
tP 0s 1.462 us 97 ns 271 ns
Rise Time tR 0s 2.869 us 212 ns 35 ns
Fall Time tF 0s 565 ns 46 ns 5 ns
3dB Corner
f3dB inf. 6.09 kHz 68.6 kHz 5.86 MHz
Frequency
Max Frequency fMax inf. 291 kHz 3.88 MHz 25 MHz
20
21. Conclusions
Analysis Results:
Performance:
Clock Speed –Fast Switching Speeds (GHz / THz)
○ WINNER: TTL
Noise Immunity
○ WINNER: CMOS
Minimum Power Usage
○ WINNER: CMOS
Reliability:
Resistance to Electrostatic Discharge (Ionization effects)
○ WINNER: TTL
Robustness:
Maximum Durability
○ WINNER: TTL
Our Conclusion: Although TTL Won the Majority of Critical
Requirements We Will Need to Analyze Additional Technologies
Before Making a Final Decision
21
23. References
Neamen, D. (2007). Microelectronics: Circuit Analysis and Design (3rd ed.). New
York, NY: McGraw-Hill.
Robot Hall of Fame. (2003). 2003 Inductees: HAL 9000. Retrieved September 15, 2011
from: http://www.robothalloffame.org/hal.html
2001 Space Sounds. (2003). 2001 A Space Odyssey Internet Resource Archive.
Retrieved September 15, 2011 from: http://www.palantir.net/2001/sounds.html
Movie Sounds. (2003). 2001: A Space Odyssey. Retrieved September 15, 2011 from:
http://www.moviesounds.com/2001.html
[Illustration of a HAL 9000]. (n.d.). Retrieved September 15, 2011, from:
http://bugtraq.ru/library/underground/.keep/compscifi.hal9000.jpg
[Picture of Dave, 2001 A Space Odyssey]. (n.d.). Retrieved September 15, 2011,
from:
http://www.google.com/imgres?q=2001+a+space+odyssey&hl=en&biw=1020&
bih=891&tbs=isz:l&tbm=isch&tbnid=aV_lO0M1jkRAFM:&imgrefurl=http://proverbs
ofhell.tumblr.com/post/1982878211/inspcollection-2001-a-space-odyssey-
dave&docid=Rh2O6pBSIEt57M&w=1920&h=1080&ei=CVtyTvenD7KmsQLrtITfCQ
&zoom=1 23
24. References
[Illustration of a Pilot at Console of Discovery Spaceship]. (n.d.). Retrieved
September 15, 2011, from:
http://4.bp.blogspot.com/_7J_WGI7Jygw/S45l1Tq6wPI/AAAAAAAAEtk/gddgrGL
NXKw/s1600/2001%2BA%2BSpace%2BOdyssey%2BPic%2B046.jpg
[Illustration of a Man in Discovery Spaceship’s HAL Memory Array]. (n.d.). Retrieved
September 15, 2011, from: http://wodumedia.com/wp-content/uploads/HAL-
9000-is-about-to-get-his-hard-drive-fried-by-a-seriously-pissed-off-Dave.jpg
24
Editor's Notes
Introduce the presentation and speakers.
Today we’ll go over the following topics.
Heuristic (experience-based) and Algorithmic are two primary processes of intelligence programmed into the Hal 900 system
The HAL 9000 system level capabilities are shown to include capabilities that were learned using artificial intelligence (i.e., lip reading)
Inputs:Speech from humans – speech recognitionAuditory recognition – can hear sounds and process themVisual recognition – ID of crewlip reading abilityEnvironment – is aware of its surrounding environments, such as life support systems and meteor detectionInformation systems – information about the crew’s missionHuman emotions – aware of human emotionsOutputs:Mechanical functions – controls the spaceshipSpeech – has its own voice used to interact with the crewDisplay of information – displays to crewRed eye – representation of actionProcessed information – takes appropriate action to a given command or situationReproducing emotion – has psyche similar to humans, fear of death
Top-level system performance requirements for the HAL 9000 were defined so they can be used in lower level component evaluations
HAL 9000 has system-level performance requirements that need to flow down to each component in the system (decomposition) and then tested appropriately at each level Focus of this project is the gate selection and evaluation process; therefore, allocated requirements need to be tested and evaluated prior to use in the system The lab environment has to take care of basic component requirements like power and grounding while taking into account launch and spaceflight qualifications during the test process Seeing the HAL 9000 is responsible for the overall operations of the spacecraft and its environment, it must be able to respond appropriately to maintain the mission – for the inverter, this means that negative consequences do not occur if the incorrect control signal is received – using components with high noise margins will improve its susceptibility to errors Overall system must be able to react to any system input and provide an appropriate response because of the changing space environment and unlimited inputs from the humans – for the inverter, that means that it properly inverts an incoming signal with a high level of confidence – inputting a variety of signals and evaluating the response during modeling will address this area Under the pass/fail criteria for the system, support for the humans and success of the mission should be the ultimate goals of the system; however, to support component level testing, lower level pass/fail criteria must be established to properly evaluate the system and arrive at the correct solution (minimize probability of selecting incorrect component) which lead to the critical characteristics of the lower level components identified on the next slide
HAL 9000 has system-level performance requirements that need to flow down to each component in the system (decomposition) and then tested appropriately at each level Focus of this project is the gate selection and evaluation process; therefore, allocated requirements need to be tested and evaluated prior to use in the system The lab environment has to take care of basic component requirements like power and grounding while taking into account launch and spaceflight qualifications during the test process Seeing the HAL 9000 is responsible for the overall operations of the spacecraft and its environment, it must be able to respond appropriately to maintain the mission – for the inverter, this means that negative consequences do not occur if the incorrect control signal is received – using components with high noise margins will improve its susceptibility to errors Overall system must be able to react to any system input and provide an appropriate response because of the changing space environment and unlimited inputs form the humans – for the inverter, that means that it properly inverts an incoming signal with a high level of confidence – inputting a variety of signals and evaluating the response during modeling will address this area Under the pass/fail criteria for the system, support for the humans and success of the mission should be the ultimate goals of the system; however, to support component level testing, lower level pass/fail criteria must be established to properly evaluate the system and arrive at the correct solution (minimize probability of selecting incorrect component) which lead to the critical characteristics of the lower level components identified on the next slide
The evaluation process for determining the best logic inverter for the HAL 9000 are provided in the following slides
The critical characteristics listed on this slide will be used as part of the evaluation criteria to ensure the correct inverter component is selected for the HAL 9000 system Some of these characteristics are based on normal operating parameters for inverters with the remainder of the characteristics based on the launch and spaceflight environments that the component is going to have to operate in during its lifetime
Schematics for each of the integrated circuits evaluated are shown on this slide
This slide provides a comparison of the DC characteristic of output slope for each of the integrated circuits evaluated. Color coding and text boxes were used to show the results clearly and differentiate between the different circuits evaluated
This slide provides a comparison of the DC characteristic of threshold voltage for each of the integrated circuits evaluated
This slide provides a comparison of the DC characteristic of noise margins for each of the integrated circuits evaluated
This slide provides a comparison of the DC characteristic of power used for each of the integrated circuits evaluated
This slide provides a comparison of the frequency analysis for each of the integrated circuits evaluated
This slide shows the propagation and time delays for the CMOS circuit
This slide shows the propagation and time delays for the BiCMOS circuit
This slide shows the propagation and time delays for the TTL circuit
This table provides a comparison of the operating parameters for each circuit evaluated with the best value highlighted in green and the ideal value shown in blueAs displayed by the table, the CMOS has the best power characteristics while the TLL has the best speed characteristics with the BiCMOS having values in between the other two circuits evaluated
Based on the critical characterstics evaluated for each circuit, the TTL was the best choice of the three circuits evaluated; however, other technologies need to be analyzed before making a final design on the best logic inverter for the HAL 9000 system
