International Journal of Science, Engineering and Technology Research (IJSETR), Volume 3, Issue 6, June 2014

1824 ISSN: 2278 – 7798 All Rights Reserved © 2014 IJSETR

Application of MEMS in Robotics Using PSOC

Mixed Signal Array

Miss. Anjali K. Nanhey Prof. Uday A. Patil

Abstract- In industries like automobiles, huge amount of

machining is done and hence it generates large amount of

crushed iron pieces. It may get scattered on floor. Hence

periodic cleaning is required. This system is applicable for

automobile industries, where particularly large carpet

area is required for cleaning. This robot should clean the

area by moving towards user guided track. When user

changes the accelerometer position the robot gets

command and moves accordingly also system equipped

with electro magnet can collect such wastes and deposit it

at dustbin. Such iron crushes can be reused for making of

sheets by processing on it. This robotic system will

overcome the problem of limited working range and

provides high reliability using Zigbee module. This robot

will be controlled using PSOC which is advanced

integrated circuit with various features on a single chip.

MEMS application i.e. accelerometer is used to measure

the acceleration forces. So, this project is applicable to

sense the motion of robot and will work according to the

program given by PSOC.

Keywords- PSOC1 (CY3210-PSOCEVAL1), Accelerometer

ADXL335, XBEE/ZIGBEE Pro Module Transceiver,

L293D Dual H-Bridge Motor Driver, Electromagnet etc.

Nanhey Anjali Karuji M. Tech. II (Electronic Technology) Department of Technology, Shivaji University, Kolhapur, Maharashtra, India

Mob. No. 9225642707

Professor. Uday A. Patil, Department of Technology, Shivaji University, Kolhapur

I.INTRODUCTION

Robots have traditionally been put to use in

environments that are too hazardous for men. Robots also work under critical conditions, for search and rescue after

disasters. There are sound, light, magnetic field and other

sensors that help the robot make decisions by sensing

environmental data that is captured also microphones,

speakers, displays etc that help the robot interact with humans.

So, new and more intuitive ways for robot programming and

control are required. The goal is to develop methodologies that

help users to control and program a robot, with a high-level of

abstraction from the robot specific language.

We are designing a robotic system by using

accelerometer as Micro Electro Mechanical system (MEMS).

MEMS usually combine electrical properties with mechanical

structural components at the micrometer scale to produce

devices capable of performing tasks impossible using

conventional technologies. This robotic system will overcome

the problem of limited working range and provides high

reliability using Zigbee module. This robot will be controlled

using PSOC which is advanced integrated circuit with various features on a single chip. By using electromagnet periodic

cleaning is to be done.

II. BACKGROUND AND RELATED WORK

Several microcontrollers are developed for various

applications but PSOC is advanced having different core

architectures. PSoC is software configured, mixed-signal array

with a built-in MCU core. There are three different families of

devices (2012):

CY8C2xxxx series - Named 'PSoC 1' with CPU M8C

CY8C3xxxx series - Named 'PSoC 3' with CPU 8051

CY8C4xxxx series - Named 'PSoC 4' with CPU ARM

Cortex M0

CY8C5xxxx series - Named 'PSoC 5' with CPU ARM

Cortex M3

Most microcontrollers would require a number of

peripheral devices to generate the analog signals needed by the

DC motors. Programmable system- on-a-chip (PSOC),

however, provided a unique and manageable single-chip

solution [1].

For the implementation of robotic arm, PSOC controller

with hardware and system requirements are suggested in

which the movement of robotic arm in proper directions are to

be made. In such a way that the proposed system robotic

motion in X, Y and Z directions are to be implemented [2].

PSoC most closely resembles

a microcontroller combined with a PLD and programmable

analog. Code is executed to interact with the user-specified

peripheral functions (called "Components") using

automatically generated APIs and interrupt routines. PSoC

Designer for PSoC 1 and PSoC Creator for PSoC 3, PSoC 4

and PSoC 5 generate the startup configuration code. Both

integrate APIs that initialize the user selected components

International Journal of Science, Engineering and Technology Research (IJSETR), Volume 3, Issue 6, June 2014

1825 ISSN: 2278 – 7798 All Rights Reserved © 2014 IJSETR

upon the user’s needs in a Visual-Studio-like GUI. In this

robotic system, PSOC1 is used having PSOC Designer

software.

A. PSoC Designer

This is the first generation software IDE to design and

debug and program the PSoC 1 devices. It introduced unique

features including a library of pre-characterized analog and

digital peripherals in a drag-and-drop design environment

which could then be customized to specific design needs by

leveraging the dynamically generated API libraries of code

[3].

B. Need of MEMS

Micro electro mechanical systems (MEMS) (also

written as micro-electro-mechanical, Micro Electro

Mechanical or microelectronic and micro electromechanical

systems) is the technology of very small mechanical devices

driven by electricity; it merges at the nano-scale into Nano

electromechanical systems (NEMS) and nanotechnology.

MEMS are also referred to as micro machines (in Japan), or

Micro Systems Technology - MST (in Europe). It has large

bandwidth operational range, high linearity, low insertion loss,

reduced size, high shock resistance, wide temperature

operational range, low power consumption, good isolation,

low cost; MEMS switches pair the performance of

electromechanical switches with low cost and size of solid

state switches also [4],[5].

C. Communication

XBEE/ZIGBEE Pro Module Transceiver will be used

which are precisely designed for long range communications.

These modules have works up to a range of 1600 meters in

straight line or 90 meters in the urban areas and are widely

used for providing wireless end connectivity to the devices.

This product is perfect for PC to robots or robots to PC

communications and can be directly connected to the serial

port of micro controller. These are specifically designed for

high-throughput applications that require low latency and

predictable communication timings. So, ZigBee based a

wireless sensor network which reduces the stack, size and cost

of the nodes was brought down [6].

The earlier system requirement was described with

internal blocks of PSOC and its significance [7], [8].

III. HARDWARE DISCRIPTION

A. PSOC 1(CY3210-PSOCEVAL 1):

This Proposed system consists of PSOC 1 kit i.e. CY3210-

PSOCEVAL 1 kit. The CY3210-PSoCEVAL1 Evaluation Kit

demonstrates the function of PSoC 1 devices. Connect the

device to onboard peripherals such as potentiometer, LEDs,

LCD, and RS-232. The board also has additional features such

as a general prototype area (bread board) and an ISSP

programming header.

This evaluation board consists of CY8C29466 kit having

features are as follows:

Powerful Harvard-architecture processor

M8C processor speeds to 24 MHz

Two 8×8 multiply, 32-bit accumulate

Low power at high speed

Operating voltage: 3.0 V to 5.25 V

Operating voltages down to 1.0 V using on-chip

switch mode pump (SMP)

Industrial temperature range:

–40 °C to +85 °C

Advanced peripherals (PSoC® blocks)

12 rail-to-rail analog PSoC blocks provide:

Up to 14-bit analog-to-digital converters (ADCs)

Up to 9-bit digital-to-analog converters (DACs)

Programmable gain amplifiers (PGAs)

Programmable filters and comparators

16 digital PSoC blocks provide:

8 to 32-bit timers and counters, 8 and 16-bit pulse-

width modulators (PWMs) etc.

Pin configuration of CY8C29466 is as shown in

Figure 1.

Figure 1: CY8C29466 pin Configuration

B. Accelerometer:

In this project work Accelerometer ADXL335 is used.

The ADXL335 is a small, thin, low power, complete 3-axis

accelerometer with signal conditioned voltage outputs. The

product measures acceleration with a minimum full-scale

range of ±3 g. It can measure the static acceleration of gravity

in tilt-sensing applications, as well as dynamic acceleration

resulting from motion, shock, or vibration. The user selects the

bandwidth of the accelerometer using the CX, CY, and CZ

capacitors at the XOUT, YOUT, and ZOUT pins. Bandwidths

can be selected to suit the application, with a range of 0.5 Hz

to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550

Hz for the Z axis.

International Journal of Science, Engineering and Technology Research (IJSETR), Volume 3, Issue 6, June 2014

1826 ISSN: 2278 – 7798 All Rights Reserved © 2014 IJSETR

The functional block diagram of ADXL335 accelerometer is

as shown in Figure 2.

Figure 2: Functional block diagram of ADXL335

Accelerometer.

D. Zigbee Transceiver:

Zigbee pro module transceiver is as shown in

Figure 3.

Figure 3: XBEE/ZIGBEE Pro Module Transceiver

XBEE/ZIGBEE Pro Module Transceiver, which are precisely

designed for long range communications. These modules have

works up to a range of 1600 meters in straight line or 90

meters in the urban areas and are widely used for providing

wireless end connectivity to the devices. This product is

perfect for PC to robots or robots to PC communications and

can be directly connected to the serial port of micro controller.

These are specifically are designed for high-throughput

applications that requires low latency and predictable

communication timings.

IV. DESIGN

A. Block Diagram:

The block diagram using Zigbee communication

controlled with accelerometer is as shown in Figure

4.

Transmitter End:

Figure4:- Block diagram of transmitter

Receiver End:

Figure 5:- Block diagram of receiver

Based on the input codes given by the master, the slave i.e.,

the robot will behave as follows:

Moves in forward direction

Moves in reverse direction

It can take a left or right turn while moving forward

or in reverse direction

The robotic arm equipped with electromagnet can

collect iron crushes and deposit it at dustbin.

B. Circuit Diagram:

Circuit diagram of the transmitter section is as shown

in Figure 6.

Figure 6:- Circuit diagram of transmitter

International Journal of Science, Engineering and Technology Research (IJSETR), Volume 3, Issue 6, June 2014

1827 ISSN: 2278 – 7798 All Rights Reserved © 2014 IJSETR

Figure 7 shows the circuit diagram of receiver side.

Figure 7:- Circuit diagram of Receiver

V. SOFTWARE DISCRIPTION

PSOC Designer is software used for PSOC1 devices.

Figure 8 shows the design of transmitter with analog blocks.

Figure 8:- Design for transmitter in PSOC designer

UART communication is designed in PSOC designer for

receiver end, shown in Figure 9.

Figure 9:- Design for receiver in PSOC designer

VI. RESULT

This proposed robotic system will work according

to the program. when user shakes the accelerometer the robot

will move forward or reverse or left or right. In industries like

automobiles, huge amount of machining is done and hence it generates large amount of crushed iron pieces. It may get

scattered on floor. Hence periodic cleaning is required. The

robotic arm equipped with electro magnet can collect such

wastes and deposit it at dustbin.

In this application electromagnet is used rather

than permanent magnet because electromagnet has a property

that it can be demagnetized by removing the supply. So as per

our requirement, when robot will reach to dustbin the power

will be switching off and electromagnet will be demagnetized

and the crushed iron pieces will be deposited into the dustbin.

Accelerometer controlled system using Zigbee communication

with PSOC and robot after the entire setup is shown in Figure

10 and 11.

Figure10. Accelerometer controlled system using Zigbee

communication with PSOC.

Figure 11:- Top view of proposed robotic system

International Journal of Science, Engineering and Technology Research (IJSETR), Volume 3, Issue 6, June 2014

1828 ISSN: 2278 – 7798 All Rights Reserved © 2014 IJSETR

Figure 12:- LCD display of the controller gives the value

desired axes after moving accelerometer position

Figure 13:- LCD display of the controller displays the

directions with L, R, F, B, M and N (M & N for magnet

ON & magnet OFF respectively)

VII. CONCLUSION

This robot can minimize the human efforts by various

means.

Accelerometer is more intuitive and easy to work,

besides offering the possibility to control a robot by

wireless means.

Using this system, a non-expert robot programmer

can also control a robot quickly and in a natural way.

VIII. ACKNOWLEDGMENT

The author wish to thank Prof. U. A. Patil,

Department of Technology, Shivaji University

Kolhapur, for his moral support through the work.

VIX. REFRENCES

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3. Reuters: "Cypress Hits Half-Billion Mark in Shipments of

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