Yeungnam Univ. 6. Communication 1. Introduction 2. Mechanical Design 3. Electronic Design 4. Sensor Control 5. Motor Control 6. Communication 7. Navigation 8. SLAM 9. Multi robots
6.1 Introduction 6.2 Bluetooth 6.3 ZigBee 6.4 WiFi How to build a mobile robot ZigBee Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication 6.3 Zigbee What is ZigBee? Technological Standard Created for Control and Sensor Networks Based on the I EEE 802.15.4 Standard Created by the ZigBee Alliance
The ZigBee Name Named for erratic, zig-zagging patterns of bees between flowers Symbolizes communication between nodes in a mesh network Network components analogous to queen bee, drones, worker bees
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Actual training Model (H-Mote)
<gateway> <sensors>
Specifications CUP is 8MHz TI MSP430 controller Radio Transceiver is CC2420 chip(2.4GHz) / data transmission rate is maximum 250kbits/sec. Interface is USB thus, data transmission is quite fast and easy. Sensor board has light, temp, mic, ultrasonic thus it is easy to connect to MSP430/ADC(0~7)
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee: a general-purpose, inexpensive, self-organizing, mesh network that can be used for industrial control, embedded sensing, medical data collection, smoke and intruder warning, building automation, home automation, etc. a protocols which is intended for use in embedded applications requiring low data rates and low power consumption.
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication The ZigBee Alliance is an association of companies working together to enable reliable, cost-effective, low-power, wirelessly networked, monitoring and control products based on an open global standard. It is a suite of high level communication protocols using small, low- power digital radios based on the IEEE 802.15.4 standard for wireless personal area networks (WPANs). It is targeted at RF applications that require a low data rate, long battery life, and secure networking, and intended to be simpler and cheaper than other WPANs such as Bluetooth. It operates in the industrial, scientific and medical (ISM) radio bands; 868 MHz in Europe, 915 MHz in the USA and 2.4 GHz in most jurisdictions worldwide. Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Introduction The IEEE 802.15.4 standard was completed in May 2003. The ZigBee specifications were ratified on 14 December 2004. The ZigBee Alliance announced public availability of Specification 1.0 on 13 June 2005. Much research is still going on with ZigBee.
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Why ZigBee ? #1 - Low Cost Allows addition of wireless to any price product #2 - Ease of Deployment Mesh networking overcomes line-of-sight fears #3 - Multi-source Products Not betting on a single company #4 - Battery Operation Allows products to be un-tethered from power cords #5 Large network orders (< 65 k nodes) Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee Network Configuration (Source: http://www.embedded.com/) How ZigBee Works Topology Star Cluster Tree Mesh Network coordinator, routers, end devices Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication The concept of the ZigBee network topology Topologies are supported by ZigBee: star, mesh, and cluster tree. Star topology is most useful when several end devices are located close together so that they can communicate with a single router node. That node can then be a part of a larger mesh network that ultimately communicates with the network coordinator. Mesh networking allows for redundancy in node links, so that if one node goes down, devices can find an alternative path to communicate with one another. Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication How zigbee works? ZigBee basically uses digital radios to allow devices to communicate with one another. A typical ZigBee network consists of several types of devices. A network coordinator is a device that sets up the network, is aware of all the nodes within its network, and manages both the information about each node as well as the information that is being transmitted/received within the network. Every ZigBee network must contain a network coordinator. Full Function Devices (FFD's) support all of the 802.15.4 functions. They can serve as network coordinators, network routers, or as devices that interact with the physical world. The Reduced Function Device (RFD), which usually only serve as devices that interact with the physical world.
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication
the software Network, Security & Application layers Brand management IEEE 802.15.4 the hardware Physical & Media Access Control layers
IEEE 802.15.4 & ZigBee In Context PHY 868MHz / 915MHz / 2.4GHz MAC Network Star / Mesh / Cluster-Tree Security 32- / 64- / 128-bit encryption Application API ZigBee Alliance IEEE 802.15.4 Customer Silicon Stack App Source: http://www.zigbee.org/resources/documents/IWAS_presentation_Mar04_Designing_with_802154_and_zigbee.ppt Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication The 802 Wireless Space Source: http://www.zigbee.org/en/resources/ Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Wireless communication technology Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee is a home-area network designed specifically to replace the proliferation of individual remote controls. ZigBee was created to satisfy the market's need for a cost-effective, standards-based wireless network that supports low data rates, low power consumption, security, and reliability. How ZigBee Works States of operation Active Sleep Devices Full Function Devices (FFDs) Reduced Function Devices (RFDs) Modes of operation Beacon Non-beacon Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Wireless technology comparison chart Market Name Standard ZigBee TM 802.15.4 Wi-Fi TM
802.11b Bluetooth TM 802.15.1 Bandwidth 250kbps Up to 54Mbps 1Mbps Battery life(days) 10 1,000 0.5 - 5 1 - 7 Network size unlimited 32 7 Stronghold Long battery life, low cost, reliability High data rate. flexibility Cost , convenience Transmission range(meters) 1-100 1-100 1-10 Application Focus Monitoring and Control Web, Email, video Cable Replacement Source: http://www.eetimes.com/design/embedded/4006430/Home-networking-with-Zigbee Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication What Does ZigBee Do? Designed for wireless controls and sensors Operates in Personal Area Networks (PANs) and device-to-device networks Connectivity between small packet devices Control of lights, switches, thermostats, appliances, etc.
Example of ZigBee home automation Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Wireless Sensor (and Actuator) Networks Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Lights and Switches Source: ZigBee Specification Document Zigbee sensor Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Slide Courtesy of ZigBee Mesh Networking Source: http://www.zigbee.org/en/resources/#SlidePresentations Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Slide Courtesy of ZigBee Mesh Networking Source: http://www.zigbee.org/en/resources/#SlidePresentations Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Slide Courtesy of ZigBee Mesh Networking Source: http://www.zigbee.org/en/resources/#SlidePresentations Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Slide Courtesy of ZigBee Mesh Networking Source: http://www.zigbee.org/en/resources/#SlidePresentations Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Slide Courtesy of ZigBee Mesh Networking Source: http://www.zigbee.org/en/resources/#SlidePresentations Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Academic Research Research in ZigBee is being conducted in different fields: Wireless and sensor networks Wireless communications Neuroengineering
ZigBee Products Development Kits Sensors Transceivers Modules
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Current ZigBee Uses Environmental Monitoring Agricultural Monitoring Home Automation Still on Horizon
Product Applications Road map products-tracking Consumer electronics PC Personal and healthcare Commercial and residential control
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Source: http://jobscochin.com Operation of ZigBee: operate in the 2.4GHz band or the 868MHz and 915MHz ISM (industrial, scientific and medical) bands used in Europe and the US respectively. Data rate: 250kbps at 2.4GHz (compared to Bluetooth's 1Mbps) and 20-40kbps in the lower frequency bands. Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee is the most popular industry wireless mesh networking standard for connecting sensors, instrumentation and control systems. is an industry standard supported by multiple solution providers. ZigBee solutions: relatively inexpensive because several suppliers have already implemented ZigBee-based ICs and modules in anticipation of high volumes for a standard solution. offer users independence from any one supplier because one companys ZigBee networking solution can be substituted for anothers. In theory, a ZigBee application deployed in a location can use other existing ZigBee nodes in that location to extend its range and improve its communication reliability. delivers solid wireless connectivity for sensors and actuators in applications that can need the general benefits of mesh networking (i.e., coverage and reliability) at a reasonable price and tolerate ZigBees limitations in mesh size, power consumption, node-to-node range, and master-oriented operation.
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee operates in two main modes: non-beacon mode and beacon mode. Beacon mode is a fully coordinated mode in that all the device know when to coordinate with one another. In this mode, the network coordinator will periodically "wake-up" and send out a beacon to the devices within its network. This beacon subsequently wakes up each device, who must determine if it has any message to receive. If not, the device returns to sleep, as will the network coordinator, once its job is complete. Non-beacon mode is less coordinated, as any device can communicate with the coordinator at will. However, this operation can cause different devices within the network to interfere with one another, and the coordinator must always be awake to listen for signals, thus requiring more power. In any case, ZigBee obtains its overall low power consumption because the majority of network devices are able to remain inactive over long periods of time. Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication A comparison between ZigBee and bluetooth Protocol ZigBee uses basic master-slave configuration suited to static star networks of many infrequently used devices that talk via small data packets. This aspect suits ZigBee to building automation and the control of multiple lights, security sensors and so on. Bluetooth is more complex because it's geared towards handling voice, images and file transfers in ad hoc networks. Bluetooth devices can work peer-to-peer and support scatternets of multiple smaller non- synchronized networks (piconets). The protocol, however, only allows up to eight slave nodes in a basic master-slave piconet set- up. Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication The main features of zigbee: Dual PHY (2.4GHz and 868/915 MHz) Data rates of 250 kbps (@2.4 GHz), 40 kbps (@ 915 MHz), and 20 kbps (@868 MHz) Optimized for low duty-cycle applications (<0.1%) CSMA-CA channel access Yields high throughput and low latency for low duty cycle devices like sensors and controls Low power (battery life multi-month to years) Multiple topologies: star, peer-to-peer, mesh Addressing space of up to: 18,450,000,000,000,000,000 devices (64 bit IEEE address) 65,535 networks Optional guaranteed time slot for applications requiring low latency Fully hand-shaked protocol for transfer reliability Range: 50m typical (5-500m based on environment)
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Characteristics of ZigBee Low data rate A higher data rate is not always better, depending on the requirements of the application. For a given transmitter power, higher data rate can be achieved by sacrificing range or range can be increased by using a lower radio channel data rate Low latency When a ZigBee device is powered down, it can wake up and get a packet across a network connection in around 15 milliseconds. A Bluetooth device in a similar state would take around three seconds to wake up and respond. A sensor in an industrial plant needs to get its messages through in milliseconds. Low power consumption ZigBees reliance on a central mains-powered controller minimizes the power consumption of the nodes. They will only need to turn on when they want to transfer data. There is a beacon scheme that the master uses to define slots. The nodes can then wake up, listen, synchronize to a slot and send data back. It reduces the time that the outlying nodes need to be on for. Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication Wireless network technology
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UWB Wireless Data Applications Sources: WRH + Co Wireless Video Applications IrDA 802.11g 802.11b 802.11a 2.5G/3G Bluetooth ZigBee Wireless Sensors Wireless Networking Wi-Fi Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee application
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication ZigBee application
Robotics experiment 1 Dept. of Robot Engineering Yeungnam Univ. 6. Communication References [1] http://www.ZigBee.org [2] Designing with 802.15.4 and ZigBee, Presentation Slides, available on ZigBee.org [3] ZigBee Tutorial, http://www.tutorial-reports.com/wireless/zigbee [4] IEEE 802.15.4 Specification [5] Network Layer Overview, Presentation Slides, Ian Marsden, Embedded Systems Show, Birmingham, October 12th, 2006, 064513r00ZB_MG_Network_Layer_Overview.pdf, available on ZigBee.org [6] Designing a ZigBee Network, Presentation Slides, David Egan, Ember Corporation, ESS 2006, Birmingham, 064516r00ZG_MG_Network_Design.pdf, available on ZigBee.org [7] ZigBee Architecture Overview, Presentation Slides, Oslo, Norway June 2005, ZigBee_Architecture_and_Specifications_Overview.pdf, available on ZigBee.org [8] Low Power Consumption Features of the IEEE 802.15.4/ZigBee LR-WPAN Standard, http://www.cens.ucla.edu/sensys03/sensys03-callaway.pdf [9] ZigBee Home Automation Mobile from Pantech, http://www.i4u.com/article2561.html