Heimdall

Students and hobbyists build embedded systems that combine sensing, actuation and microcontrollers on solderless breadboards. To help students debug such circuits, experienced teachers apply visual inspection, targeted measurements, and circuit modifications to diagnose and localize the problem(s). However, experienced helpers may not always be available to review student projects in person. To enable remote debugging of circuit problems, we introduce Heimdall, a remote electronics workbench that allows experts to visually inspect a student’s circuit; perform measurements; and to re-wire and inject test signals. These interactions are enabled by an actuated inspection camera; an augmented breadboard that Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the