Final Year Project Spec 06/07 FPGA-based Wireless Robotics Controller for Evolutionary Design

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24 Νοε 2013 (πριν από 3 χρόνια και 11 μήνες)

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Final Year Project Spec 06/07

FPGA
-
based Wireless Robotics Controller for Evolutionary Design


This project will be based within the Bio
-
Inspired research group. The focus of this
group is to develop novel applications and methods for electronic circuit de
sign based
on ideas and concepts found in nature. The focus of this project will be to develop a
wireless interface between a 68HC11
(Handy board)
microcontroller and
a Virtex II
pro FPGA containing a PPC processor. The objective of this project is the cre
ate a
fully autonomous robot that is controlled by an evolved controller
implemented in a
Xilinx V
irtex II
Pro FPGA.


A previous final year project within the group has developed an “embedded plat
form
for intrinsic evolution”. It

is proposed th
at this proj
ect should
extend the on
-
chip logic
to interface with a radio packet modem

for robot control
.

The embedded intrinsic evolution system should be integrated with the wireless
controller to allow evolution of a wireless robotic controller.

T
he final year pro
ject titled “bio
-
inspired evolution of robot controller circuits” has
put in place
an octobot robot and handyboard
-
based
robotic
controller
platform
. This
work also describes

elements of an
evolved robot controller.


wireless link between the robot and de
sktop PC

wireless link between the VII pro and PC.

VII pro and robot wireless link


Prerequisites for this project include a very strong understanding Assembly Language,
C and VHDL programming. A good knowledge of computer architecture would also
be adva
ntageous.


Key Activities/ Milestones


Pass:

-

Develop good understanding of project goals

o

Octobot FYP,
Shane Lynch

FYP

-

Achieve a high level of familiarity with Xilinx Platform Studio (EDK)

o

Complete Xilinx tutorials to implement basic function interfacing
t
o/from LEDs, switches, Serial port/terminal (also requires C
programming)

-

Commission Octobot and 2005/2006 project functionality

-

Prepare detailed block diagram of system elements and their function

and
project phases

a.

Hardwired communication between PowerPC

(on Xilinx VII Pro) and
PC host

i.

Complete
EDK tutorial

ii.

Host PC control of
XUP board LEDs
, LCD

iii.

XUP switch control of Host

b.

Communication between PC and Octobot

i.

Commission handy board and master Interactive C

ii.

Host control of Handyboard LEDs, LCD and motors

iii.

Communicate handyboard sensor data to PC

c.

Wireless communication
between
PC
and
Octobot

i.

Select and integrate a suitable wireless communications device

ii.

Repeat b.ii and b.iii functions

d.

Wireless communication between PowerPC (on Xilinx VII Pro) and
PC host

i.

Re
peat a.ii and a.iii functions

e.

C
ommunication between PowerPC (on Xilinx VII Pro) and Octobot

i.

Hardwired : repeat b
.ii

and b.ii

functions

ii.

Wireless : repeat e.i functions


H2.2

-

Complete a
-
e project elements
and implement all functions


H2.1

-

Design a test strat
egy for the VII Pro / Octobot system using wireless
communications

-

Implement a maze strategy using the developed system (programmed on PPC)


H1.1 (Lower)

-

Introducing evolution elements into system

-

Review existing related research

-

Integrate VII design with
existing intrinsic evolution design

-

Implement the evolved controller area


H1.1 (Higher)

-

Demonstrate fully autonomous evolved robot controller

-

Prepare draft paper on work.