System Design

Example -1

Requirements
Ocean parameter monitoring The system is made-up of two different systems sea-floor observatory a swarm of floating drogues

Data collected is transferred to a base-station on the ocean coast. Two different systems together do a complete 3D monitoring of the ocean column close to the coast

Specifications - drogue swarm

Drogue Swarm

Specifications Drogue
Drogues are free-floating underwater devices that operate autonomously& collaborate thro an acoustic underwater network buoyancy controlled acoustically tracked equipped with sensors for data collection part of an ad hoc network for relaying data to surface stations for analysis

Specifications Drogue - Movement

Buoyancy control allows the drogues to collect data from various depths in the ocean Propulsion is not needed as the drogues will be moving wit Buoyancy control is via CO2-pressurized neoprene bladder Stabilization of depth - via feedback - a servo-motor for small changes in buoyancy volume and compression/bleed valve for large changes in buoyancy Valve can be open/closed to varying degrees using stepper motor

Specifications Drogue Commn & Network

Data collected - transmitted acoustically using a self-organizing UAN to basestation Formation& Maintenance of UAN - network protocol stack - resident in the flash memoryprotocol stack is minimalistic Communication - acoustic modems at a maximum data rate of 4800 baud Communication Range is 250m Acoustic modem is interfaced via UART interface

Specifications Drogue -Sensors

Flourometers - for studies needing chlorophyll concentration data. Output Voltage 0-5.0 VDC Response Time 0.1 sec. Accuracy 0.02 g/l

Specifications Drogue Sensors

Dissolved oxygen Measurement range 120% of surface saturation in all natural waters, fresh and salt Initial accuracy 2% of saturation Typical stability 0.5% per 1000 hours Output signal
Option 1: 0 - 5 VDC Option 2:Frequency 4 -20KHz

Specifications-Drogue Sensor
Salinity
Output is analog varies between 4 20 mA output

pH
Output varies between 4 -20 mA

Specifications Drogue Sensor

Turbidity sensors Maximum Depth
Stainless-Steel Body: Titanium Body: 500 m 1500 m

Drift: less than 2% per year Maximum Data Rate: 10 Hz Optical power: 2000 W Turbidity Accuracy: 2% of reading or 0.5 NTU

Specifications Drogue Sensor

2.5 Output Option
Output Voltage = 0 to 2.5 V over selected NTU range Supply Voltage = 5 to 15 Vdc

Current Drain = 15 mA

5 Output Option
Output Voltage = 0 to 5 V over selected NTU range Supply Voltage = 5 to 15 Vdc Current Drain = 15 mA

20 Output Option
Output Voltage = 4 to 20 mA over selected NTU range Supply Voltage = 9 to 15 Vdc Current Drain = 45 mA

System Block Diagram

Depth Sensor Buoyancy Control

Activate Sensors

Timer

Protocol Stack

Transceiver

Hardware Block Architecture

Sensor CPU

Buoyancy Control

Memory

Timer Commn Interface

8051
8-bit CPU optimized for control applications Extensive Boolean processing 64K Program Memory address space 64K Data Memory address space 32 bidirectional & individually addressable I/0 Two 16-bit timer/counters Full duplex UART 6-source/5-vector interrupt On-chip clock oscillator

Port 0
VCC VSS

Port 2 Port 2 ROM PAR

Port 0

RAM P0 Latch P2 Latch

ACC

SP

TMP2
PSEN ALE EA RST

TMP1

SFR Int,Serial and Timer Blocks

Buffer PC incr PC DPTR

ALU PSW

XTAL1 XTAL2

Inst Reg Timing& Control OSC

P1 Latch

P3 Latch

Port 1 Port 1

Port 3
Port 3

Commn Interface
UART UART of 8051
Mode 0 Mode 1 Mode 2 Mode 3

Programming Serial I/f

SCON - $98

FE/SM0

SM1

SM2

REN

TB8

RB8

TI

RI

PCON - $87
SMOD1 SMOD0 POF GF1 GF0 PD IDL

Framing Error Detection

Provided for the three asynchronous modes
Rx checks incoming data frame - valid stop bit
noise on the serial lines from simultaneous transmission by two CPUs

No valid stop bit - FE bit is set Once set- only s/w or reset can clear FE Subsequently rxed frames - valid stop bits cannot clear FE bit

Baud Rate
Baud Rate Selection
BDRCON BDRL

1.048 MHz

CLK DB0 DB7 AD0 AD1 AD2

P0
P2.0 P2.1 P2.2 EI0 P2.3

IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

Analog

I/ps

VREF+ VREFVcc GND

5V 0V Supply

P2.4
P2.5

EO C OE SOC ALE ADC 0808

Servo motors
Servo motors - electromechanical actuators Do not rotate continuously like DC/AC/ stepper motors Used to position & hold some object Used where continuous rotation is not Most common use is to position the rudder of aircrafts and boats Futaba S3003 Servo

Servo Motor Control

RED Positive supply 4.8v to 6v BLACK GND WHITE Control Signal. Frequency 50 Hz Control using pulse width
0.388ms = 0 degree 1.264ms = 90 degrees (neutral position) 2.14ms = 180 degrees

Stepper Motor Control

Allegro 5804 B Translator + Driver
Clock input maximum of 5 KHz - rotating the motor Translated into steps by the circuit available in the translator in the chip The direction of the steps either in clockwise/ anti-clockwise One Allegro 5804 chip can drive two stepper motors

Timer
Data acquiring Data Communication Servo Motor Stepper Motor

Timer Function Enable

Tosc /12 Tx

Timer
1 C/T TMOD

EIx

or
GATE
TMOD TRx TCON

Timer- Modes of Operation Mode 0

1 MHz

THx[8]

TLx[5]

TFx

3906.25 Hz
Mode 1

122.07 Hz

Timer Interrupt

1 MHz

THx[8]

TLx[8]

Timer TFx Interrupt

3906.25 Hz

15.259 Hz

Timer- Modes of Operation

Mode 2 1 MHz
TLx[8]

TFx

Timer Interrupt

3906.25 Hz
THx[8]

Mode 3

1 MHz

TL0[8]

TF0

Timer Interrupt0

3906.25 Hz 1 MHz
TH0[8]
TF1

Timer Interrupt1

3906.25 Hz

Input Capture CLK n-bit 000A 0005 Counter H H Capture 000A 0005H Reg H

EDGB:EDGA PT Edge Detector

CF

CI

Interrupt Logic

Interrupt Request

Output Compare
CLK n-bit counter

Reset/Continue/Stop on Match OL0 OL1 CF PTx Logic

PT

n-bit comparator

Match Reg

CI

INT Logic

Interrupt

SPI
Full-duplex, three-wire synchronous transfers Master or Slave operation Eight programmable Master clock rates Serial clock - programmable polarity & phase Master Mode fault error flag with MCU interrupt capability Write collision flag protection

Acoustic Modem

3.0 3.1

0.0 0.7
1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7

Stepper Motor Servo Motor

MISO SCL

DB0 DB7 CLK

MOSI

SPI

2.0
2.1 2.2 2.3 2.4 2.5 2.6 2.7

AD0 AD1 AD2 OE SOC ALE

EOC 0808

24M

X1 X2

supply

8051ED2