A.U.R.A.S

Autonomous Ultrasonic Robot

for Area Scanning

Project Presentation

ECE 511

Fall 2014

George Mason University

12/05/2014

Group: 2

Team Members:

Devaraj Dhakshinamurthy

Krishna Nikhila Kalinga

Gagandeep Singh Bamrah

Ankita Pandey

Motivation

•To build a robot that could utilize

various exciting features of MSP430

microcontroller.

•To develop a cost effective robot that •To develop a cost effective robot that

could also be useful in a real life

scenario.

•To design a robot that could operate

in autonomous mode in addition to

the manual mode

Obstacle avoidance using

ultrasonic sensors mounted

on the front end

Ability to operate in

autonomous mode

Features Overview

Autonomous mode is

activated through

voice commands

Can be controlled through

push buttons (Manual mode)

A wireless camera is attached in

the front which enables the robot

to act as a source of real time

surveillance

BLOCK DIAGRAM 1

(Handheld Controller)

BLOCK DIAGRAM 2

(A.U.R.A.S)

Hardware Components List

Ultrasonic sensor

Geared

Motors

Push buttons and LED’s

MSP430F5529

L293D IC

Voice

Recognition

Module

Wireless camera

Transmitterand Receiver

RF link

Encoder

HT12E

And

Decoder

HT12D

Hardware Schematic Diagram for Handheld

Controller

Hardware Schematic diagram for A.U.R.A.S

Hardware Description

1.MSP430F5529

• Ultra low power microcontroller

• Supply voltage : 3.6Volts

• Provides maximum code efficiency

through the following features:

� 16 bit powerful RISC C.P.U.

� 16 bit registers

� 16 bit timers, 63 I/O pins

� 25Mhz of clock frequency

� 128KB of programmable memory

Hardware Description

2. Ultrasonic Sensor

HC-SR04 Ranging Detector Mod

Distance Sensor

Purpose: To detect the obstacles

• There are 4 pins in the module:

VCC, Trig, Echo, GNDVCC, Trig, Echo, GND

• Power supply: 5V DC,

• Ranging distance : 2cm~400 cm

• Resolution: 0.3 cm

• Trigger is connected to P8.1 and

echo is connected to P8.2MSP 430

P8.1 P8.2

WORKING OF ULTRASONIC SENSOR

Formula used:

Distance (obstacle from the robot) = Time (from trigger to echo pin= high) x speed

of sound m/s)/ 2

Hardware Description3.L293D

Purpose: Current amplifier for MSP430 for

driving geared motors

• One L293D motor driver is used

• The two H-bridges of L293D are

connected to two motors at the rear end

Inputs from Microcontrollers:

M1-B =P2.4 M1-A =P1.5M1-B =P2.4 M1-A =P1.5

M2-B =P1.4 M2-A =P1.3

Enable Pins:

1-2 EN

3-4 EN

Output to 2 Motors:

1Y,2Y

4Y,3Y

GND-4,5,12,13 connect to microcontroller

ground

Directly connected to 5V

Software description

3.L293D

DIRECTION P2.4 P1.5 P1.4 P1.3

UP HIGH LOW HIGH LOW

DOWN LOW HIGH LOW HIGH

RIGHT LOW LOW HIGH LOW

LEFT HIGH LOW LOW LOW

STOP LOW LOW LOW LOW

Hardware Description

4.Geared Motors

Purpose: Two wheel rear end drive

• Operating voltage : 3Volts -12 Volts DC

• Operates at 170 RPM

• Torque: 800 g*cm at 3 volts

INTERFACE:

Pins 3, 6, 11, 14 of L293D

Hardware Description

5. Voice Recognition Module V2.0

Purpose: (Handheld controller), To

control the robot through voice

commands.

UART 2

•The voice recognition module

interacts with MSP430 via UART

interface

• 5V power supply is taken for the

V2 voice recognition module

directly from the MSP430.

MSP430

UART 1

UART 2

Used for Debugging

Software Description

5. Voice Recognition Module V2.0

• Command AA37 is used to initialize the voice

recognition module to compact mode

• AA21 command is used to import group 1 of the

modulemodule

UART 2

Explore

Look

Stop

MSP430Hexadecimal data

Range: 0x11-0x15

Hardware Description

6.Push buttons and LED’s

PURPOSE: (Handheld Controller), used as a

joystick to control the robot

•Six Momentary Tactile Tact Push buttons

are used

•Each button has four pins out of which two

P2.3

P2.6

MSP430

•Each button has four pins out of which two

are internally shorted

•0.1µf capacitors are connected across the

push buttons to provide hardware de-

bouncing

•2mm LED’s are connected across buttons

to signify which the button is pressed

P3.0

P3.1

P8.1

P8.2

Software Description

6. Push buttons and LED’s

P2.3

P2.6

MSP430 Push button

1 pressed

P2.6

P3.0

P3.1

P8.1

P8.2

Hardware Description

7. Transmitter and Receiver

P1.2

P3.7

MSP430

A.U.R.A.SP1.2

P1.3

MSP430

Handheld

Controller

Parallel data

from MSP430

Transmitter transmits the data

serially at 315 MHz which is

received by the receiver.

Encoder HT-12E

converts parallel data

to serial from

P3.7

P4.0

P4.3

Decoder HT-12D

decodes serial data to

parallel form

P1.3

P1.4

P1.5

• Operating voltage Tx and Rx : 3V-12VDC

• Range of transmitter: 500m

Software Description

7. Transmitter and Receiver

COMMAND EN1/DE1 EN2/DE2 EN3/DE3 EN4/DE4

MANUAL HIGH LOW LOW HIGH

AUTO MODE HIGH HIGH HIGH HIGH

UP HIGH LOW LOW LOW

RIGHT LOW HIGH LOW LOW

DOWN LOW LOW HIGH LOW

LEFT LOW LOW LOW HIGH

EXPLORE HIGH HIGH LOW HIGH

LOOK HIGH HIGH HIGH LOW

STOP HIGH HIGH LOW LOW

Hardware description

8. Wireless camera

The wireless camera is

mounted on the robot that

enables it to capture the

visuals of its surroundings, so

that the robot can be

efficiently used for theefficiently used for the

surveillance purpose.

UNSECURE

RF

CHANNEL

SHORT

CIRCUIT

IN L293D

CHALLENGE

EFFECT

CHALLENGES FACED

INTERFERENCE IMPROPER

MOTOR

FUNCTIONING

MAKE USE OF MAKE USE OF

ENCODER AND

DECODER

ISOLATE THE

SHORT CIRCUIT

EFFECT

SOLUTION

Lessons Learned

• If something is malfunctioning , check for

short circuits.

• Sometimes the module itself does not work.• Sometimes the module itself does not work.

• One cannot power all the devices through

MSP430 alone.

Results

• The A.U.R.A.S is built as per the proposal.

• The robot moves forward in response to thepush buttons or voice commands.

• Effectively detects the obstacles through• Effectively detects the obstacles throughultrasonic sensor, stops at distance of 20cmfrom the obstacle and turns right.

• It can effectively explore the area by capturingthe visuals on the way through a wirelesscamera.

Improvements Possible

• High torque motors can be used.

• Claw and other accessories can be used to improve the robot functionality.

• A camera that can provide a 360 degree view can • A camera that can provide a 360 degree view can be used.

• Voice processing can be used instead of voice recognition.

� For noisy environment

� Speaker independent

APPLICATIONS

FIRST RESPONSE UNIT FUN TOY

ROBOTIC SOLDIERROBOTIC SOLDIER

Source: www.policemag.com Source: www.strangehorizons.com

DEMONSTRATIONDEMONSTRATION

THANK YOU