RoboTeamRoboTeam

9/1/20119/1/2011

Preformed by:Preformed by: Costia Parfeniev, Boris PinzurCostia Parfeniev, Boris Pinzur

Supervised by: Supervised by: Kobi KohaiKobi Kohai

AgendaProject GoalsDesignZigbee™ IntroductionDetailed ArchitectureModules structure and StatusShort SummaryFuture Tasks

Project goalsDevelop a wireless communication

infrastructure among several robots for future projects.

The project will provide a simple software API for future reuse.

The design shall allow using more than 2 robots by revising the application.

Create an autonomous system of two robots.Demonstrate the ability to coordinate

movement and activity using the Zigbee™ wireless communication.

DesignUsing a standard 2 level robot base.

Which includes:Chassis2 Servo motorsWheel encoders

MSP430 as the main application processor.EZ430-RF2480 board as the communication

module.A rotating sensors turret with:

2 IR distance sensors.IR LED beacon.IR photodiode.

Zigbee ™ ExplainedThe Zigbee protocol was created for low-

power, low-resource devices, with an easy to use API.

Supports several network topologies A Zigbee network consists of a coordinator

and several routers or end devices

For example:Coordinator - BlackRouter - RedEnd Device - White

Zigbee ™ HWPC Interface:

End Device

Software/Logical structure

ApplicationRemote

Communication moduleLocal Wireless NetworkLocal Wireless Network Sensors

MotorsClose-range

communication and discovery

Physical structure part 1Zigbee board

EZ430-RF2480Zigbee board

EZ430-RF2480

CC2480 MSP430F2274

MSP430 BoardMSP-TS430PZ100

MSP430 BoardMSP-TS430PZ100

MSP430FG4618

Power Supply

MobilityMobility

Left Servo Right Servo

Right EncoderLeft Encoder

Physical structure part 2MSP430 Board

MSP-TS430PZ100MSP430 Board

MSP-TS430PZ100

MSP430FG4618

SensorsSensors

Turret Servo

Forward IR Distance Sensor

Back-Facing IR Distance Sensor

Close range DiscoveryClose range Discovery

IR LED

Forward IR PhotodiodeBack-Facing IR

Photodiode

Purpose:Establish a network between the robots. Which

will allow coordination and cooperation.Hardware:

EZ430-RF2480Software API (on the MSP430FG4619):

Functions: void initCOMM(void) void COMMresetZB(void)

void COMMsend(addr , buff, len)

Callbacks: void COMMinit(addr) void COMMrecieved(addr, buffer, length)

Remote Communication:

Status:The module is connected to the main MSP430 board.The software API is fully implemented.

Tests performed:EZ430 -> WLAN -> EZ430 -> MSP430MSP430 -> EZ430 ->WLAN -> EZ430 ->MSP430

TBD:Full MSP430 ->MSP430 test.Test the reset function.

Remote Communication

MotorsPurpose: Mobility and control infrastructure.Hardware:

2 servo motors2 encoders

Software API:MOVinit()MOVsetSpeed(speed)MOVRotate(degrees)

Status:Hardware installed.

TBD:Software API implementation.

Turret ServoPurpose:

Setting sensors azimuth.Hardware:

Servo.Software API:

TURinit()TURsetAngle(degrees)TURgetAngle()

SensorsPurpose:Discovery and distance estimation of near-by objects.

Hardware:2 IR distance sensors , mounted on a servo.

Software API:Functions:

SENinit() SENgetMeasure(sensorID)

Callback: SENmeasureRecieved(sensor ID,distance)

Status:A turret prototype is assembled.

TBD:Assemble a second turret.Integrate with the main MSP board.

Close-range DiscoveryPurpose:

Identifying near-by robots.

Hardware:Beacon - IR LED 2 IR photodiodes

Operation:The beacon will transmit the short address of the current

robotWhen the distance sensors identifies a near-by object:

Application should check if the IR photodiodes received any valid ID’s. The application should periodically transmit it’s ID.

If an ID was received the object is a robot and its Zigbee short address is the ID.

Short summaryThe architecture of the entire robot is finalized.The API of the various components is defined.The communication model is fully implemented and

undergoing testing.A first prototype is in its final stages of hardware

assembly and integration.Documentation of the communication module is done.

Development Challenges

Robots environmental orientation

IR Beacon communication

Narrow angle object detection

Demo Application definition

Future TasksImplementing the various API functions.Testing the first prototype as a system.Assembling a second robot, as a replica of the

prototype.Developing an application that will demonstrate the

robot’s capabilities.Writing a project book.

Thank you