Ambassador Assisting Robot for Armstrong Hall RoScoE: Robot of the School of Engineering
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Transcript of Ambassador Assisting Robot for Armstrong Hall RoScoE: Robot of the School of Engineering
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Ambassador Assisting Robot for Armstrong Hall RoScoE:Robot of the School of Engineering
Senior Project PresentationHarrison Billmers
Mike DiMeoAndrew Specian
Advisors: Dr. Yunfeng (Jennifer) WangDr. Orlando Hernandez
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Design Objective
Background: Tours of Armstrong are vital in recruitment… it Can Be Extended Multimedia DisplayInsight into Facilities and CapabilitiesObjective: Design a collaborative robotic platform to aid in recruitment.
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Ambassador Assistant
Hello My Name Is
RoScoE
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Design Requirements and Features
Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable
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Assisting Robot Functions
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Safety Standards
Robot Safety:◦OSHA[1]- Robotics
Awareness Barrier Device Presence Sensing Devices Emergency Braking Audible/Visual Warning Controls that initiate power or motion are
constructed and guarded against accidental operation.
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Evaluate Work Environment
RIA: Collaborative Robotic Standards
http://www.plantengineering.com/industry-news/top-stories/single-article/safety-and-control-in-collaborative-robotics/6fec60e21f303fa660c81bb2584236f8.html
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Tour Safety
Shared Space Safety◦Stop motion in shared space◦Plan tour positions with safety in mind
RWal
l
RA
A
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Tour Planning
Key points Undergraduate
Institution. Wide variety of research
and design projects More ideal classroom
size (18-24 students) Interdisciplinary projects MUSE Program State of the art
equipment
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Mike
Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable
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Wheel Arrangement
Hilare-type configurationForward/Reverse direction functionality0o turning radiusStability during operation
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Motor Selection
102 lb-ins torque94 RPMMax speed of 6 ft/s13.98 A, 12V 19.1:1 gear reductionWeigh approximately 14 lbs.
Dayton 1Z831 Gearmotor
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Frame Design
Aluminum 6063 T-6 Tubing6061-T6 PlatesTotal height of 4.5 ftLow center of massVertical HDPE shelf
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Body AppearanceMori, M.; MacDorman, K.F.; Kageki, N., "The Uncanny Valley [From the Field]," Robotics & Automation Magazine, IEEE , vol.19, no.2, pp.98,100, June 2012
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Senior Project II
Dolly systemImplementing vibration isolation to
electronicsMounting of arms and headDesign and manufacture of exterior body
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Gantt Chart
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Andrew
Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable
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Arm Design Considerations
DoFsActuation TypeMaterial Selection
[1]
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Arm Degrees of Freedom
Human Ambassador: 5Average Conducting Robot: 2-3Conduction Robot Exception: 4
Decision: 3
• Most Ambassador Arm Motions• Reduce Weight• Extra Servos• Power Consumption
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Final Selection
Figure 1: Three arm positions with DOF points displayed.
Elbow-Servo 3 Shoulder Rotator-Servo 2 Wing-Servo 1
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Actuation Decision Matrix
ControlDifficulty
Cost DesignDifficulty
Return on Complexity
Total
DC Motor 1 3 2 3 9Servo 3 3 3 2 11Piston 2 1 1 3 7
Scale ___ Option3 Best2 Acceptable1 Worst
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Design Process
Arm Design SPI
Structual Design
Material
Balsa Aluminum
Size and Thickness
Optimization
Composite
Geometry
Research Existing Designs
Tour Guide Robots
Conducting Robot Industry
Actuation
DC Motors Servo
Pulleys Direct Shaft
Supports and Bushings
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Preliminary Designhttp://www.foamular.com/foam/products/foamular-250.aspx
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Final Design
Total Mass One Arm (kg)Conducting
RobotIteration
1Final
Design0.80 0.77 0.43
Servo Torque(kg-cm)Required Available
7.93 20.80
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Expandable & Modular
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Analysis
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Safety
Reduce Mass => Increase ControlLess Interia => Less DamageFoam Insulated MetalSlow Fluid MotionsSafe Manufacturing Practices
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SP II
Buy MaterialsManufacturingIntegrate Arm with FrameProgramming MotionFoam and Shell
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Gantt Chart
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Harrison
Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable
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Safety Considerations
Sensors◦Rangers reduce risk of collision◦Accelerometer shuts down in rare case of
tippingKill Relay
◦Wired to E-Stop and RPi for manual and automatic shutoff
Motion Control◦Hard-Coded maximum speed constant
Fused Power Supply
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Physical Design Considerations
RuntimeCostSpaceComplexityEase-of-interfacingOff-the-shelf verses Custom Built
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Physical Circuitry System
Laptop
5v Reg
7.2v Reg
LLC
Screen Speakers120vac Inverter
Electronic
SpeedControl
Battery12v, 60a
SLACharger
Kill Relay
Rangers
Motor
Motor
LLCArmServos
PWMController
Rasp. PiAcceler-ometer
E-Stop
LEDs
PowerControl
Presentation
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LEDs
PWMController
System(Signal)34
LLC
Rangers
Rasp. Pi
Acceler-ometer
Raspberry PiFor all the Physical Control Systems(Interfaces w/ WiiMote and Laptop)
LightsRun via SPI, used for warning
PWM ControllerRuns servos and ESC
RangersPrevent Collisions
AccelerometerStops system incase of tip-over
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System(Presentation)
Laptop Screen Speakers
Main LaptopRuns Face/Speech/Presentation
Touch ScreenDisplays Face
Also allows interaction
SpeakersUsed for Speech Output
and Warning
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System (Power)
5v Reg
7.2v Reg
120vac Inverter
Battery12v, 70a
SLACharger
Kill Relay
Sealed Lead Acid batteriesUtilized because of high-capacity to priceDual Battery Setup for distributed weight
Kill RelayUsed to physically cut off power
5 volt regulatorPowers the Raspberry Pi and logic circuits
7.2 volt regulatorPowers the servos
120VAC InverterPowers the Laptop, Screen, Speakers
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Software Control Locality
Raspberry Pi
Rangers
Bluetooth
Motors/Servos Accelerometer
Laptop
FacePresentation
Speech
LEDs
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Presentation Software
Run Presentation on Facial Screen◦Slides, Videos, Photos
Presentation run from MP4◦Videos directly played◦Slides are freeze frames
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Facial Control
Face run from custom shapes inOpenGL◦Allows for smooth, dynamic face◦Also allows for 3D models if expanded
Voice generated from eSpeak TTS Library
Utilized touch “buttons” on screen sides for interaction
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Prototype Face
Home
Gallery
Lab
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Program Flowchart
FaceOpenGL
SpeecheSpeak
Start
Present/Face
Face
Check WiiMotevia Rpi(WiiUse)
MoveArmsvia RPi
Run/PausePresentation
VLC
Check Touch ScreenOpenGL
Present
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Future Goals
Build System◦Over break◦Confirm Raspberry Pi system operation
Complete Program System◦Libs tested – Finish final integration◦Complete by latest Mid-February
Build the first tour◦March
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Gantt Chart
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Team Management
BudgetTour PlanningIntegrationStandards
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Budget
Item PriceLaptop 700Touch Screen 225Battery 150Motor Controller 175Sensors Speakers 20 Lights 25 Ultrasonic 110 Other 20Remote Controller 60Building Materials 470Motors 0Power Management 275Heat Control (Fans) 60Totals 2290*
Item PriceMaterials* 1990
Travel & Competition 1360
Total Requested 3350
Funding Amount RequestTeam Funds -300 1990*Possible Grants -600 1390*Possible Laptop Donation
-700 690*
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Funding
Secure Funding
http://www.linuxcertified.com/images/lc2210d-front-left.jpg
PCJShttp://www.ieeeghtc.org/sponsors-exhibitors-2012/
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ASME Competition
Robotics- Undergraduate Division
◦First Place: Remote Controlled Robotic Firefighting System– College of New Jersey
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Questions?
Andrew Specian (ME) ◦ Project Manager ◦ Arm Design ◦ Media Collection and Tour
Planning
http://tcnjroscoebot.wordpress.com/
Harrison Billmers (ECE) ◦ Facial Animation and Motor Control ◦ Drive Motor Control with Navigation ◦ Multimedia Interface
Special thanks to John Sperduto, for aesthetics and modeling consulting
Mike Dimeo (ME) ◦ Drivetrain ◦ Frame Design ◦ Protective Case for the
Electronics ◦ Appearance Aesthetics
RoScoE:Robot of the School of Engineering
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Support Slides
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Pictures
http://blog.spoongraphics.co.uk/wp-content/uploads/2011/robot/robot-character.jpg
www.startedbyamouse.comhttp://images2.wikia.nocookie.net/__
cb20111108222607/transformers/images/4/4a/Dotm-optimusprime-poster.jpg
http://forums.trossenrobotics.com/attachment.php?attachmentid=2036&d=1281619437
http://www.cearta.ie/wp-content/uploads/2006/hello_world.png
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Fundraising
Seeking ASME and IEEE Grant/Funding.IEEE PJCS FundingASME Conference Presentation
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Circuit Selection
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Circuitry
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Roles
Mike Dimeo◦ Drivetrain◦ Frame Design◦ Protective Case for the Electronics◦ Appearance Aesthetics
Andrew Specian◦ Project Manager◦ Arm Design◦ Media Collection and Tour Planning
Harrison Billmers (ECE)◦ Facial Animation and Motor Control◦ Drive Motor Control with Navigation◦ Safety◦ Multimedia Interface
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Standards
Robot Safety:◦OSHA[1]- Robotics
Awareness Barrier Device Presence Sensing Devices Emergency Braking Audible/Visual Warning Controls that initiate power or motion are
constructed and guarded against accidental operation.
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Gantt Chart
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Accomplishes
Servo TestingDrive Motor TestingConducting Robot Functionality(more in
future)