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Wunderbot IV

Wunderbot IV. Autonomous Vehicle. Wireless Communication. Jeremy Crouse. Wireless Network Basics. Computers must be on same frequency Use RF signals to transmit data convert 1s and 0s into radio waves convert the radio waves back into 1s and 0s

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Wunderbot IV

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  1. Wunderbot IV Autonomous Vehicle Wireless Communication Jeremy Crouse

  2. Wireless Network Basics • Computers must be on same frequency • Use RF signals to transmit data • convert 1s and 0s into radio waves • convert the radio waves back into 1s and 0s • Collision detection is different from wired LAN • CSMA/CA • Frequency hop • reduce interference • lets multiple devices use the same wireless connection simultaneously

  3. How it works? • Sender • Data to send • Wireless adapter translates to RF signal • Transmits signal through antenna • Router • Receives data • Decodes it • Sends it via Ethernet or retransmits it to another destination (Receiver)

  4. Wireless Communication and the Wunderbot IV • Communication between the laptop and Wunderbot IV without an Ethernet tether • Better range, less cabling • Can have a remote workstation • IGVC Competition • JAUS

  5. JAUS (Joint Architecture for Unmanned Systems) • What is it? • Not hardware but software interface that the Department of Defense is working with to control unmanned systems. • Standardized messages suitable for controlling all types of unmanned systems • Uses • Reduce personnel from harmful environments • Effective for repetitive tasks • Perform impossible human tasks • Research

  6. How it works…. LabView Interface JAUS Command sent Wunderbot IV Router receives UDP Decodes Command Code 0001h: Set Component Authority Code 0002h: Shutdown Code 0003h: Standby Code 0004h: Resume Code 0005h: Reset Code 0006h: Set Emergency Code 0007h: Clear Emergency Code 0008h: Create Service Connection Code 0009h: Confirm Service Connection Code 000Ah: Activate Service Connection Code 000Bh: Suspend Service Connection Code 000Ch: Terminate Service Connection Code 000Dh: Request Component Control Code 000Eh: Release Component Control Code 000Fh: Confirm Component Control Code 0010h: Reject Component Control Code 2001h: Query Component Authority Code 2002h: Query Component Status Code 4001h: Report Component Authority Code 4002h: Report Component Status Call and Execute Robot function

  7. Interfacing • Using LabView’s functions and VI’s • UDP Send and Receive Functions • Coding a hash table

  8. Sources • http://computer.howstuffworks.com/wireless-network.htm • Comer, Douglas E. Computer Networks and Internets with Internet Applications. 4th ed. Upper Saddle River, New Jersey: Pearson Prentice Hall, 2004. • JAUS Working Group. The Joint Architecture for Unmanned Systems. Domain Model. Version 3.2, March 2005. http://www.jauswg.org/baseline/current_baseline.shtml • Lawrence Technological University. IGVC EE/ECE Design Report. April 2006.

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