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

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

ECE PEEK BOT PEEK TV Robot Control Speed Control Direction Control Johnson

ECE High-Level Block Diagram Computer running Web Server Robot Network link Remote Computer Camera Receiver Easwar

ECE ER21 PIC18F452 GP2D15 Robot Controller GP2D15 Connection to Control Computer (802.11b/RJ-45) Robot System Block Diagram Control byte Status byte Easwar

ECE Hardware: Robot and Sensors Easwar

ECE 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 Hardware: Microcontrollers Easwar

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

ECE 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

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

ECE 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

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

ECE 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 robot’s PIC from user-controlled web site Balakrishnan

ECE ER21 Capabilities 32 KB storage for web pages IEEE b 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

ECE Web Server Configuration Balakrishnan

ECE Input: Web Interface Input from web interface –GUI –Human readable scripting language CGI Program converts input to byte code “Move forward for 10 seconds” -> 0x04, 0x0A “Set turn right to medium” -> 0x20, 0x02 Bauer

ECE Byte Code Two byte instructions Easy for microcontroller to decode 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) Example Instruction: Bauer

ECE Video Feedback What? Why? How? Where? When? X10 XCam2 Model XX16A Nanda

ECE Why Wireless? Because it’s cool. PIC processing power limitations. And, most importantly: wires get entangled! Nanda

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

ECE A Picture… Is worth a thousand datagrams: Nanda

ECE 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