Presentation is loading. Please wait.

Presentation is loading. Please wait.

Driving microrobots with SCuM: Single-Chip µicro Mote

Published byPhebe Shanna Holt Modified over 6 years ago

Similar presentations

Presentation on theme: "Driving microrobots with SCuM: Single-Chip µicro Mote"— Presentation transcript:

1 Driving microrobots with SCuM: Single-Chip µicro Mote
David Burnett UC Berkeley EE290G, Fall 2016 Collaborative project with Dr. Osama Khan, Filip Maksimovic, and Brad Wheeler Image from

2 Controlling a robot: from my macrorobotics past

3 Controlling a robot Energy Command Translation Control input Motors

4 Controlling a robot Energy Command Control input Translation Motors
Feedback

5 Oscillatoria bonnemaisonii
2.4GHz Receiver 2.4GHz Transmitter Support Electronics Cortex M0 Processor Completed Aug 2mm x 2mm Microrobot Control pads

6 Estimated overall performance
wireless data 670uA 2.4GHz receive 1mA 2.4GHz transmit 125uA 5MHz, 1V 64 KB IMEM, 64 KB DMEM, 16 KB ROM ~22uA sleep current 3uA central clock 19uA digital leakage

7 Where could this go? Lower VDD, adjustable clock speed, selectively power areas of the chip, use low-leakage memory 100x better leakage, ~2x better active power VDD = 0.39V, fclk = 688kHz

8 4x 1V electrostatic control outputs for 1 leg
Microrobot Control pads 4x 1V electrostatic control outputs for 1 leg 2x digital leg position sensors w/ resistive pull-up Program load Reset, status outputs, power 60x60um pads, 80um pitch Total chip 2mm wide Command Translation Motors Feedback

9 Hani Gomez, prepublication

10 Daniel Contreras, MARSS 2016
5mm Daniel Contreras, MARSS 2016

11 Daniel Contreras, MARSS 2016

12 High-voltage solar cells
1V signal 2.4GHz wifi SCuM High-voltage switches Normally 1V signal 4x Electrostatic gap closers 2x inchworm motors 1x robot leg Grounding Contact Grounding Contact

13 Add-ons Dedicated robot leg feedback controller
Say "go" and turn off the microprocessor Drive slower when running low on energy Smarter position sense besides contact Level detection Fall over and ask, "Are you still there?" Command specificity & verification Robot IDs, encrypted communication channel Antenna

14 RF integration 1x1cm antenna? 2.4GHz RF input 2.4GHz RF output
Daniel Contreras, MARSS 2016 1x1cm antenna? 2.4GHz RF input 2.4GHz RF output Hani Gomez, prepublication Keysight Technologies

Download ppt "Driving microrobots with SCuM: Single-Chip µicro Mote"

Similar presentations

HARDWARE Rashedul Hasan..

HARDWARE Rashedul Hasan..
Robotics Club, Snt Council2 The 3 Schools of Robotics: Mechanical Design – Types of motors – Material selection –

Robotics Club, Snt Council2 The 3 Schools of Robotics: Mechanical Design – Types of motors – Material selection –
PERFORMANCE MEASUREMENTS OF WIRELESS SENSOR NETWORKS Gizem ERDOĞAN.

PERFORMANCE MEASUREMENTS OF WIRELESS SENSOR NETWORKS Gizem ERDOĞAN.
EML 2023 – Motor Control Lecture 4 – DAQ and Motor Controller.

EML 2023 – Motor Control Lecture 4 – DAQ and Motor Controller.
ELECTRICAL. Circuits Outline Power Hub Microcontroller Sensor Inputs Motor Driver.

ELECTRICAL. Circuits Outline Power Hub Microcontroller Sensor Inputs Motor Driver.
EUT 1040 Lecture 10: Programmable Logic Controllers.

EUT 1040 Lecture 10: Programmable Logic Controllers.
Implement a 2x2 MIMO OFDM-based channel measurement system (no data yet) at 2.4 GHz Perform baseband processing and digital up and down conversion on Nallatech.

Implement a 2x2 MIMO OFDM-based channel measurement system (no data yet) at 2.4 GHz Perform baseband processing and digital up and down conversion on Nallatech.
Integrated  -Wireless Communication Platform Jason Hill.

Integrated  -Wireless Communication Platform Jason Hill.
Die-Hard SRAM Design Using Per-Column Timing Tracking

Die-Hard SRAM Design Using Per-Column Timing Tracking
The Solar Tracker. Solar Tracking Project Team Members: –Cristian Ruvalcaba –Ken Seal –David Clark –Mark McKinley –Richard DeJarnatt.

The Solar Tracker. Solar Tracking Project Team Members: –Cristian Ruvalcaba –Ken Seal –David Clark –Mark McKinley –Richard DeJarnatt.
Computer Control. Computer Control Basics Input – (Sensors) Processing – (Black Box) Output – (Actuators)

Computer Control. Computer Control Basics Input – (Sensors) Processing – (Black Box) Output – (Actuators)
Tracking Rover Team Rubber Ducky Alex Chi Joshua Rubin Alexander Starick Ryan Ramos.

Tracking Rover Team Rubber Ducky Alex Chi Joshua Rubin Alexander Starick Ryan Ramos.
RF Wakeup Sensor – On-Demand Wakeup for Zero Idle Listening and Zero Sleep Delay.

RF Wakeup Sensor – On-Demand Wakeup for Zero Idle Listening and Zero Sleep Delay.
Engineering 1040: Mechanisms & Electric Circuits Fall 2011 Introduction to Embedded Systems.

Engineering 1040: Mechanisms & Electric Circuits Fall 2011 Introduction to Embedded Systems.
1 EE 587 SoC Design & Test Partha Pande School of EECS Washington State University

1 EE 587 SoC Design & Test Partha Pande School of EECS Washington State University
Introduction to Robotics Principles of Robotics. What is a robot? The word robot comes from the Czech word for forced labor, or serf. It was introduced.

Introduction to Robotics Principles of Robotics. What is a robot? The word robot comes from the Czech word for forced labor, or serf. It was introduced.
Open and Closed Loops Standard Grade Computing Studies.

Open and Closed Loops Standard Grade Computing Studies.
Computer Basics An overview of computer hardware ICT Tools: Computer Basics.

Computer Basics An overview of computer hardware ICT Tools: Computer Basics.
Flow sensor circuitry Eduard Stikvoort 00/1A The work was done in Philips Reaearch Eindhoven.

Flow sensor circuitry Eduard Stikvoort 00/1A The work was done in Philips Reaearch Eindhoven.
CPU (CENTRAL PROCESSING UNIT): processor chip (computer’s brain) found on the motherboard.

CPU (CENTRAL PROCESSING UNIT): processor chip (computer’s brain) found on the motherboard.

Similar presentations

Ads by Google