Robotics experiment 1

Dept. of Robot Engineering

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.

ZigBee Product Companies
Helicomm
MaxStream
Luxoft Labs
Crossbow Technology
Innovative Wireless Technologies

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

Range
P
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D
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a

R
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e

Closer Farther
S
l
o
w
e
r

F
a
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r

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