1. ECE 40061 Peek Bot Karthik Balakrishnan, David Bauer, Siddharth Easwar, Sagen Johnson, Saud Khan, Vidit Nanda Johnson

2. ECE 40062 Possible Applications Espionage Craft Extreme Condition (Environmental) Vehicle Artificial Intelligence Robot Navigation Control System for Emergency Boats Aerial Extreme Video Game Johnson

3. ECE 40063 PEEK BOT PEEK TV 8 6 7 54 3 2 1 Robot Control Speed Control Direction Control Johnson

4. ECE 40064 High-Level Block Diagram Computer running Web Server Robot Network link Remote Computer Camera Receiver Easwar

5. ECE 40065 ER21 PIC18F452 GP2D15 Robot Controller GP2D15 Connection to Control Computer (802.11b/RJ-45) Robot System Block Diagram Control byte Status byte Easwar

6. ECE 40066 Hardware: Robot and Sensors Easwar

7. ECE 40067 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

8. ECE 40068 Hardware: Camera and Sensors X10 Camera that will send a wireless video feed Sharp GP2D15 Proximity Sensor to avoid collisions Easwar

9. ECE 40069 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. ECE 400610 Proximity detection Check obstacles while waiting on duty cycle. Check the front three if going forward otherwise the check the rear sensor. Khan

11. ECE 400611 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. ECE 400612 The Issues Generic Path-planning problem. Batch Instructions. Sequential Execution. Khan

13. ECE 400613 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

14. ECE 400614 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. ECE 400615 Web Server Configuration Balakrishnan

16. ECE 400616 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

17. ECE 400617 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

18. ECE 400618 Video Feedback What? Why? How? Where? When? X10 XCam2 Model XX16A Nanda

19. ECE 400619 Why Wireless? Because it’s cool. PIC processing power limitations. And, most importantly: wires get entangled! Nanda

20. ECE 400620 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

21. ECE 400621 A Picture… Is worth a thousand datagrams: Nanda

22. ECE 400622 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