1. Robotic Sensor Network Project: 04043 Sponsored By: Advisor: Dr. Jay Yang, CEManager: Steven Boughton, ME Brian Teaney, CERyan Johnson, EE Jack Tsai, EEMatt Hrivnak, IE Gregory Rosenblatt, MEShannon Buckland, ME

2. Overview Problem Statement Project Flow Chart Concept Development and Feasibility Assessment - Communications, Sensors and Locomotion - Final Recommendations Specifications and Design - Hardware - Mechanical - Electrical - Software - Movement / Sensor Sweep - Communications - Topology - Prototype Design Future Plans - Testing Schedule and Budget

3. Problem Statement To develop a robotic sensor network where sensors may communicate with neighboring sensors and move from original deployment locations to form desired network topology that offers full, energy efficient, and robust coverage. The platforms will be relatively small and lightweight. They must be able to work as a group to maximize the sensor networks life span. The end result of this project is to have a functioning group of no less then ten sensor platforms that can be demonstrated to the project sponsor: The United States Intelligence Community.

4. Project Flow Chart Conclusions 123 Locomotion Shannon Greg Sensing Jack Matt Communications Brian Ryan Project Manager Locomotion Shannon Greg Sensing Jack Matt Communications Brian Ryan 4 Initial Concepts Final Recommendations Hardware Shannon Jack Matt Software Brian Ryan Greg Objectives and Specifications Hardware Shannon Jack Matt Software Brian Ryan Greg Mechanical Electrical Movement Sensing Communications 5 Topology Final Prototype Design 6 1 2 3 Needs Assessment Concept Development Feasibility Assessment Objectives and Specifications 4 5 6 Analysis and Design Future Plans

5. Concept Development and Feasibility Assessment Responsibilities divided into 3 groups - Communication: Responsible for communication capabilities between robots - Sensors: Responsible for detecting other robots - Chassis / Locomotion: Responsible for movement and structural design Final Recommendations Concept Development And Feasibility Assessment CommunicationsSensorsChassis / Locomotion Brian Ryan Jack Matt Greg Shannon Final Recommendations

6. Communications Used to facilitate robot interaction / information exchange OptionPros:Cons: Bluetooth Low Power <$150 Proven technology Boards must be custom built 802.11b Robust Scalable Readily available Power hog Ill-suited for ad-hoc networks Infrared Inexpensive Easily implemented Must be line of sight Short range Not scalable RF Inexpensive Wide range of options No standard or proven technology to work with Smart Dust Ideal for ad-hoc networks Small footprint Proven technology Low power ~$150 Low speed μC

7. Communications MICA2DOT –Run on an Atmel ATmega128L running at 4MHz, w/ 128k of program memory. –Handles the communications and network topology. –Runs a RTOS, TinyOS. Programmed in nesC. PIC18F4320 –Up to 40MHz clock. 8k of program memory. –Will monitor the infrared sensors and control the locomotion of the robot. –Programmed either in assembly, or C (C requires a compiler, either Hi-Tec or from Microchip).

8. Sensors Needed to detect other robots and measure distance 2 Types of Sensors Infrared (IR) –Projects a beam of light, calculates distance based on return of light –Requires a clear line of sight to accurately detect something approaching –Relatively inexpensive ($10-25 U.S.) Ultrasonic (Sonar) - –Emits a signal with a very high frequency to detect objects –Easily affected by other ultrasonic sounds, i.e. “crosstalk” –More expensive (~$60 U.S.)

9. Sensors Sharp GP2Y0A02YK IR Sensor –Less influence on the color of reflected objects, reflectivity –Current required: 33mA (Always on) –Analog voltage corresponding to distance –Range: 20 to 150 cm –External control circuit unnecessary –Low cost: ~$10.25 -$15.00 U.S.

10. Chassis / Locomotion 4 Wheels - Previous Experiments Treads - Pivoting 2 Wheels - Smallest Frame 3 Wheels - Best Platform to Size Ratio 6/8 Wheels - Obstacle Avoidance Legs - Variability Used as a cornerstone to mount all components

11. Chassis / Locomotion Self BuildSumo Sumo II Super DroidTankBulldozerMMP-5 Lego CrawlerMindstorm Movement4 wheelsTreads 2 wheelsTreads 4 wheelslegsvariable Control Method Self Motion RC Self Motion RC Size (in)12x12x218x11x7small10x12x37x35.25x610x10x410x8x3variable Price$75.00$99.95$39.95$89.00$21.99$24.95$495.00$44.95$200.00 # Motors21222221variable # Batteries24222225variable Battery Size AA 6VC or AARC12V9V, AA Ease of Assembly Low High, Screw driver Only MedLowHigh MedLow Ease of Installing Project Needs Large Platform Large platform No Real Space Large Platform No Real Platform Large Platform Lack of Platform Large Platform Materialplasticmetalplasticfoamplasticwoodmetal plastic (Legos) Design Elements - Precise Pivoting - Large Platform - Power supply - Cost - Size - Relative Position

12. Final Recommendations Sensors –Sharp GP2Y0A02YK IR Sensor –Sub Price: $120.00 Communication –MICA2DOT –PIC18F4320 –Sub Price: $238.70 Chassis / Locomotion –4 wheels / stepper motors –Self build –Sub Price: $72.91 Total Price: $431.61

13. Specifications and Design Responsibilities divided into 2 groups - Hardware: Responsible for Mechanical and Electrical Design - Software: Responsible for all Robot Software and Control Final Prototype Design Specifications and Design HardwareSoftware Final Prototype Design ElectricalMechanicalSensingTopologyCommunicationsMovement Shannon Matt Jack Matt Brian RyanGreg

14. Hardware Specifications Chassis Construction Must fit within a 8”x 8”x 6” box Motor must fit within a 2” cube Overall weight not to exceed 8 lbs Design allows for quick disassembling Electrical Design Maximum current drain not to exceed 2.2 Amps Minimum battery lifetime of 30 minutes 1.5m sensing range Sufficient power to supply components

15. Mechanical Design 3 Tier Layout –Weight distribution –Location advantages –Ease of assembly –Ease of redesign Locomotion Tier A –Motors, tires, power Sensor Tier B –IR sensors (octagon) Communications Tier C –Prototype board A B C

16. Electrical Design Signal 9.6V 900mAhr 9.6V 900mAhr Voltage RegulatorMotor/Motor Driver Voltage RegulatorPIC Sensors Watch-Size Battery Communications 19.2V Wheels 12V / 5A 19.2V 5V / 0.5A 3V / 27mA Switch

17. Electrical Design Power ManagementSensors

18. Component List ItemPart NameQuantitiesVendorPriceTotal Prices SensorsSharp IR Sensor8Acroname.com$15.00$120.00 Chassis / Locomotion Shaft Coupling4In-House RIT$0.75$3.00 Motor Support4In-House RIT$1.00$4.00 Prototype Frame T/B2In-House RIT$1.50$6.00 Frame Brace2In-House RIT$0.75$3.00 Sensor Mount1In-House RIT$1.00 4-40 Machine Screws60RIT$0.01$0.60 Prototype Tires4D.C.T.$2.99$11.98 Stepper Motor4Jameco.com$6.49$25.96 Taiyo Edge™ R/C Batteries 2Rcfinders.com$10.95$21.90 Communication MICA2DOT radio1Crossbow.com$135.00 MICA PC Interface Board 1Crossbow.com$95.00 PIC Micro Controller1Digikey.com$8.70 Stepper Motor Control2Digikey.com$3.38$6.76 Prototype Board1Digikey.com$9.63 Board Design1In-House RIT$10.00 Total:462.53

19. Software Specifications MICA software written in nesC - Follow TinyOS programming conventions PIC written in assembly and/or C Design for testability Testable using hardware emulation Design for robustness and modularity Design for optimal processing speed - Robot to travel at 15 m/minute - Solve topology within 5 minutes Design with power constraints in mind - Use low power modes whenever possible

20. Movement Procedure Pulse count determination methods –Accuracy of resolution Need for delay in operation

21. Sensor Sweep Procedure Polling methods Storage of data –Error determination

22. Communications Procedure Communications layer is a finite state machine. The IDLE_STATE is the default, unless in a low power mode. While in the IDLE_STATE, the radio listens for traffic on the network. A packet handed to the state machine for transmission is sent to the TX_STATE, unless it is busy.

23. TX_STATE Diagram The TX_STATE contains its own finite state machine. Each progression to the next state consists of building up the transmission packet. A packet consists of a 5-byte preamble, a sync byte, the data (29 bytes max), and a 2-byte checksum. After transmission of the packet, the radio waits for acknowledgement from the remote.

24. Topology Formation A network topology that maximizes the efficiency of sensor scans Robots that arrange themselves to form such a topology: –Robots locate one another –A Lead robot must be determined given initial positioning –Leader assigns each robot a position in the topology –Each robot takes up formation

25. Prototype Design Prototype - Modular Design - 6.5” x 6.5” x 5” - 5.5 lbs (estimated) - Zero turning radius - Precise position control - Variable sensor load - Power management - < $500.00 Design can easily change after testing if less sensors are needed to form topology accurately

26. Total Cost Review ItemPart NameQuantitiesVendorPriceTotal Prices SensorsSharp IR Sensor8/48/80Acroname.com$15.00$120.00$720.00$1200.00 Chassis / Locomotion Shaft Coupling4/24/40In-House RIT$0.75$3.00$18.00$30.00 Motor Support4/24/40In-House RIT$1.00$4.00$24.00$40.00 Prototype Frame T/B2/12/20In-House RIT$1.50$6.00$36.00$60.00 Frame Brace2/12/20In-House RIT$0.75$3.00$18.00$30.00 Sensor Mount1/6/10In-House RIT$1.00 $6.00$10.00 4-40 Machine Screws60/360/600RIT$0.01$0.60$3.60$6.00 Prototype Tires4/24/40D.C.T.$2.99$11.98$71.88$119.80 Stepper Motor4/24/40Jameco.com$6.49$25.96$155.76$259.60 Taiyo Edge™ R/C Batteries 2/12/20Rcfinders.com$10.95$21.90$131.40$219.00 Communication MICA2DOT radio1/6/10Crossbow.com$135.00 $810.00$1350.00 MICA PC Interface Board 1Crossbow.com$95.00 PIC Micro Controller1/6/10Digikey.com$8.70 $52.20$87.00 Stepper Motor Control2/12/20Digikey.com$3.38$6.76$40.56$67.60 Prototype Board1Digikey.com$9.63 Board Design1/6/10In-House RIT$10.00 $60.00$100.00 Total:462.53$2252.03$3683.63 Total Number of Robots:1610

27. Future Plans / Schedule