Project OSCAR

Project OSCAR

Octagonal Speech-Controlled Autonomous Robot

ONGO-01

Project OSCAR

Fall 2005 Client: Iowa State University

Department of Electrical and Computer Engineering

Faculty Advisor: Ralph E. Patterson III

Presentation Date: December 6, 2005

EE Team Members Kevin Cantu EE

492 Jawad Haider EE

492 Robert Dunkin EE 491 Nicholas Hoch EE 491

CprE Team Members Jeff Parent CprE

492 Peter Gaughan CprE 491 Andrew Levisay CprE 491 Mike Mikulecky CprE 491

ME Team Members Lynn Tweed ME

466 Michael Snodgrass ME 466 David Brownmiller ME 466

Project OSCAR

Presentation Overview

Initial Information Jeff Project Introduction Jeff Description of Activities

Tachometer Jawad & Bob Software Mike & Peter End-effector construction Dave & Michael End-effector electronics Nick Documentation: Wiki Andy

Resources, Schedules , Summary Kevin Closing Jeff

Project OSCAR

List of Definitions OSCAR Octagonal Speech-Controlled Autonomous Robot BasicX-24 Microcontroller used to interface with SONAR system CVS Concurrent versions system Cybot The predecessor to OSCAR Drive train The assembly of electrically controlled motion elements,

including the robot’s wheels, gears, belts, andtachometers

End effector The electrically controlled mechanical arm and gripper GUI Graphical user interface I/O Input and output to a device PEEL Programmable Electrically Erasable Logic SONAR Sound navigation and ranging Tachometer A device for indicating speed of rotation Wiki An internet based content management system for

many users

Project Introduction

Jeff Parent


Problem Statement

General ProblemDevelop a robot and perform demonstrations to generate interest in the field and in the department.

General Solution ApproachAn ongoing project was started to design a modular, autonomous robot which incorporates speech control, sonar sensors, and an end effector to interact with its surroundings and audience.


Operating Environment

Indoors

Flat surfaces, no downward stairs or drop-offs

Obstacles must be 2.5 feet high


Intended Users and Uses

Users Project OSCAR team members Supervised non-technical users

Use: Demonstration to raise interest in the field and the department Autonomous navigation of a hallway Ability to pick up and place objects via the end effector Ability to speak Manual movement via wireless control software Control via spoken commands


Assumptions and Limitations Assumptions

Demonstrations last less than one hour Technical supervisors present during operation Operators speak English and are familiar with control software Remote PC for robot control has the appropriate software and

hardware

Limitations Software must run in Mandrake Linux Speech commands are issued less than 15 feet away Sonar range is 15 inches – 35 feet Wireless Ethernet within 328 feet Must fit through a standard 30-inch doorway End effector must fit within top module


End Product & Deliverables

A robot with working systems Power Drive Sensors Software End effector

Documentation

Tachometer

Jawad Haider

Bob Dunkin

Optical Encoder

Motor Controller

Computer Serial

???

Tachometer

Electromechanical Design

Problem Interface of Motor Controller and Optical Encoder Optical encoder outputs digital pulse train Motor controller needs analog 5V with direction

Solution Build a Wheel Tachometer circuit and interface the motor

and encoder

Tachometer

Electromechanical Design

t = 0

Channel A

Channel Bforward

Channel Bbackward

Optical Encoder

Rotation

forwardbackward

Input voltage

+ 5.0 V

+ 2.5 V

Optical encoder digital output

Needed analog signal

Tachometer

Proposed Design

Tachometer

Parts Used and Schematic

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

R1

1k

U4+5V

LM7805C/TO

1 3

2

IN OUT

GND

Output from F-V R1

1k

R1

1k

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

C1

1n

R1

1k R1

1k

U5 +12V

LM7812C/TO220

1 3

2

IN OUT

GND

R1

1k

R1

1k

R1

1k

R1

1k

U5 SPDT Switch

ADG419

1

2

4

6

7

8 D

S1

+VCC

IN

-VCC

S2

Output from Switch

U1A

LM324

1

3

2

411

OUT

+

-

V+V-R1

1k

+12V Source

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

R1

1k

-Voltage Source

F-V

LM2907/DIP14

1

23

4

5

912

1011

81

23

4

5

912

1011

8

-12V Source

R1

1k

U5 +Variable

LM317/CYL

3

1

2VIN

ADJ

VOUT

From 2.5V Regulator

R1

1k R1

1k

Optical encoder Channel A

R1

1k

+5V Optical Encoder

Analog Out to Motor Controler

C2

1n

Input From Phase Decoder

Switch: ADG419 Frequency-to-voltage converters: LM2907 and/or AD650KN Phase decoder: LS7184 LSI sheet/LS7184 USD sheet Op-amps: LM324 Charge pumps (providing negative voltage): ADM660 Adjustable voltage regulator: LM117

Tachometer

Accomplishments

Tested the phase decoder

We look at the UP/DN output

Signal flips between +5V and 0V with the change in the direction of shaft motion

Signal level stays there until direction changes again

Tachometer

Testing

Charge Pump Two capacitors of 10uF are used for charge

storage The voltage inversion operation is obtained using

ADM 660 Voltage Regulators

Two types of voltage regulators are used (5V and 12V)

Tachometer

Frequency to Voltage

LM 2907 Unknown chip malfunction

AD 650KN MATLAB analysis Ripple voltage too high Used for higher frequency motors Range (100Hz—1MHz)

Tachometer

Average and Ripple Voltage

Tachometer

Future

Need to put more research into chips TC 9402 chips seems more feasible up to

100Hz Design new circuit, with new chips Create and test circuit components

Software

Mike Mikulecky

Peter Gaughan

Software

Past Accomplishments

Design process Software controls hardware Software extends in all directions to all levels Main software system

Software

Software Languages

All ported to Linux Java Pearl C#

Software

Current Problems

Code Voice recognition Documentation of code

Computer hardware Inconsistent power supply performance Defective power button Motherboard battery dead

Software

Java

Improve Java code Reorganize Add support for debugging

Software

Prototyping

Rapid evaluation of ideas Wireless motion control via Xbox controller Prototyping framework

Software

Perl

Prototyping language Flexible and fast Modular

Software

Miscellaneous

New brain for OSCAR No change in voice synthesis

Software

Future

Continue modularization of Java Finish and extend prototyping framework Use framework to test motion algorithms Integrate better voice synthesis

End Effector Mechanical

David Brownmiller

Michael Snodgrass

End Effector

Previous Design

1. Design was only 50% Complete

2. Slide mechanism had binding issues

3. Gears and motors were not modeled to scale

4. Structural issues on wrist rotational motor

2

1

3

4

End Effector

Current Design

1

2

1. Remodel Gears and Motors

2. Design rotational joint to eliminate stress on the rotation motor

3. A completed arm with slide and base rotation for spring 06

4. Selected materials for structural integrity and aesthetics

End Effector

Current Status

Acquisition of materials Physical manufacture of the arm Manufacturing limitations on campus Machine shop in Nevada

End EffectorControl

Nick Hoch

End Effector Control

Overview

Functionality Computer control for five motors in the new end

effector H-bridges for power Controlled by microcontroller(s) Communication with the PC

Goals To fully design the system To build the system without significant design

revisions


Original Technology Selection

BasicX-24 top level Multiplexers LM629 motorcontrollers (1 per motor) H-bridges (1 per motor)


Questions

Too complex Serial PC <-> BasicX Serial BasicX <-> LM629 Skills requred: Java, Basic, LM629 codes,

hardware programming


Possible Improvements

USB connection (PC <-> microprocessor) Fewer parts (possibly only 1 microcontroller +

5 H-bridges) More software, less hardware (faster

implementation) C instead of BASIC as a primary language

(students have experience)


Possible Solutions

LabVIEW board and software previously discarded because of PC and Linux issues

PIC like the PIC18F4550 USB capable

Specialized PIC or a DSP chip like the dsPIC30F4011 6 PWM outputs 1 optical encoder input

FPGA with programmed logic to replace entire circuit.

Documentation

Andy Levisay

Incomplete No central repository Decision process not documented Design and testing not well documented

Documentation

Previous Problems

• Well organized• Carries from semester to semester• Easy sharing of documents and pictures• Also provides a place for making

announcements and meeting times• Useful in document collaboration

Documentation

Solution: The OSCAR Wiki

Documentation

The OSCAR Wiki

Software Tachometer testing Sonar maintenance End Effector

Documentation

Documentation Activities

Dedicated server for the WIKI Adding more back data to the WIKI

Documentation

Future Activities

Resources and Summary

Kevin Cantu

Resources and Schedules: Fall 2005

Material Requirements End effector

Structural materials, machining – donated Motors – salvaged Electronics – $99.90 Workstation PC - donated

Software Operating system – free OSCAR PC – $10

Documentation Wiki – free, donated Wiki PC – $10

Projected semester cost: ~$700 Actual semester cost: $119.90


Personnel Effort Requirements

Visitor demonstrations End effector control circuit design Tachometer implementation Software Documentation project Senior Design reporting

Projected total hours: 1013 Actual hours: 622

0

20

40

60

80

100

120

140

160

Kevin

Can

tu

Bob D

unkin

Peter

Gau

ghan

Jawad

Haid

er

Nichol

as H

och

Andre

w Lev

isay

Mike

Miku

lecky

Jeff

Paren

t

Ho

urs


Financial Requirements Fall 2005

Projected cost of materials: $700 Actual cost of materials: $119.90 Projected cost of labor at $10.50 per hour: $10,636.50 Actual cost of labor: $6,131.00 Fall 2005 Projected Total: $11,336.50 Fall 2005 Actual Total: $6,650.90

Previous Semesters Spring 2005: $6,000-9,000 Fall 2004: $9,000-13,000 Spring 2004: $12,000 Fall 2003: $15,000 Spring 2002: $10,000-16,000 Fall 2001: $11,000-17,000

Estimated Overall Total, Spring 2001- Fall 2006: $115 thousand


Project Schedule

Project OSCAR: Summary

Lessons Learned

What went well New team member orientation to complex system

What did not go well Implementing tachometer design Initial team progress: late start this semester

What technical knowledge was gained Electronic, mechatronic and control systems Linux software development


Lessons Learned

What non-technical knowledge was gained Project management experience Documentation methods, skills, and importance Presentation skills Interdisciplinary engineering interaction

What would be done differently Better teaching of new team members Better completed and organized documentation


Risks and Risk Management

Anticipated potential risks Part ordering delays Documentation problems Personal injury Loss of a member

Anticipated risks encountered Part ordering delays Documentation problems


Risks and Risk Management

Unanticipated risks encountered Long term loss of faculty advisor Software malfunction Lost knowledge

Resultant changes in risk management More sophisticated documentation Emphasis on shared knowledge

Closing

Jeff Parent


Closing

Still in overall implementation stage – autonomy is incomplete

Continued demonstrations have been effective in developing team member abilities

Future should involve Finalizing OSCAR system Satisfying department needs through further robot

development projects

Project OSCAR

Questions?

http://seniord.ee.iastate.edu/ongo01

Project OSCAR

Documents

Transcript of Project OSCAR