ppt 1
TRANSCRIPT
Multi-robot system with wireless communication network
BATCH MEMBER’S
K.B.KIRANJ.RAJMOHAN
V.SAKTHI ANANDC.THIRUVARANGA SUBRAMANIAN
GUIDED BY:R.PRIYA
ABSTRACT• Networked robotics is a fast expanding area of
research integrating robotics, networking, multimedia and component-based software technologies in support of local, remote, distributed, cooperative and multi-robot system architectures and operations.
• Networked robotics is thus a new framework in which to explore and extend traditional problems in robotics, while creating important new robotics applications.
• The traditional approach to the design of robotics systems – designing an architecture that integrates sensors and actuators within a single physical platform under centralized control – is changing.
ABSTRACT
• The emerging view, as motivated by new, larger scale applications in space, military, undersea, service, and factory floor is one in which robotic sensors, actuators, computing, and human interfaces are distributed across multiple physical robot platforms, possibly in time-delayed and/or asynchronous communications.
• There have been increasing interests in deploying a team of robots, or robot swarms, to fulfil certain complicated tasks.
• Since robot swarms may move to areas of far distance, it is important to have a pervasive networking environment for communications among robots, administrators, and mobile users
• The deployment of multiple robots in complex environments creates demands for distributed sensor networks in order to provide information and guide actions and
decisions.
HARDWARE & SOFTWARE USED• Hardware Used:• AT89S52 Microcontroller• Wireless Camera• IEEE 802.15.4 ZigBee Wireless Transceiver Module.• DC Motors• Max232• Fire fighting setup and Fire Sensor• L298 (full bridge driver circiut)
• Software Used:• Language : Embedded C• IDE : Kiel uv3 with C51 Compiler• Front End : VB 6.0 IDE
SPECIFICATION
AT89S52 MICROCONTROLLER:- • It’s a low power, high performance CMOS 8 bit microcontroller with 8 bytes of in-system programmable flash memory. • The device is manufactured using non-volatile memory technology and is compatible with the indus-try-standard 80C51 instruction set and pin out.
• The on-chip Flash allows the program memory to be reprogrammed in-system or by a conventional non-volatile memory programmer.
• The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuit.
MAX 232:-• It acts as voltage level converter.
RS-232 TTL Logic
-15V ... -3V <-> +2V ... +5V <-> high
+3V ... +15V <-> 0V ... +0.8V <-> low
• The MAX232 from Maxim was the first IC which in one package contains the necessary drivers (two) and receivers (also two), to adapt the RS-232 signal voltage levels to TTL logic. • It became popular, because it just needs one voltage (+5V) and generates the necessary RS-232 voltage levels (approx. -10V and +10V) internally. • This greatly simplified the design of circuitry. Circuitry designers no longer need to design and build a power supply with three voltages
L298(DUAL-FULL BRIDGE DRIVER) :-• The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and
PowerSO20 packages.• It is a high voltage, high current dual full-bridge driver designed to Accept
standard TTLlogic levels and drive inductive loads such as relays, solenoids, DC and
stepping motors.• Two enable inputs are provided to enable or disable the device
independently of the input signals.• The emitters of the lower transistors of each bridge are connected
together and the corresponding external terminal can be used for the connection of an external sensing resistor.
• An additional supply input is provided so that the logic works at a lower voltage.
BLOCK DIAGRAMBase station :-
ATMEL 89S52
Wireless Transceiver
Module
PC MAX 232
Network Interface
Card
BASE STATION 1
Robot Arm Set Up Model
AT89S52
MCU
Wireless Transceiver
Module
Motor 1 Base
Current Driver Circuit Unit (L298)
Motor 2 Elbow
Motor 3 Wrist
Motor 4 Holder
Motor 5 Hand
Rotation
Fire Sensor
Gas Leakage Sensor
Wireless Camera fixed with this Robot model
DC Motor Driver Circuit Unit (L298)
Motor 1 Vehicle
Motor 2 Vehicle
BASE STATION 2
DC Motor Driver Circuit Unit (L298)
Motor 1 Vehicle
Motor 2 Vehicle
AT89S52 MCU
Wireless Transceiver
Module
Fire Sensor
Gas Leakage Sensor
Relays and Switches Circuits
Fire Fighter Setup
Ultrasonic Distance
Find Sensor
ADC 0809
ADVANTAGES
• Sensor, actuator, and processor resources: emerging interfaces, protocols, and standards.
• Models for collective sensing and decentralized control in distributed robotic systems
• Modular, extensible architectures for multi-robot interaction and real-time coordination
• Communication networks and self-localization processes for robust networked operations
• Integration of intelligence into networked robots: planning, fault diagnosis, learning, etc.
• Strategies for coordination of heterogeneous robotic assets, and mixed initiative control
• Interaction of human agents with multiple robots in supervisory and physical modes
• Applications of networked robots to canonical R&D problems and benchmark results: global mapping, wide area surveillance, cooperative payload transport, etc.
• Extension of the Networked Robotics paradigm and architectures to related problems: smart structures, smart home, pervasive computing and ambient intelligence, etc.
APPLICATIONS
OUR CIRCUIT DIAGRAM
R 4
10 k
R 5
10 k
V C C
Z IG B E E C K T
12
J 6
C O N 2
V C C
P ow er S u p p ly C k t
Reset CktC lock C k t 1
234
J 8
C O N 8
P 2 . 021
P 2 . 122
P 2 . 223
P 2 . 324
P 2 . 425
P 2 . 526
P 2 . 627
P 2 . 728
R D1 7
W R1 6
P S E N29A L E / P30
TXD1 1
R XD1 0
VC
C40
GN
D20
E A / V P3 1
X11 9
X21 8
R S T9
P 0 . 03 9
P 0 . 13 8
P 0 . 23 7
P 0 . 33 6
P 0 . 43 5
P 0 . 53 4
P 0 . 63 3
P 0 . 73 2
P 1 . 0 /T21
P 1 . 1 /T2 X2
P 1 . 23
P 1 . 34
P 1 . 45
P 1 . 56
P 1 . 67
P 1 . 78
I N T01 2
I N T11 3
T01 4
T11 5
U 6
8 0 5 2
R 21 0 k
C 21 0 u f
S W 1R S w
C 1
C A P N P
C 3
C A P N P
Y 111 . 0 59 M H z
V C C
D 2 81
D I O D E
D 28 2
D I O D E
D 2 83
D I O D E
D 28 4
D IO D E
MOTOR DRIVE CIRCUIT
V IN1
V O U T3
GN
D2
U 8
7 8 H T2C 81 0 0 u f C 9
1 00 u f
R 33 3 0
D 28 5L E D
89S52 MICROCONTROLLER
12
J 9
C O N 2
V C C
V C C
V S4
I N 15
I N 27
V S S9
I N 310
I N 412
O U T12
O U T23
O U T31 3
O U T41 4
I S E N A1
I S E N B15
E N A6
E N B11
U 1 0
L2 9 8 / M U L TIH
1 2
M G 1
F R O N T L E F T
1 2
M G 2
F R O N T R I G H T
1 2
M G 3
B A C K L E F T
1 2
M G 4
B A C K L E F T
THANK YOU