This PPT gives information about: 1. Introduction to Architecture and features of 8051 Microcontrollers.. 2. Specifications (with package detail), Instruction set / Bus architecture, RAM, FLASH, UART and other peripherals, Interrupts, timer, Counters,.. 3. Software: Writing C programs, Compiling, Linking and Simulating these programs, bootloader, burning the hex file in Rom of Microcontroller.

2. Introduction to RoboticsIntroduction to Robotics
MicrocontrollerMicrocontroller

3. Laboratory workLaboratory work
• Mobile robot and the use of 8051 (or the
ROM-less version 8031)
• free project
o Various robots: robot soccer, legged robots..
o graphic card
o DSO
o temperature control
o legged robot
o windows programming interfaces
o etc.

4. Descriptions of theDescriptions of the
Interfacing techniquesInterfacing techniques
• Microprocessors systems
o memory interface
o IO interface
• hardware interfacing
• software control
• signal processing

5. Overview of the robotOverview of the robot
• Sensory:
o Sensor 1: ultra-sonic sensors
o Sensor 2: touch sensors
o Sensor 3: range proximity sensors
o Sensor 4: Path following sensors
o Sensor 5: Sound sensors
• Wheels and gear box, Dc motor control
o Speed control by photo interrupters
• Brain: 8031 basic
• Intelligence
• Power supply

6. Diagram of the robot structureDiagram of the robot structure
•
8031CPU
& 8255
PC
RS232
Motor
Controller
ULS radar
on servo motor
forward
Touch sensor
Right
wheel
Rear wheel

7. Our robot carOur robot car
•

8. Sensory organsSensory organs
• Ultra-sonic radar
o Transmitter
o receiver
• touch sensors by switches
• Approximate sensors by infrared red light
• Path following sensors
• Sound sensors
• Don’t worry about the following circuits they
will be explained later.

9. SensorsSensors
• Primary
o Infrared beacons
o Infrared range detectors
o Ultrasonic range detectors
• Secondary
o Momentary contact sensors
o Reed switches
o Mercury switches
o Others …

10. Mindstorms on the NetMindstorms on the Net
• Excellent facility to
overcome any
obstacles that may be
encountered
• Common questions
answered
• Program tuition
• Additional products
introduced

11. Touch and light sensorsTouch and light sensors
• Very easy to
assemble
• Very sensitive to
external stimuli

12. Rotation andRotation and
temperature sensorstemperature sensors
• Temperature
sensor would
be of
particular use
in conducting
potentially
dangerous
science
experiments
via robotics

13. Robotic Command ExplorerRobotic Command Explorer
• RCX
• program
downloaded via
infra red beam
• 3 output terminal-
used for motors
• 3 in/out terminals
for touch, light,
temperature
sensors

14. My modelMy model
• Lego construction
enjoyable, however
the integration of the
motors seemed a little
difficult in terms of
design
• The motors should
snap together

15. It worksIt works

16. Using both sensorsUsing both sensors

17. How the “Find”How the “Find”
Command SimulatorCommand Simulator
WorksWorks
• Running RCX Program as a Metaphor for
Execution of “Find” Command (Search Engine
query).
• Physical Environment as Database Table.
• Obstacles Within Environment as Records in
Database Table.
• Touch Sensors Locate Incorrect Records

18. How the “Find”How the “Find”
Command SimulatorCommand Simulator
WorksWorks
4. Light Sensor Locates Correct Record.
5. On Retrieval of Correct Record, “Find” Output
Delivered on Screen via Infra-Red Message to
Second RCX

19. How the “Find”How the “Find”
Command SimulatorCommand Simulator
WorksWorks
6. Motors Off to Signify End of Search.
7. Correct Record Not Found Within 30 Seconds =
Search Timeout/ End of File.

20. Disadvantages/LimitatioDisadvantages/Limitatio
ns of Lego Mindstormsns of Lego Mindstorms
Criticism: Aurally-impaired Users or Users without a
Soundcard excluded from Software Tutorial.
Recommendation: Voice-over should be
accompanied by additional sub-titled Text.
Criticism: No Obvious Means of Skipping Tutorial
results in many Users going through Process each
time Software is installed
Recommendation: There should be better
Signposting of “Skip Tutorial” Option.

21. Disadvantages/LimitatioDisadvantages/Limitatio
ns of Lego Mindstormsns of Lego Mindstorms
Criticism: There is more Emphasis on Mechanical Skills
than is Necessary for our Purpose, although this in itself is
not a bad thing.
Recommendation: For Non-Engineering Students, a Pre-
Assembled Model might be of more Use.
Criticism: If one uses the Software Guide without having
IR transmitter connected to PC, one is forced to exit the
Application.
Recommendation: Independence of Software Guide & IR
Transmitter/ RCX.

22. Disadvantages/LimitatioDisadvantages/Limitatio
ns of Lego Mindstormsns of Lego Mindstorms
• Criticism: Difficulty in identifying where Process is failing, e.g., whether it is
Software or Hardware-related
• Recommendation: Debugger tool should be included in Package.
• Criticism: Conflict between Interrupt Handlers means that event-oriented
Program will not run.
• Recommendation: Better Troubleshooting for Programming (as opposed
to Construction).
• Criticism: Built-in Obsolence.
For Example: Rubber-Bands last an average of 5 Minutes, therefore, after
one has run out of the supply included in the kit, it is no longer possible to
test.

23. Advantages of LegoAdvantages of Lego
MindtoolsMindtools
Easy Introduction to Computer Programming.
Opportunity to show abstract Concepts in
concrete Form.
Opportunity for Multi-Faceted Learning, e.g.,
Programming/ Mechanics/ Engineering/ etc.

24. Advantages of LegoAdvantages of Lego
MindtoolsMindtools
Instructions are self-explanatory, logical and
intuitive.
Positive Feedback provided throughout Tutorial
which is encouraging for the Beginner.

25. Program screenshotProgram screenshot
Example of
one Program
that didn’t
work because
of conflict
between
stacks

26. Academic EvaluationAcademic Evaluation
• Excellent means of introducing
basic programming concepts
such as loops, nested loops and
conditional statements, in an
environment where effects on
an end product can easily be
viewed
• Excellent teaching tool for In/
Out devices and interfacing
• Robotics is put easily within the
grasp of a teenager
• The integration of both
software and hardware gives a
very balanced education
• The complementary
relationship between hardware
and software can be seen at a
glance, as opposed to the
traditional approach of
introducing both as separate
disjointed topics in IT

27. UltrasoundUltrasound
• ~40Khz
• Time of Flight
• Depending on sensor,
o return analog waveform
o Return time until first peak
• Hard to resolve small detail
• Multipath
Small detail hard to resolve
Multipath can fool you!

28. Ultrasonic RangeUltrasonic Range
DetectorsDetectors
• Devantech SRF04 Ultrasonic
Rangers
o One per team (more upon request)
• To detect and object
o Modulated (40kHz) ultrasound energy is
emitted from one of the transducers
o The bursts reflect off an object and
return to the second transducer
o The sensor outputs the time of flight

29. Ultrasonic RangeUltrasonic Range
DetectorsDetectors
0
1
2
3
4
5
6
0 10 20 30 40
Distance to reflected object (in)
EchoPulseWidth(ms)
0
2
4
6
8
10
12
14
16
0 2 4 6 8 10
Distance to reflected object (ft)
EchoPulseWidth(ms)

30. Ultrasonic RangeUltrasonic Range
DetectorsDetectors
7.5
7.1
7.1
7.4
6.0
5.2
5.2
9.0
9.0
3.8
3.8
4.4
1 ft
0.9
0.2
1.8
0.9

31. Ultrasonic RangeUltrasonic Range
DetectorsDetectors
• Noise
o Relatively stable readings especially between 1ft to 6ft
o Readings for larger distances are less consistent but averaging or
median filtering can help
o Beam spread is significant
• Sampling
o Can reasonably acquire 20-30 samples per second
• Uses
o Long range obstacle mapping
o Distance to target measurements

32. Research BackgroundResearch Background
Today, many dangerous chemicals are produced
and transported. There is a need to detect the
emission of these chemicals in case of chemical
accidents or fires.
Hence, a gas sensor system for detection of these
hazardous compounds has been developed.

33. System ConstructionSystem Construction
Amplifier
Circuit
D/A
Converter
Gas SensorA/D
Converter
Robot
① ②
③
④⑤ ⑥

34. Gas SensorGas Sensor
SpecificationsSpecifications

35. Basic Measuring Circuit:Basic Measuring Circuit:
Ps = (Vc - VRL)² / Rs
Rs = (Vc - VRL) RL / VRL
The value of VRL should be
chosen to keep Ps <=15mW

36. Infra-red Proximity detector circuitInfra-red Proximity detector circuit
fromfrom Mobile RobotsMobile Robots by Jones,AK Petersby Jones,AK Peters•
LED1
LED2
LED1 and LED2 can be controlled independently
by IO pins PD2 and PD3 respectively

37. Motion controlMotion control
• Power the wheels
o Power method 1: Mechanical relay
o Power method 2: Single direction Power Transistor
o Power method 3: Dual direction H-bridge circuits
• Speed control
o Speed control 1: pulse code modulation
o Speed control 2: by photo interrupters and
Feedback
o Optic isolation
• legged robot by servo motors

38. Power method1: Direct Current DCPower method1: Direct Current DC
(1A) motors by mechanical relay(1A) motors by mechanical relay
•
DC motor
Mechanical relay
Current
driver
e.g.
ULA2001A
TPIC2701 or ULN2001A from Texas instrument
http://www.ti.com/sc/docs/psheets/abstract/datasht/slis019a.htm
8255

39. Power method 2: Direct CurrentPower method 2: Direct Current
DC(1A)motors by transistor (one direction)DC(1A)motors by transistor (one direction)
• Using a single power transistor
High power
resistor
5 Ω, 5W
DC motor
560Ω, 1W
5V
From 8255
output
TIP3055
+
-
Current
driver
or optical
isolator

40. Power method 3: Direct Current DCPower method 3: Direct Current DC
motors by H-bridge transistormotors by H-bridge transistor
circuit (Two-direction)circuit (Two-direction)
• JP11 -> Motor
• Forward : A=1, B=0
• Backward:A=0,B=1
• Stop :A=B
5V
GND
A
B
motor

41. Our robot carOur robot car
•

42. IR photo interrupterIR photo interrupter
circuitcircuit
5V
indicator
GND output

43. Registers for motorRegisters for motor
controlcontrol
• L=left, R=right
• M=motor,
• E=enable,
• D=direction
• RCT, right counter
• LCT, left counter
• VRM, valid right turns
• VLM, valid left turns
R0
0 1 2 3 4 5 6 7
RME
RMD
LME
LMD
R1
R2
VRM
VLM
RCT(0,1,2,3) LCT(0,1,2,3)

44. Precise speed control byPrecise speed control by
feedbackfeedback
• Set RCT(0,1,2,3) ,LCT(0,1,2,3) to specify the number of turns of
the wheels.
• Set RME, LME to start move motors; directions depend on
RMD, LMD
• VRM,VLM will be reset to 0.
• The photo interrupters signals from the left/eight wheels will
increment the internal wheel counters.
• When the wheels make the correct number of turns specified
by RCT(0,1,2,3) and LCT(0,1,2,3), VRM, VLM will be set to 1
respectively.

45. Positional control: Servo motors:Positional control: Servo motors:
e.g. Futaba FP-S148 RCe.g. Futaba FP-S148 RC

46. The brainThe brain
• 8031 system and the Basic Language
o 8031, memory and io interfaces
o LCD display
o counter and serial link
o Infrared red light serial link
• Other micro-controller and application languages
• Lego Mindstorms http://www.legomindstorms.com/

47. Intelligence and openIntelligence and open
questionsquestions
• Seeing
• Thinking
• path finding
• Environment representations
• Automatic recharge of battery

48. conclusionconclusion
• We will build a mobile robot and learn interfacing
techniques along the way
• We will build intelligence software for the robot to
learn more about machine intelligence

49. Lightning Sensor
Operation:
• Stripline antenna detects EM radiation
• Induced current excites base of transistor
• Current from 9V battery is allowed to flow through IR emitter
• IR detector (diode) passes lightning detection to serial port
Ω
Ω
Ω
Ω
100µF

50. Lightning Sensor
• Interfaced to a PC by a serial port by:
- an Infra Red emitter/detector.
- a high level programming language such as C
- Data collection in a file.

51. Lightning Sensor
• Serial Communications Interface:
Software Design:
- proposed an efficient interface algorithm in C
language for “carrier=lightning” detection.
- tested for desired port signals.

52. Optical Sensor Goals
 Educate children about the components of
visible light
 Detect relative levels of red, blue, and green
light
 Develop a future UV sensor from this
design for invisible light

53. Optical Sensor Description
 A plastic box coated with silver chrome
spraypaint
 Each detector opening covered with a
bandpass color filter
 Level of color indicated by LED array (0
least – 10 most)

54. Visible Spectrum

55. Emission Spectrum of Sunlight

56. Technology
 Circuit Diagram for each sensor

57. Actual Circuits on Inside

58. WATER GARDENWATER GARDEN
• Project Goal:
This project is a continuation from last semester in
which the goal is to create a sound-pleasing
environment for the Rainforest Room by
constructing a running waterfall

59. Project ApproachProject Approach
• Meet with project partner
o Discuss goals, guidelines, funding, deadlines, etc…
• Visit HHES rainforest room
• Brainstorm ideas
o Pond shape and size, waterfall height, fountain possibilities

60. Project Approach, Cont.Project Approach, Cont.
• Initial sketches drawn in design notebooks
• Complete, detailed drawing, including bill of
materials, presented to project partner for approval

61. Rendered DrawingRendered Drawing

62. Water GardenWater Garden
ConstructionConstruction
• Building began with frame construction using
aluminum studs
• Fountain was enclosed with plywood as a medium
to attach cedar shakes
• Top was water-sealed, plastic pond was inserted,
and top fountain was placed

63. Construction, cont…Construction, cont…
• Rocks, Live Plants, and Decorations Were Added for
a Realistic Touch to the Rainforest theme
• Construction is Complete!!!

64. Project FinalizationProject Finalization
• Water Garden Dedication at HHES with Parents,
Students, and Faculty
• Introduction of Aquatic Life
• Final Meeting with Project Partner to give
instructions for the future

65. WatergardenWatergarden

66. DVE InformationDVE Information
• Basics of Digital Video: Key terms and
technologies:
o Codec
o Bandwidth
o Compression
o Keyframe, etc.
• Why are these important?
• What systems engineering implications do
they hold?

67. TV AccomplishmentsTV Accomplishments
• Create compilation of Digital Video Editing
information
• Research different DVE hardware and software
packages
• Demonstrate possible use of target package

68. DVE PackagesDVE Packages
• Sample Hardware:
• RealMagic Digital Video Recorder (MPEG 2), $999
• Allows native MPEG 2 compression and editing
• High quality, but high price*
• Pinnacle Studio DC10 Plus, $178
• Lower price, but lower quality
• System requirements eased
• Pinnacle miroVideo DC30 Pro, $589
• Middle-of-the road performance
• Good Price-to-Quality ratio
• Units differ primarily in compression and
bandwidth.
*
Low-end professional suites cost approx. $15,000

69. Distribution andDistribution and
ArchivingArchiving• Tape
• Still most universal way of watching a video tape.
• Most cards allow output from computer to tape.
• CD-ROM (650 MB)
• Store as data files
• Store as MPEG 1 Video CDs (VCD)
• DVD (5.2 GB)
• DVD-RAM
• DVD-R

70. DVE SoftwareDVE Software
• Adobe Premiere
• “The Standard”
• Strong collection of very powerful tools
• Avid Cinema
• Basic tools
• Lack of flexibility and user power

71. Recommended SystemRecommended System
• Pinnacle miroVideo DC30 Pro
• Adobe Premiere
• CD-ROM / Video Tape

72. TV AccomplishmentsTV Accomplishments
• Create compilation of Digital Video Editing
information
• Research different DVE hardware and software
packages
• Demonstrate possible use of target package

73. Demonstration ofDemonstration of
TechnologiesTechnologies
• Produced, in collaboration with Rainforest Room Team to
document the construction of the water garden
• Captured and edited using recommended platform (in
EPICS Software Lab)
• Allowed demonstration of package’s capabilities

74. Other SensorsOther Sensors
• Other sensors we have:
o Momentary contact sensors - Bump sensors
• Other possibly useful sensors:
o Mercury switches - Tilt of see-saw robot
o IR Beam - Detect presence of target
o Whiskers, bumpers …

75. Team MembersTeam Members
• Professor Nyenhuis
• TA: Saba Anvery
• Web Page Team
o Andrew Offenbacher
o Tim Halligan
o Imad Hussain
o Amir Hossein Sayah-
Sina
o Wei Bin Teah
• RainForest Room
o William Gockley
o Rachel Lehman
o Corey Manley
o Shane Ryckeart
• TV station
o Bryan Choong
o Rusty Papsdorf
o Pranesh Thirukkonda
o Ming Hin Yap

76. ThankThank You !!!You !!!
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