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TAMU CSCE 483 - wireless-proposal

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Wireless Networks for Multi-Robot CommunicationsProject PurposeWhat is a Sensor Network?Advantages of Sensor NetworksJobs of Sensor NetworkDesign ProblemExisting ImplementationsTinyOS and TinyDBRFID TagsDesign ConstraintsSlide 11Feasibility StudyPowerPoint PresentationSurvey of ProductsAmigoBotKheperaTrilobotHexapodBoebotBudgetDesign ValidationSearch and CommunicatePutting it all TogetherSlide 24ComplicationsWireless Networks for Multi-Robot CommunicationsCreating a Sensor Network of Robots.Project PurposeCreate a sensor network of robots that, together, achieve a shared goal.What is a Sensor Network?A sensor network contains multiple devices.Each device has devices on it that can sense conditions of the outside world, or sensors.Each device communicates to other devices in order to achieve a shared goal.Advantages of Sensor NetworksJobs can be complete with large numbers of units in parallelRedundancy: Each unit of the network can be destroyed with little to no damage to the network as a wholeJobs of Sensor NetworkSurveillance: Sensor network can cover a large are, and collate the data before it reaches the userSearch: Sensor networks can cover multiple parts simultaneously for quicker results.Remote Monitoring and ControlDesign Problem Develop a wireless communication network for multi-robot teams. This network, preferably made with radio frequency transceivers, plus the on board sensors of the robots themselves, will form a sensor network, in order to locate a light source.Existing ImplementationsDARPA has sponsored a project for “smart dust”: a sensor network of thousands all small enough to float in the wind, to be used for surveillance.TinyOS and TinyDBPart of the DARPA project is the creation of an embedded operating system to run units on the sensor network, called TinyOS, and a data gathering utility, TinyDBRFID TagsThese tags are small devices that transmit an ID number when hit with a radio frequency.Design ConstraintsThe project must…Maneuver around objects. Search for target.Realize it has found target.Signal other robots.Search for robot that signals.Wait for turn to communicate.Not interfere or be interfered with in terms of RF communications.Design ConstraintsThe project should…Be easy to modify system behavior.Be easy to interface.Use parts and tools readily available.Sense obstacles to avoid contact.Use small enough area to ensure the RF transmitters can reach all distances.Feasibility StudyShow the project is physically, technically, and economically feasible in the time available. Similar projects have been successfully completed.Can use past projects for guidelines and ideas. Budget is within reason.Using mature technologies such as RF and photocells. Easy to interface with robots.Timeline3 4 5 6 7 8 9 10 11 12 13 14 15 16PresentationTestingIntegrateRF SoftwareIntegrateSearching SoftwareInitial movement of BotsBuild BotsParts ListProposalWeekSurvey of ProductsAmigoBot (ActiveMedia)Khepera (K-Team)Trilobot (Arrick Electronics)Hexapod (LynxMotion)Boebot (Parallax)AmigoBotComes with battery and battery chargerComes with AmigoOS and AmigoBot User GuideGreat Indoor/Outdoor rangeComes with various packages (e.g. Wirefree)Too ExpensiveKheperaNot Enough Payload to add on RF productsShorter whiskers than BoebotLight, compact designLimited kits availableTrilobotHeaviest of all robots8 whiskers around base4 light level sensorsDigital tempature sensorEngineered for easy expansionOnce again…HexapodNever specified payloadLacking Documentation and manualsAffordable PriceBoebotComes with BasicStamp2Get Full Kit with each robot purchaseExtensive Documentation and very adaptablePrice is right!BudgetProduct Quantity PriceBoebot Full Kit 5 1145.00(w/shipping) 1157.28Transmitter (TWS-434) 5 38.25 Receiver (RWS-434) 5 38.25433 MHz Antenna 5 45.00(w/shipping) 130.84Alkaline Batteries (AA) 100.00Total Cost 1388.12Design ValidationTest servos, whiskers, photoresistors, and IR subsystem individually as outlined in Boe-Bot manualIntegrate and test servos, whiskers, photoresistors, and IR subsystemSearch and CommunicateImplement and test random search for light using single Boe-BotImplement and test patterned search for light using single Boe-BotImplement and test RF communication between two Boe-BotsDevelop, implement, and test a communication protocol for multiple Boe-BotsPutting it all TogetherCombine communication protocol with individual Boe-Bot random and pattern searchesBegin stepwise refinementDetermine which search is bestDetermine how close Boe-Bots should get to each other before moving away from each otherEnhance communication protocolProposal Choose partsOrder partsConnect servos to robotsBuild robotsGet robots movingConnect whiskersWrite and implement obstacle avoidance softwareConnect photocellsWrite and implement light sensing softwareConnect RF transmitter and receiverWrite and implement RF softwareWrite and implement networking protocolConnect IRWrite and implement IRWrite and implement object searchingWrite and implement object trackingCreate team(Optional – if time permits) Search and rescue lost robotsComplicationsTest with various objects blocking the searchTest with Boe-Bots being dynamically added and removed from the


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