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Multi-robot system with wireless communication network BATCH MEMBER’S K.B.KIRAN J.RAJMOHAN V.SAKTHI ANAND C.THIRUVARANGA SUBRAMANIAN GUIDED BY:R.PRIYA

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Multi-robot system with wireless communication network

BATCH MEMBER’S

K.B.KIRANJ.RAJMOHAN

V.SAKTHI ANANDC.THIRUVARANGA SUBRAMANIAN

GUIDED BY:R.PRIYA

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ABSTRACT• Networked robotics is a fast expanding area of

research integrating robotics, networking, multimedia and component-based software technologies in support of local, remote, distributed, cooperative and multi-robot system architectures and operations.

• Networked robotics is thus a new framework in which to explore and extend traditional problems in robotics, while creating important new robotics applications.

• The traditional approach to the design of robotics systems – designing an architecture that integrates sensors and actuators within a single physical platform under centralized control – is changing.

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ABSTRACT

• The emerging view, as motivated by new, larger scale applications in space, military, undersea, service, and factory floor is one in which robotic sensors, actuators, computing, and human interfaces are distributed across multiple physical robot platforms, possibly in time-delayed and/or asynchronous communications.

• There have been increasing interests in deploying a team of robots, or robot swarms, to fulfil certain complicated tasks.

• Since robot swarms may move to areas of far distance, it is important to have a pervasive networking environment for communications among robots, administrators, and mobile users

• The deployment of multiple robots in complex environments creates demands for distributed sensor networks in order to provide information and guide actions and

decisions.

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HARDWARE & SOFTWARE USED• Hardware Used:• AT89S52 Microcontroller• Wireless Camera• IEEE 802.15.4 ZigBee Wireless Transceiver Module.• DC Motors• Max232• Fire fighting setup and Fire Sensor• L298 (full bridge driver circiut)

• Software Used:• Language : Embedded C• IDE : Kiel uv3 with C51 Compiler• Front End : VB 6.0 IDE

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SPECIFICATION

AT89S52 MICROCONTROLLER:- • It’s a low power, high performance CMOS 8 bit microcontroller with 8 bytes of in-system programmable flash memory. • The device is manufactured using non-volatile memory technology and is compatible with the indus-try-standard 80C51 instruction set and pin out.

• The on-chip Flash allows the program memory to be reprogrammed in-system or by a conventional non-volatile memory programmer.

• The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuit.

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MAX 232:-• It acts as voltage level converter.

RS-232 TTL Logic

-15V ... -3V <-> +2V ... +5V <-> high

+3V ... +15V <-> 0V ... +0.8V <-> low

• The MAX232 from Maxim was the first IC which in one package contains the necessary drivers (two) and receivers (also two), to adapt the RS-232 signal voltage levels to TTL logic. • It became popular, because it just needs one voltage (+5V) and generates the necessary RS-232 voltage levels (approx. -10V and +10V) internally. • This greatly simplified the design of circuitry. Circuitry designers no longer need to design and build a power supply with three voltages

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L298(DUAL-FULL BRIDGE DRIVER) :-• The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and

PowerSO20 packages.• It is a high voltage, high current dual full-bridge driver designed to Accept

standard TTLlogic levels and drive inductive loads such as relays, solenoids, DC and

stepping motors.• Two enable inputs are provided to enable or disable the device

independently of the input signals.• The emitters of the lower transistors of each bridge are connected

together and the corresponding external terminal can be used for the connection of an external sensing resistor.

• An additional supply input is provided so that the logic works at a lower voltage.

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BLOCK DIAGRAMBase station :-

ATMEL 89S52

Wireless Transceiver

Module

PC MAX 232

Network Interface

Card

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BASE STATION 1

Robot Arm Set Up Model

AT89S52

MCU

Wireless Transceiver

Module

Motor 1 Base

Current Driver Circuit Unit (L298)

Motor 2 Elbow

Motor 3 Wrist

Motor 4 Holder

Motor 5 Hand

Rotation

Fire Sensor

Gas Leakage Sensor

Wireless Camera fixed with this Robot model

DC Motor Driver Circuit Unit (L298)

Motor 1 Vehicle

Motor 2 Vehicle

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BASE STATION 2

DC Motor Driver Circuit Unit (L298)

Motor 1 Vehicle

Motor 2 Vehicle

AT89S52 MCU

Wireless Transceiver

Module

Fire Sensor

Gas Leakage Sensor

Relays and Switches Circuits

Fire Fighter Setup

Ultrasonic Distance

Find Sensor

ADC 0809

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ADVANTAGES

• Sensor, actuator, and processor resources: emerging interfaces, protocols, and standards.

• Models for collective sensing and decentralized control in distributed robotic systems

• Modular, extensible architectures for multi-robot interaction and real-time coordination

• Communication networks and self-localization processes for robust networked operations

• Integration of intelligence into networked robots: planning, fault diagnosis, learning, etc.

• Strategies for coordination of heterogeneous robotic assets, and mixed initiative control

• Interaction of human agents with multiple robots in supervisory and physical modes

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• Applications of networked robots to canonical R&D problems and benchmark results: global mapping, wide area surveillance, cooperative payload transport, etc.

• Extension of the Networked Robotics paradigm and architectures to related problems: smart structures, smart home, pervasive computing and ambient intelligence, etc.

APPLICATIONS

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OUR CIRCUIT DIAGRAM

R 4

10 k

R 5

10 k

V C C

Z IG B E E C K T

12

J 6

C O N 2

V C C

P ow er S u p p ly C k t

Reset CktC lock C k t 1

234

J 8

C O N 8

P 2 . 021

P 2 . 122

P 2 . 223

P 2 . 324

P 2 . 425

P 2 . 526

P 2 . 627

P 2 . 728

R D1 7

W R1 6

P S E N29A L E / P30

TXD1 1

R XD1 0

VC

C40

GN

D20

E A / V P3 1

X11 9

X21 8

R S T9

P 0 . 03 9

P 0 . 13 8

P 0 . 23 7

P 0 . 33 6

P 0 . 43 5

P 0 . 53 4

P 0 . 63 3

P 0 . 73 2

P 1 . 0 /T21

P 1 . 1 /T2 X2

P 1 . 23

P 1 . 34

P 1 . 45

P 1 . 56

P 1 . 67

P 1 . 78

I N T01 2

I N T11 3

T01 4

T11 5

U 6

8 0 5 2

R 21 0 k

C 21 0 u f

S W 1R S w

C 1

C A P N P

C 3

C A P N P

Y 111 . 0 59 M H z

V C C

D 2 81

D I O D E

D 28 2

D I O D E

D 2 83

D I O D E

D 28 4

D IO D E

MOTOR DRIVE CIRCUIT

V IN1

V O U T3

GN

D2

U 8

7 8 H T2C 81 0 0 u f C 9

1 00 u f

R 33 3 0

D 28 5L E D

89S52 MICROCONTROLLER

12

J 9

C O N 2

V C C

V C C

V S4

I N 15

I N 27

V S S9

I N 310

I N 412

O U T12

O U T23

O U T31 3

O U T41 4

I S E N A1

I S E N B15

E N A6

E N B11

U 1 0

L2 9 8 / M U L TIH

1 2

M G 1

F R O N T L E F T

1 2

M G 2

F R O N T R I G H T

1 2

M G 3

B A C K L E F T

1 2

M G 4

B A C K L E F T

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THANK YOU