Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis...

53

Transcript of Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis...

Page 1: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.
Page 2: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Presentation Outline

• Introduction• Company Profile• Problem Statement• Proposed solution• Cost Analysis• Deliverables• Plan• Conclusion

Page 3: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Company ProfileMembers

• Talha Koc•Murat Ozkan• Ahmet Eris•Halit Ates•Mehmet Alp Ekici

Page 4: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Company Profile

Task Distribution• Programming Talha, Murat• Purchasing Alp, Ahmet• Power analysis&design Halit, Alp, Ahmet• RF analysis&design Talha• Mechanical analysis&design Talha• Control analysis Halit, Murat• Hardware Testing All• R&D, Documentation All

Page 5: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Problem Statement

A vehicle that extracts the map of a closed path

• Fits inside a 1m by 1m square • 1 cm accuracy • No hard wiring• The vehicle will not start its operation on the path• No overhead camera• Area of map

Page 6: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Objectives

• Inexpensive and high quality • Optimize cost and time• High accuracy

-Following line-Map extraction

• Low power consumption

Page 7: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Block Diagram of Solution

Page 8: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MAP EXTRACTION

>>LINE FOLLOWER > SENSORS FOR MAPPING> MAPPING ALGORITHM & DISPLAY> DATA TRANSMISSION

Page 9: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

PART LIST

• SENSORS– COLOR SENSOR (3)

• MOTORS– STEPPER MOTOR (2)

• WHEELS– WHEEL (2)– CASTER

Page 10: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

LINE FOLLOWER

Page 11: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

PART LIST

Page 12: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

COLOR SENSORS

• Detection of line • Will be 3 - 5 mm above ground • Placed in a row; 2 cm front of centre line• Separated by 1 cm; left to right

Page 13: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MOTOR UNIT

STEPPER MOTORS (2) WHEELS (2)

CASTER

Page 14: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MOTORS

• Stepper Motors– Controlled by digital input– Can be driven slow– Can be used without gearbox– Low error fraction– Having no contact brushes increases life-time

• Will be placed 2 cm behind centre line

Page 15: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

WHEELS

• Rubber wheel for high friction• Small size (r=1cm) for good resolution• Will be connected to motors separately• Like motors; placed 2 cm behind centre line• Will keep chassis 3-5 mm above ground

Page 16: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

CASTER

• To support robot • Easily moveable• To keep robot balanced• Placed on the middle, 2 cm away from front

Page 17: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MOTION ALGORITHM

Page 18: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

GO FORWARD

Page 19: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

TURN

TURN LEFT TURN RIGHT

Page 20: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

FORWARD+TURN

GO LEFT GO RIGHT

Page 21: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

HEAD FORWARD

Page 22: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MAP EXTRACTION

> LINE FOLLOWER

>> SENSORS FOR MAPPING> MAPPING ALGORITHM & DISPLAY> DATA TRANSMISSION

Page 23: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Sensor data

Page 24: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Why optical mouse sensor?

• Resolution is independent of encoder• Not dependent on wheel size• Installation is easy • Gives accurate incremental 2-D displacement

Page 25: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Features of optical mouse sensor

• Optical navigation technology• High reliability• Low cost• High speed motion detector • High resolution

Page 26: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Reading Distance from OMSOptical Mouse resolution-> 1600 counts per inch -> 630 counts per cm

Example: If we read 64 counts in registerthis means that our car has moved 64/630 cm.

0,101cm

Page 27: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Why digital compass?

ADVANTAGES• Easy to implement• Less sensitive to vibrations• High resolution• Low powerDISADVANTAGES• Requires calibration• Affected from magnetic material

Page 28: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Validity of data

Page 29: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MAP EXTRACTION

> LINE FOLLOWER > SENSORS FOR MAPPİNG> > MAPPING ALGORITHM&DISPLAY > DATA TRANSMISSION

Page 30: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Mapping & Display

“Scientist discover the world that exists; engineers create the world that never was.”

(Theodore von Karman )

Page 31: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Block Diagram

Page 32: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Localization – Position Estimation

Q: How to estimate robot’s pose with respect to a global frame?

1. Absolute Pose Estimation (GPS,Landmarks,Beacons)2. Relative Pose Estimation (Dead Reckoning)3. Appropriate Combination of 1 & 2

Page 33: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Dead Reckoning

• Used extensively in robotic applications– Classical Use: Wheel Encoders – Advantages: Simple,cheap,easy– Drawback: Accumulation of errors

• Solution: – High presicion optical mouse sensors (ADNS3080)– No kinematic errors as in wheel encoders– Post filtering ( Kalman/Markov Filters)

Page 34: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Mapping Algorithm

• To model robots next position,we need:– Δx and Δy positions– angle α°

• Hardware: OMS-> Δx & Δy V2Xe-> α°

Page 35: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Mapping Algorithm(cont.)

Page 36: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.
Page 37: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Area Calculation

Page 38: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Error Considerations• Is Optical Mouse Sensor good enough to

satisfy +-1cm accuracy?

F. A. Kanburoglu, E. Kilic, M. Dolen, M., A. B. Koku, A Test Setup for Evaluating Long-term Measurement Characteristics of Optical Mouse Sensors. "Journal of Automation, Mobile Robotics, and Intelligent Systems", 1, (2007),

Page 39: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Error Considerations (cont.)

• Pose = Distance + Angle measurements • These measurments have ERRORS or NOISE

included.

What to do?• Kalman Filter -> Smart Way of processing data• Makes distinction between reliable data &

unreliable data• Smooths out the effect of noise

Page 40: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Kalman Filter Simulation for V2Xe

• Assumption of noisy data with %2 error• Tested for hypothetical values in MATLAB

First Order Kalman Filter ,R=100First Order Kalman Filter ,R=2

Page 41: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Display Software

• The software on PC side:

– Processing of the raw measurement data – Calculation of the next position according to the

state equations – Apply filtering, if necessary– Display the new position on screen in

simultaneously

Page 42: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Display Software

Testing:• MATLAB is used for map building,filtering• MATLAB Serial Port I/O Interface• The CAS Robot Navigation Toolbox (GPL)

Final Software:• Written in C++ by Wh.Electronics • With a GUI showing map building process

Page 43: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Sample GUI (beta)

Page 44: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

MAP EXTRACTION

> LINE FOLLOWER > SENSORS FOR MAPPİNG> MAPPING ALGORITHM&DISPLAY >> DATA TRANSMISSION

Page 45: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

RF Block Diagram

Data:• OMS Measurement • Digital Compass Measurement

Page 46: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Why ATX-34S & ARX-34 ?

• High Frequency Stability• Low Cost (ATX->7TL, ARX->10TL)• Low Battery Consumption(max 10mA)• Easy Integration with PIC• Good Documentation

Page 47: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Microcontroller & ATX-34S Connection

Page 48: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

ARX-34 & MAX232 Connection

Page 49: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Gantt Chart

Page 50: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Cost AnalysisName Quantity Unit Price (TL)

Stepper Motor 2 20

PIC 1 12

NiMH Battery 4 2

CNY70 3 2

L298 2 2

L297 2 2

Robot Chassis 1 20

Optical Mouse Sensor 1 7

ATX-34 RF Receiver 1 7

ARX-34 RF Transmitter 1 10

Digital Compass 1 75

RS232-Interface 1 15

Other Components 1 30

TOTAL TOTAL 238 YTL

Page 51: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Power Consumption

≈ 4-5 Watt(≈45 Minutes)

Page 52: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Deliverables

• Mobile Robot• User’s Manual• PC Connected Hardware• Warranty Document• Rechargeable Battery Pack

Page 53: Presentation Outline Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion.

Thanks and Questions

?