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Peek Bot

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Espionage Craft. Extreme Condition (Environmental) Vehicle. Artificial Intelligence Robot ... The ER21 board that will be used to receive commands, and send ... – PowerPoint PPT presentation

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Title: Peek Bot


1
Peek Bot
  • Karthik Balakrishnan, David Bauer, Siddharth
    Easwar, Sagen Johnson, Saud Khan, Vidit Nanda

Johnson
2
Possible Applications
  • Espionage Craft
  • Extreme Condition (Environmental) Vehicle
  • Artificial Intelligence Robot
  • Navigation Control System for Emergency Boats
  • Aerial Extreme Video Game

Johnson
3
Robot Control
Direction Control
Speed Control
Johnson
4
High-Level Block Diagram
Network link
Computer running Web Server
Robot
Camera Receiver
Remote Computer
Easwar
5
Robot System Block Diagram
GP2D15
ER21
GP2D15
PIC18F452
Control byte
GP2D15
Status byte
GP2D15
Robot Controller
Connection to Control Computer (802.11b/RJ-45)
Easwar
6
Hardware Robot and Sensors
Easwar
7
Hardware Microcontrollers
  • The PIC microcontroller that is used to handle
    robot movement and obstacle avoidance
  • The ER21 board that will be used to receive
    commands, and send status bytes via ethernet or
    wireless

Easwar
8
Hardware Camera and Sensors
  • X10 Camera that will send a wireless video feed
  • Sharp GP2D15 Proximity Sensor to avoid collisions

Easwar
9
Robot Control
  • 4-wire connection.
  • Duty-cycle provides variation.
  • Multiplexed directional and turning inputs.
  • Timer interrupts used to produce duty cycles.
  • Independently produced duty-cycles for turning
    and moving.

Khan
10
Proximity detection
  • Check obstacles while waiting on duty cycle.
  • Check the front three if going forward otherwise
    the check the rear sensor.

Khan
11
The Algorithm
  • If current instruction is about to cause a
    collision, change direction.
  • If/when obstacle is no longer in the way,
    reorient along original path.
  • If surrounded by obstacles, stop and send error
    code to user.

Khan
12
The Issues
  • Generic Path-planning problem.
  • Batch Instructions.
  • Sequential Execution.

Khan
13
Wireless Interface
  • PIC is interfaced to an ER21 wireless development
    kit
  • ER21 is controlled by a PIC18F452 also
  • I/O interface lines required to transmit
    information from this PIC to other PIC
  • Will be used to transmit batch instructions to
    robots PIC from user-controlled web site

Balakrishnan
14
ER21 Capabilities
  • 32 KB storage for web pages
  • IEEE 802.11b wireless PCMCIA card, supporting
    both infrastructure and ad-hoc networks
  • IP, UDP, TCP, HTTP and DHCP capability
  • Web server for easy wireless configuration
  • Uses 9 pins on PICmicro to drive wireless card

Balakrishnan
15
Web Server Configuration
Balakrishnan
16
Input Web Interface
  • Input from web interface
  • GUI
  • Human readable scripting language
  • CGI Program converts input to byte code
  • Move forward for 10 seconds -gt 0x04, 0x0A
  • Set turn right to medium -gt 0x20, 0x02

Bauer
17
Byte Code
  • Two byte instructions
  • Easy for microcontroller to decode

Example Instruction
FORWARD 1-7 0-15 Makes robot move forward at
designated speed. Upper Byte 4 Lower Byte,
Upper Nibble Speed (0-7) Lower Byte, Lower
Nibble Time (0-15)
Bauer
18
Video Feedback
  • What?
  • Why?
  • How?
  • Where?
  • When?

X10 XCam2 Model XX16A
Nanda
19
Why Wireless?
  • Because its cool.
  • PIC processing power limitations.
  • And, most importantly wires get entangled!

Nanda
20
Streaming Video
  • Have Cam -gt Web-server (WS).
  • Want Cam -gt Remote machine (RM).
  • Need WS -gt RM transmission.
  • We stream the video over Ethernet.
  • User Datagram Protocol (UDP).

Nanda
21
A Picture
  • Is worth a thousand datagrams

Nanda
22
Cost/Marketing Analysis
  • Sensors 40
  • PIC18F452 45
  • Radio Shack Robot 75
  • Wireless camera 80
  • ER21 Ethernet Kit 270
  • Conclusion Marketable to large corporations and
    the military

Balakrishnan
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