A control unit in cmos technology for a mm3-sized autonomous robot designed to build a robotic swarm
- Autores: Raimon Casanova Mohr
- Directores de la Tesis: Ángel Diéguez Barrientos (dir. tes.)
- Lectura: En la Universitat de Barcelona ( España ) en 2010
- Idioma: español
- Tribunal Calificador de la Tesis: Manel Puig Vidal (presid.), Sebastià A. Bota (secret.), Carles Cané Ballart (voc.)
- Materias:
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- Resumen
Recent progresses in miniaturization of sensors and actuators have led to the first attempt to create a mm3-sized autonomous robot with sensing capabilities called I-SWARM. The robot is conceived to interact with other I-SWARM robots to build a robotic swarm. It is provided with a locomotion unit, an IR system for communicating and sensig, a contact sensor, solar cells for powering and a System on a Chip (SoC) that acts as the brain of the robot. All these components are mounted over a flexible printed circuit board, being I-SWARM a real System Package (SiP).
This thesis the SoC that control I_SWARM microrobots. This is the first reported SoC for a microrobot with capabilities of sensing, communication, data processing and decistion making. The desing of the control unit was constrained by the small dimensions of the robot and the very little avaible power. In therms of area, it was necessary to embed in an area of 2.6x2.6 mm squared, a control unit based on a 8051 processor , analog circuit as TIA's, ADC, DAC, to adapat incoming signals, a monolithic CMOS oscillator as clock source, a power on reset, an LDO to regulate the power supplied by the solar cells and an interface to reprogram optically the robot. In therms of execute plans with less than 1.5 mW. The most intensive tasks, i.e., tjose related to the management of sensors and actuators were mapped into hardware to fulfil power requirements. Reductions of 98% and 70% of the dynamic and total power consumption respectively were obtained compared to execute them by software with an 8051.
