roboBAN: A Wireless Body Area Network for Autonomous Robots

Lukas Gisin, Hans Dermot Doran, Juan-Mario Gruber

Abstract

In this paper we describe a Wireless Body Area Network (WBAN) designed and implemented for an autonomous robot. We concentrate in particular on the ultra-low power radio aspects. We compare and contrast standard and proprietary solutions before deciding on a proprietary radio SoC in the 2.4 GHz. band. We describe the protocol implementation and tests on both a test jig and on the robot itself at sampling rates of up to 1 kHz. and conclude that the principle of a robot based WBAN works well. We also show that the proposed WBAN is suitable for connection by nodes employing energy harvesting.

References

  1. ASL, 2015, Autonomous Systems Lab, “Multi-Purpose Legged Transporter,” StarlETH fact sheet, November 2015.
  2. BSIG, 2015, Bluetooth special interest group (SIG), Specification adopted documents, “Bluetooth Core Specification 4.2,” 2015, [Online]. Available: https://www.bluetooth.org/en-us/specification/adopted -specifications [Accessed: November 12, 2015]
  3. Bynam, K. Hong, Y.J. Nair, J. Thejaswi, C. Jos, S. Park, C. et al., 2013,“Samsung's Physical Layer Proposal,” Proposal as response to IEEE TG4q call for proposals, November 2013.
  4. Chen, M. Gonzalez, S. Vasilakos, A. Cao, H. Leung, V.C.M. 2011 „Body area networks: A survey,” Mobile Networks and Applications, vol. 16, no. 2, pp. 171- 193, April 2011.
  5. CHERRY switches, 2015, “Wireless Switches - Generator,” AFIG and AFIM Series data sheet, April 2015.
  6. Devita, G. Wong, A.C.W. Dawkins, M. Glaros, K. Kiani, U. Lauria, F. et al., 2014 “A 5mW multi-standard Bluetooth LE/IEEE 802.15.6 SoC for WBAN applications,” European Solid State Circuits Conference (ESSCIRC), ESSCIRC 2014 - 40th, pp. 283-286, September 2014.
  7. Dynastream Innovations, 2014, “ANT USB dongle”, ANTUSB-m Stick data sheet, rev. 1.7, July 2014.
  8. H. Cao, V. Leung, C. Chow and H. Chan, 2009, “Enabling technologies for wireless body area networks: A survey and outlook,” IEEE Communications Magazine, vol. 47, no. 12, pp. 84-93, December 2009.
  9. Hutter, M. Gehring, C. Bloesch, M. Hoepflinger, M.A. Remy C.D. Siegwart, R. 2012, “StarlETH: A compliant quadrupedal robot for fast, efficient, and versatile locomotion,” Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR) 2012 - 15th, pp. 1-8, April 2012.
  10. IEEE, 2005, “Local and metropolitan area networks - Part 15.1: Wireless medium access control (MAC) and physical layer (PHY) specifications for wireless personal area networks (WPANs),” IEEE Standard 802.15.1, June 2005.
  11. IEEE, 2011, IEEE 802.15 Task Group 6, 2015, “IEEE 802.15 WPAN Task Group 6 (TG6) - Body Area Networks,” rev. 0.4, June 2011, [Online]. Available: http://www.ieee802.org/15/pub/TG6.html [Accessed: April 24, 2015]
  12. IEEE, 2012, “Local and metropolitan area networks - Part 15.6: Wireless Body Area Networks,” IEEE Standard 802.15.6, February 2012.
  13. IEEE, 2013, IEEE 802.15 Task Group 15.4q, “IEEE 802.15 WPAN Ultra Low Power Task Group 15.4q Ultra Low Power (ULP),” 2013, [Online]. Available: http://www.ieee802.org/15/pub/TG4q.html [Accessed: November 12, 2015]
  14. Insteon, 2005 “Insteon: The details”, Insteon white paper, rev. 2, 2005.
  15. Microsemi, 2013, “Ultra-Low-Power RF Sub-GHz Transceiver (779 to 965 MHz),” ZL70251 data sheet, rev. 2, October 2013.
  16. Movassaghi, S. Abolhasan, M. Lipman, J. Smith D. Jamalipour, A. 2014, “Wireless body area networks: A survey,” IEEE Communications Surveys & Tutorials, vol. 16, no. 3, pp. 1658-1686, August 2014.
  17. Nordic Semiconductors, 2015a, info center, “Enhanced shockburst user guide,” 2015, [Online]. Available: http://infocenter.nordicsemi.com/index.jsp?topic=%2F com.nordic.infocenter.sdk51.v10.0.0%2Fesb_users_gu ide.html&cp=4_1_0_5_2 [Accessed: November 12, 2015]
  18. Nordic Semiconductors, 2015b, info center, “Gazell link layer user guide,” 2015, [Online]. Available: http://infocenter.nordicsemi.com/index.jsp?topic=%2F com.nordic.infocenter.sdk51.v10.0.0%2Fgzll_02_user _guide.html&cp=4_1_0_5_0 [Accessed: November 12, 2015]
  19. Nordic Semiconductors, 2015c, “nRF52832 product page,” 2015, [Online]. Available: https://www.nordic semi.com/eng/Products/Bluetooth-Smart-Bluetoothlow-energy/nRF52832 [Accessed: November 13, 2015]
  20. Nordic Semiconductors, 2015d, “nRF52832 Errata v1.1”, nRF52832 errata, rev. 1.1, November 2015.
  21. Opto Force, 2015, “3D force sensor (OMD),” 2015, [Online]. Available: http://optoforce.com/3dsensor [Accessed: November 16, 2015]
  22. Raemy, N. Pengg, F.-X. Scolari, N. Vouilloz, A. 2014, “icyTRX-65, a 2.4 GHz Silicon RF IP Optimized for Low-power Bluetooth Low Energy,” CSEM Scientific and Technical Report 2014, p. 127, 2014.
  23. Sigma Designs, 2013, “General Purpose Z-Wave SoC,” SD3502 data sheet, rev. PMB12376, December 2013.
  24. Texas Instruments, 2013, “2.4 GHz IEEE 802.15.4 / ZigBee-ready RF Transceiver,” CC2420 data sheet, rev. SWRS041c, February 2013.
  25. Ullah, S. Higgins, H. Braem, B. Latre, B. Blondia, C. Moerman I. et al., 2010, “A comprehensive survey of wireless body area networks,” Journal of Medical Systems, vol. 36, no. 3, pp. 1065-1094, August 2010. 2.4 GHz (ISM) 3 278402 , 278426 , 278480 MHz Fixed (1 - 2 - 3) 20 ms 0 … 10 ms 2 Mbps 160 us
  26. IEEE 802.15.6
  27. Narrow Band 2.4 GHz (ISM) 3 278407 , 278422 , 278474 MHz
  28. Random (6 possible combinations) 1 ms 0 … 255 us 2 Mbps 64 us
Download


Paper Citation


in Harvard Style

Gisin L., Doran H. and Gruber J. (2016). roboBAN: A Wireless Body Area Network for Autonomous Robots . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 49-60. DOI: 10.5220/0005968700490060


in Bibtex Style

@conference{icinco16,
author={Lukas Gisin and Hans Dermot Doran and Juan-Mario Gruber},
title={roboBAN: A Wireless Body Area Network for Autonomous Robots},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={49-60},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005968700490060},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - roboBAN: A Wireless Body Area Network for Autonomous Robots
SN - 978-989-758-198-4
AU - Gisin L.
AU - Doran H.
AU - Gruber J.
PY - 2016
SP - 49
EP - 60
DO - 10.5220/0005968700490060