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
PSOC Programmable System-on-Chip Devices" 2009.
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